CN112814565B - Automatic rod adding drilling machine - Google Patents

Abstract

The invention discloses an automatic rod adding drilling machine, which comprises: a chassis mounted on the crawler; the lifting support component is connected to the chassis; the drilling machine main machine is arranged on the lifting support assembly, and the lifting support assembly is used for adjusting the drilling height and the drilling pitch angle of the drilling machine main machine; a high capacity drill pipe box for holding a plurality of rows of drill pipes; a transfer bracket for temporarily storing drill rods; a first mechanical arm for transferring drill rods between the high-capacity drill rod box and the transfer bracket; a second mechanical arm for transferring the drill rod between the transfer bracket and the main machine of the drilling machine; the high-capacity drill rod box, the transfer bracket, the first mechanical arm and the second mechanical arm are all installed on the chassis, and one of the high-capacity drill rod box and the first mechanical arm can ascend and descend along the height direction of the chassis. The first mechanical arm and the second mechanical arm transfer drill rods between the high-capacity drill rod box and the transfer bracket and between the transfer bracket and the main machine of the drilling machine respectively, so that the stroke of the single mechanical arm is reduced, and the drill rod loading and unloading efficiency and the working efficiency of the drilling machine are effectively improved.

Description

Automatic rod adding drilling machine

Technical Field

The invention relates to the technical field of drilling machines, in particular to an automatic rod adding drilling machine.

Background

The tunnel drilling machine is mainly used for drilling underground tunnels, can be used for drilling gas drainage holes, grouting fire extinguishing holes, coal seam water injection holes and geological exploration Kong Dengxiang engineering holes, and is widely applied to industries such as geological exploration, coal stove gas exploitation, hydroelectric generation and the like.

The present invention patent 201810084125.5 provides a full-automatic tunnel drilling machine, which comprises a drill rod, a workbench, a supporting seat arranged at the top of the workbench, a traveling device arranged at the bottom of the workbench, a drill rod main driving device, a guiding device for guiding the drill rod main driving device, a clamp holder for clamping or loosening the drill rod, a mechanical arm for loading and unloading the drill rod by the clamp holder backwards, and a drill rod adjusting box for storing the drill rod and adjusting the position of the drill rod, and realizes the full-automatic operation of the tunnel drilling machine.

The position of the drill rod in the drill rod adjusting box is adjusted by rotating the drill rod adjusting box relative to the supporting seat, and the mechanical arm stroke is large due to small rotation adjusting amplitude, so that the grabbing efficiency and the placing efficiency of the mechanical arm are reduced, and further the working efficiency of the drilling machine is reduced.

In summary, how to improve the working efficiency of the tunnel drilling machine is a problem to be solved by those skilled in the art.

Disclosure of Invention

Therefore, the invention aims to provide an automatic rod feeding drilling machine, wherein a transfer bracket is arranged between a drill rod box and a drilling machine host, and a first mechanical arm and a second mechanical arm are respectively used for transferring drill rods between the drill rod box and the transfer bracket and between the transfer bracket and the drilling machine host, so that the drill rod loading and unloading efficiency is improved, and the drilling machine working efficiency is further improved.

In order to achieve the above object, the present invention provides the following technical solutions:

an automatic rod-adding drilling machine, comprising:

a chassis mounted on the crawler;

a lifting support assembly connected to the chassis;

the drilling machine main machine is arranged on the lifting support assembly, and the lifting support assembly is used for adjusting the drilling height and the drilling pitch angle of the drilling machine main machine;

a high capacity drill pipe box for holding a plurality of rows of drill pipes;

a transfer bracket for temporarily storing the drill pipe;

a first mechanical arm for transferring the drill rod between the high-capacity drill rod box and the transfer bracket;

a second mechanical arm for transferring the drill rod between the transfer bracket and the main machine of the drilling machine;

the high-capacity drill rod box, the transfer bracket, the first mechanical arm and the second mechanical arm are all installed on the chassis, and one of the high-capacity drill rod box and the first mechanical arm can ascend and descend along the height direction of the chassis.

Preferably, the lifting support assembly comprises a lifting seat, a pitching rotation assembly and a lifting oil cylinder arranged on the chassis, and the lifting seat is fixedly arranged on a moving part of the lifting oil cylinder;

the fixed part of the pitching rotation assembly is connected with the lifting seat, and the rotating part of the pitching rotation assembly is connected with the main machine of the drilling machine, so that the pitching rotation assembly can adjust the pitch angle of drilling holes of the main machine of the drilling machine.

Preferably, the first mechanical arm comprises a mechanical arm base, a mounting frame, a translation assembly, a second lifting assembly and a first grabbing assembly for grabbing the drill rod, wherein the mechanical arm base is in sliding connection with the chassis through the translation assembly, the mounting frame is connected with the mechanical arm base, and the first grabbing assembly is mounted at the top end of the mounting frame;

the translation assembly is used for driving the mechanical arm base to move along the length direction of the chassis, and the second lifting assembly is used for driving the first grabbing assembly to move along the height direction of the chassis.

Preferably, the first mechanical arm further comprises a translation detection assembly for detecting the displacement of the first grabbing assembly relative to the high-capacity drill rod box and a lifting detection assembly for detecting the displacement of the first grabbing assembly relative to the chassis.

Preferably, the second mechanical arm comprises a first revolving assembly, a second revolving assembly, a third revolving assembly and a second grabbing assembly for grabbing the drill rod, the first revolving assembly is installed on the lifting support assembly, and a fixing part of the second revolving assembly is connected with a rotating part of the first revolving assembly, so that the first revolving assembly drives the second revolving assembly to rotate around the length direction of the chassis;

The fixed part of the third rotary component is connected with the rotating part of the second rotary component, so that the second rotary component drives the third rotary component to rotate around the width direction of the chassis;

the second grabbing component is connected with the rotating part of the third rotating component, and the rotating shaft of the third rotating component is perpendicular to the rotating shaft of the second rotating component.

Preferably, the high-capacity drill rod box comprises a drill rod box bottom plate, a lateral positioning assembly and a first lifting assembly, wherein the lateral positioning assembly is used for separating and positioning the drill rod, one end of the first lifting assembly is fixedly connected with the chassis, and the other end of the first lifting assembly is connected with the drill rod box bottom plate, so that the first lifting assembly drives the drill rod box bottom plate to move along the height direction of the chassis.

Preferably, the transfer bracket comprises a drill rod bracket for temporarily storing the drill rod and a third lifting assembly for driving the drill rod bracket to move along the height direction of the chassis, one end of the third lifting assembly is connected with the chassis, and the other end of the third lifting assembly is connected with the drill rod bracket.

Preferably, the transfer bracket further comprises a second lifting guide assembly, the second lifting guide assembly is mounted on the lifting support assembly, and the drill rod bracket is in sliding connection with the second lifting guide assembly.

Preferably, the lowest center height of the transfer bracket, the lowest center height of the first mechanical arm and the lowest center height of the drilling machine main machine are identical in height.

Preferably, the first mechanical arm and the second mechanical arm are internally provided with grabbing detection sensors, and the grabbing detection sensors comprise proximity switches.

Before drilling, the automatic rod adding drilling machine provided by the invention walks to a drilling position through the crawler under the chassis, and controls the lifting support assembly to adjust the azimuth of the drilling machine main machine, so that the drilling height, the drilling azimuth angle and the drilling pitch angle of the drilling machine main machine are adjusted to required angles; when the drill rod is installed, the first mechanical arm grabs the drill rod in the high-capacity drill rod box and transfers the drill rod to the transfer bracket, and the second mechanical arm grabs the drill rod on the transfer bracket and transfers the drill rod to the main machine of the drilling machine; when the drill rod is put down, the second mechanical arm grabs the drill rod in the main machine of the drilling machine and transfers the drill rod to the transfer bracket, and then the first mechanical arm grabs the drill rod on the transfer bracket and transfers the drill rod to the high-capacity drill rod box.

Because be equipped with the transfer bracket between high-capacity drill rod case and rig host computer, and the high-capacity drill rod case is to transfer bracket, transfer bracket is to the rig host computer between transport the drilling rod by first arm and second arm respectively, compare in prior art, the transportation stroke of single arm reduces greatly, has improved the loading and unloading efficiency of drilling rod effectively to rig work efficiency has been improved.

Meanwhile, one of the high-capacity drill rod box and the first mechanical arm can be lifted relative to the chassis, so that the grabbing range of the first mechanical arm is enlarged, the height of the mechanical arm is reduced, and the roadway passing performance of the automatic rod adding drilling machine is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an embodiment of an automatic rod-adding drilling machine according to the present invention;

FIG. 2 is a schematic front view of FIG. 1;

FIG. 3 is a schematic top view of FIG. 1;

FIG. 4 is a schematic front view of the lifting support assembly and transfer bracket of FIG. 1;

FIG. 5 is a left side schematic view of FIG. 4;

FIG. 6 is a schematic top view of FIG. 4;

FIG. 7 is a schematic front view of the first robot of FIG. 1;

FIG. 8 is a left side schematic view of FIG. 7;

FIG. 9 is a schematic top view of FIG. 7;

FIG. 10 is a schematic front view of the second robot arm of FIG. 1;

FIG. 11 is a schematic cross-sectional view of FIG. 10 in a front view;

FIG. 12 is a schematic top view of FIG. 10;

FIG. 13 is a schematic diagram of the operation of the high capacity drill pipe box and the first robotic arm gripping displacement;

FIG. 14 is a schematic cross-sectional view of the high capacity drill pipe box of FIG. 1 in a front view;

FIG. 15 is a left side schematic view of FIG. 14;

FIG. 16 is a schematic view of the lateral positioning assembly of FIG. 14;

fig. 17 is a schematic cross-sectional view of the lift cylinder of fig. 4.

In fig. 1-17:

100 is a chassis, 200 is a lifting support assembly, 210 is a lifting cylinder, 211 is a first cylinder, 212 is a first piston, 213 is a first piston rod, 214 is a second cylinder, 2141 is a first oil cavity, 2142 is a second oil cavity, 215 is a second piston, 220 is a lifting seat, 230 is a pitching swivel assembly, 300 is a drilling machine main machine, 400 is a high capacity drill rod box, 410 is a drill rod box bottom plate, 420 is a lateral positioning assembly, 421 is a positioning plate, 4211 is a partition plate, 422 is a limit baffle, 430 is a first lifting assembly, 431 is a hydraulic cylinder, 432 is a sprocket, 433 is a chain, 434 is a guide column, 4341 is a guide groove, 435 is a cam bearing, 440 is a first lifting guide assembly, 441 is a sliding rail, 442 is a sliding sleeve, 443 is a sliding bearing, 500 is a first mechanical arm, 510 is a mechanical arm base, 520 is a mounting bracket, 530 is a translation assembly, 540 is a second lifting assembly, 550 is a first grabbing assembly, 600 is a transit bracket, 610 is a drill rod box bottom plate, 620 is a third lifting assembly, 630 is a second lifting guide assembly, 720 is a second lifting guide assembly, 434 is a second mechanical arm, 720 is a first mechanical arm, 720 is a second mechanical arm is a first swivel bottom plate, 700 is a first mechanical arm is a swivel bottom plate, and a first mechanical arm is a swivel assembly, and a first mechanical arm is a swivel assembly is a bottom plate of a gripper assembly is a 2 is a gripper and a gripper is a lifting assembly and a gripper is at 0.1.is at a position.0.is L.0.2.is.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The core of the application is to provide an automatic rod feeding drilling machine, wherein a transfer bracket is arranged between a drill rod box and a drilling machine host, and a first mechanical arm and a second mechanical arm are respectively used for transferring drill rods between the drill rod box and the transfer bracket and between the transfer bracket and the drilling machine host, so that the loading and unloading efficiency of the drill rods is improved, and the working efficiency of the drilling machine is further improved.

It should be noted that, in the present disclosure, the length direction of the chassis 100 is the extending direction of the roadway, and the width direction of the chassis 100 is the width direction of the roadway; the center height refers to the height of the drill rod axis when each assembly grips the drill rod 800.

Please refer to fig. 1-17.

The application provides an automatic rod adding drilling machine, which comprises: chassis 100 mounted on a crawler; a lifting support assembly 200 connected to the chassis 100; the drilling machine main body 300 is arranged on the lifting support assembly 200, and the lifting support assembly 200 is used for adjusting the drilling height and the drilling pitch angle of the drilling machine main body 300; a high capacity drill rod magazine 400 for holding a plurality of rows of drill rods 800; a staging bracket 600 for temporarily storing drill pipe 800; a first robotic arm 500 for transferring drill pipe 800 between high capacity drill pipe box 400 and transfer carriage 600; a second robotic arm 700 for transferring the drill pipe 800 between the transfer carriage 600 and the drill rig main frame 300; the large-capacity drill pipe box 400, the relay bracket 600, the first robot arm 500, and the second robot arm 700 are all mounted on the chassis 100, and one of the large-capacity drill pipe box 400 and the first robot arm 500 may be lifted up and down in the height direction of the chassis 100.

It should be noted that, the automatic rod adding drilling machine further includes a running mechanism, a power system, an operating system, etc. for running in the roadway, and other systems in the automatic rod adding drilling machine and connection relations between the systems refer to the prior art, and are not described herein.

The chassis 100 is mounted on a crawler for supporting the main machine 300, the high capacity drill pipe box 400, the first mechanical arm 500, the transfer bracket 600, and the second mechanical arm 700. When the traveling direction of the crawler deviates from the extending direction of the roadway, since the chassis 100 is mounted on the crawler, the azimuth of the drill pipe main unit 300 disposed on the chassis 100 in the horizontal plane is changed, that is, the azimuth angle of the drill pipe main unit 300 is changed.

The lifting support assembly 200 is used for automatically adjusting the drilling height, the drilling azimuth angle and the drilling pitch angle of the drilling machine main machine 300, and is matched with the drilling program of the drilling machine main machine 300 to realize the automatic operation of positioning and drilling.

Referring to fig. 4 to 6, preferably, the elevating support assembly 200 includes an elevating base 220, a pitching rotation assembly 230, and an elevating cylinder 210 mounted on the chassis 100, wherein the elevating base 220 is fixedly mounted on a moving part of the elevating cylinder 210; the fixed portion of the pitch swing assembly 230 is connected with the elevating mount 220, and the rotating portion of the pitch swing assembly 230 is connected with the main machine 300 of the drilling machine so that the pitch swing assembly 230 adjusts the pitch angle of the drilling holes of the main machine 300 of the drilling machine.

The rotating part of the lifting oil cylinder 210 is fixedly connected with the lifting seat 220, and drives the lifting seat 220 to move up and down along the height direction of the chassis 100, so as to drive the pitching rotation assembly 230 and the drilling machine host 300 connected with the pitching rotation assembly 230 to lift relative to the chassis 100, and finally, the drilling height of the drilling machine host 300 is adjusted.

Considering the safety of the roadway drilling process, the automatic rod adding drilling machine is provided with a roadway support assembly for supporting a roadway top plate. In order to simplify the structure of the device, referring to fig. 17, the lifting cylinder 210 includes a first cylinder body 211, a first piston rod 213 for supporting a roadway roof, a first piston 212 for driving the first piston rod 213 to lift, a second cylinder body 214 for connecting with the lifting seat 220, and a second piston 215 for driving the second cylinder body 214 to lift, wherein the first piston 212 is sleeved in the first cylinder body 211, and a hydraulic oil cavity is formed between the first piston 212 and the bottom of the first cylinder body 211; the first cylinder 211 is disposed in a first cylinder mounting hole of the second cylinder 214, the second piston 215 is disposed between an outer wall surface of the first cylinder 211 and an inner wall surface of the second cylinder 214, and the second piston 215 is fixedly connected with the first cylinder 211.

When the hydraulic oil cavity is filled with oil, the first piston 212 ascends along the inner wall surface of the first cylinder body 211 and drives the first piston rod 213 to ascend until the end surface of the first piston rod 213 is abutted against the roadway top plate, so that the supporting effect on the roadway top plate is realized; on the contrary, when the hydraulic oil cavity returns, the first piston 212 drives the first piston rod 213 to descend, the first piston rod 213 is no longer in contact with the top plate of the roadway, and the crawler can drive the automatic rod adding drilling machine to move.

When the first oil cavity 2141 is filled with oil and the second oil cavity 2142 returns oil, the second cylinder 214 rises and drives the lifting seat 220 to rise by taking the first oil cavity 2141 between the upper end surface of the second cylinder 214 and the second piston 215 and the second oil cavity 2142 between the lower end surface of the second cylinder 214 and the second piston 215; conversely, when the first oil chamber 2141 returns and the second oil chamber 2142 returns, the second cylinder 214 descends and drives the lifting seat 220 to descend.

Therefore, through the nested arrangement of the first oil cylinder 211 and the second oil cylinder 214, the lifting oil cylinder 210 realizes the lifting of the lifting seat 220 and the support of the roadway roof, and no additional roadway support component is required.

The rotating part of the pitching rotation assembly 230 rotates in a vertical plane relative to the fixed part and drives the main machine 300 of the drilling machine to synchronously rotate, so that the pitch angle of the drilling hole of the main machine 300 of the drilling machine is adjusted.

In order to adjust the azimuth angle of the drilling hole of the main machine 300 of the drilling machine, an azimuth rotation assembly can be further arranged in the automatic rod-adding drilling machine, and the azimuth rotation assembly can be arranged at the bottom of the chassis 100 to drive the chassis 100 to rotate in a horizontal plane; the azimuth rotation assembly may also be disposed between the fixed portion of the lifting cylinder 210 and the chassis 100, and drive the lifting cylinder 210 to rotate in a horizontal plane; the azimuth swivel assembly may also be disposed between the swivel portion of the elevation swivel assembly 230 and the rig main body 300 to drive the rig main body 300 to rotate about the height of the chassis 100.

Preferably, for compact self-drilling rigs, easy assembly and adjustment, azimuth swivel assemblies are provided at the bottom of chassis 100.

The number of the lift cylinders 210 may be one, or two or more. When the number of the lifting cylinders 210 exceeds one, the lifting cylinders 210 need to be kept to be lifted synchronously by the synchronization device, so that the lifting seat 220 is prevented from tilting relative to the chassis 100, and the adjustment of the pitching azimuth of the main machine 300 of the drilling machine is further affected.

The structure, dimensions, etc. of both azimuth swing assembly and elevation swing assembly 230 are referred to in the art according to the design dimensions of the automatic rod-adding drilling machine, etc. and are not described in detail herein.

Referring to fig. 1, the high-capacity drill rod box 400 can accommodate and place multiple rows of drill rods 800, so that the capacity of the drill rods is greatly increased, frequent replenishment of the drill rods 800 in the deep hole drilling process is avoided, and the working efficiency of the automatic rod feeding drilling machine is improved.

The height of the high capacity drill pipe box 400 determines the number of rows of drill pipes 800 and the length of the high capacity drill pipe box 400 determines the number of rods that can be accommodated in each row; the drill rod capacity of the high capacity drill rod box 400 is determined based on the actual operating environment and requirements of the automatic rod-in drilling machine.

The first mechanical arm 500 and the second mechanical arm 700 are respectively used for transferring the drill rod 800 between the high-capacity drill rod box 400 and the transfer bracket 600, and between the transfer bracket 600 and the drill main machine 300, and the original transferring stroke is divided into two parts by arranging two mechanical arms, so that the transferring stroke of a single mechanical arm is effectively reduced; the transport efficiency of the drill pipe 800 is improved.

Because the multi-row drill rods 800 are placed in the high-capacity drill rod box 400, after the upper drill rod 800 is transported, the lifting stroke of the first mechanical arm 500 for grabbing the lower drill rod 800 is increased, and in order to reduce the lifting stroke of the first mechanical arm 500 and improve the drill rod transporting efficiency of the first mechanical arm 500, at least one of the high-capacity drill rod box 400 and the first mechanical arm 500 is arranged to be capable of lifting relative to the chassis 100.

When the high-capacity drill rod box 400 is lifted only, the high-capacity drill rod box 400 is controlled to lift after the upper-layer drill rod 800 is grabbed, so that the lower-layer drill rod 800 is lifted to the height of the original upper-layer drill rod 800, and the first mechanical arm 500 grabs the lower-layer drill rod; when the first mechanical arm 500 is lifted, the first mechanical arm 500 is controlled to descend after the upper layer drill rod 800 is grabbed, so that the grabbing position of the first mechanical arm 500 is lowered from the original upper layer drill rod 800 position to the lower layer drill rod 800 position; when both the high-capacity drill rod box 400 and the first mechanical arm 500 are lifted, the high-capacity drill rod box 400 and the first mechanical arm 500 are controlled to lift reversely, and the lifting strokes of the high-capacity drill rod box 400 and the first mechanical arm 500 are determined according to the height limiting requirements of a roadway on the automatic rod adding drilling machine and the like.

Before drilling, the crawler under the chassis 100 walks to a drilling position, and the lifting support assembly 200 is controlled to adjust the azimuth of the main machine 300 of the drilling machine, so that the drilling height, the drilling azimuth angle and the drilling pitch angle of the main machine 300 of the drilling machine are adjusted to the required angles; when the drill rod is installed, the first mechanical arm 500 grabs the drill rod 800 in the high-capacity drill rod box 400 and transfers the drill rod 800 to the transfer bracket 600, and then the second mechanical arm 700 grabs the drill rod 800 on the transfer bracket 600 and transfers the drill rod 800 to the drill host 300; when the drill rod is recovered, the second mechanical arm 700 grabs the drill rod 800 in the main machine 300 of the drilling machine and transfers the drill rod to the transfer bracket 600, and then the first mechanical arm 500 grabs the drill rod 800 on the transfer bracket 600 and transfers the drill rod to the high-capacity drill rod box 400.

In this embodiment, a transfer bracket 600 is disposed between the high-capacity drill rod box 400 and the main machine 300 of the drilling machine, and the drill rod 800 is transferred between the high-capacity drill rod box 400 and the transfer bracket 600 and between the transfer bracket 600 and the main machine 300 of the drilling machine by the first mechanical arm 500 and the second mechanical arm 700 respectively.

Meanwhile, one of the high-capacity drill rod box 400 and the first mechanical arm 500 can be lifted relative to the chassis 100, so that the grabbing range of the first mechanical arm 500 is enlarged, the height of the mechanical arm 1 is reduced, and the roadway passing performance of the automatic rod adding drilling machine is guaranteed.

On the basis of the above embodiment, please refer to fig. 7-9, further define the structure of the first mechanical arm 500, the first mechanical arm 500 may include a mechanical arm base 510, a mounting frame 520, a translation assembly 530, a second lifting assembly 540, and a first grabbing assembly 550 for grabbing the drill rod 800, where the mechanical arm base 510 is slidably connected with the chassis 100 through the translation assembly 530, the mounting frame 520 is connected with the mechanical arm base 510, and the first grabbing assembly 550 is installed at the top end of the mounting frame 520; the translation assembly 530 is used to drive the first grabbing assembly 550 to move along the length direction of the chassis 100, and the second lifting assembly 540 is used to drive the first grabbing assembly 550 to move along the height direction of the chassis 100.

The top end of the mounting frame 520 herein refers to a free end of the mounting frame 520, and corresponds to a connection end of the mounting frame 520 for connection with the mechanical arm 510.

Referring to fig. 7 and 8, the mounting frame 520 includes a vertical longitudinal beam and a horizontal transverse beam, and the first grabbing component 550 is disposed at an overhanging end of the transverse beam; the longitudinal beam is provided with a second lifting component 540 so as to drive the cross beam to lift in the height direction of the chassis 100, and further drive the first grabbing component 550 to lift in the height direction of the chassis 100.

Preferably, the cross members are disposed along the width direction of the chassis 100, and the longitudinal beam chassis 100 is disposed along the height direction.

Furthermore, the mounting frame 520 may also be provided as a one-piece composite beam, such as an arc beam. At this time, the second lifting assembly 540 may be disposed between the mounting bracket 520 and the robot base 510, or between the mounting bracket 520 and the first grasping assembly 550.

The second lifting assembly 540 may be configured as a lift cylinder, or may be configured as an electric push rod or other linear displacement structure.

The translation assembly 530 drives the mechanical arm base 510 to move along the length direction of the chassis 100, and further drives the first grabbing assembly 550 connected to the mounting frame 520 to move along the length direction of the chassis 100.

Referring to fig. 9, the translation assembly 530 includes a slide rail, a rack, a gear engaged with the rack, and a hydraulic motor driving the gear, wherein the slide rail and the rack are fixedly mounted on the chassis 100, and the slide rail and the rack are disposed along a length direction of the chassis 100; the hydraulic motor is fixed on the mechanical arm base 510, and the gear is sleeved on the output shaft of the hydraulic motor.

In addition, the translation assembly 530 may be configured as a linear displacement structure such as a lead screw sliding rail.

Preferably, the first robotic arm 500 may further include a translation detection assembly for detecting displacement of the first gripping assembly 550 relative to the bulk drill pipe magazine 400 and a lift detection assembly for detecting displacement of the first gripping assembly 550 relative to the chassis 100.

Referring to fig. 7, the first gripping assembly 550 may include a first jaw and a second jaw that are hinged, and a control assembly that controls the first jaw and/or the second jaw to be relatively close to or far away from each other is provided on the first gripping assembly 550, and the control assembly may include a hydraulic cylinder, an electric push rod, and the like. Of course, the first grasping element 550 may be replaced with other grasping structures in accordance with the prior art.

The translation detection assembly and the lifting detection assembly can be arranged as a displacement sensor, a proximity switch and the like, and the specific types and the installation modes of the translation detection assembly and the lifting detection assembly are determined according to the prior art according to the requirements in actual drilling work, and are not repeated herein.

When the rod is added, the translation component 530 drives the first grabbing component 550 to move above the drill rod 800 to be grabbed, the second lifting component 540 drives the first grabbing component 550 to descend and grab the drill rod 800, and the translation component 530 drives the first grabbing component 550 to move to the transfer bracket 600 and loosen the drill rod 800; conversely, when the drill rod is recovered, the translation component 530 drives the first grabbing component 550 to move above the transfer bracket 600, the second lifting component 540 drives the first grabbing component 550 to descend and grab the drill rod 800, and the translation component 530 drives the first grabbing component 550 to move to the vacant position of the high-capacity drill rod box 400 and loosen the drill rod 800.

Referring to FIG. 13, L and H are the lower and upper positions, respectively, of the drill pipe box floor 410 of the high capacity drill pipe box 400; l0 is the cruising position of the first arm 500, and L1 and L2 are the first gripping position and the second gripping position of the first arm 500, respectively. The large-capacity drill rod box 400 is internally provided with n rows and m columns of drill rods 800, and the drill rods 800 are sequentially sequenced according to the rows and the columns, so that the drill rods 800 in the a-th row and the b-th column are drill rods ab (a is more than or equal to 1 and less than or equal to n, b is more than or equal to 1 and less than or equal to m, n is more than or equal to 2, and a, b, m and n are all positive integers).

When the total number of drill rods required by the drilling design is N and rods are added, the first mechanical arm 500 is positioned at the left end of the cruising position L, namely above the drill rods 11, the first grabbing component 550 descends to the first grabbing position L1, the first grabbing component 550 ascends to the cruising position L again after grabbing the drill rods 11 and moves to the transfer bracket 600, and the first grabbing component 550 returns to the left end of the cruising position L after loosening the drill rods 11; under the action of the translation component 530, the first mechanical arm 500 sequentially grabs the rest drill rods 800 in the first row until the drill rods 1m are grabbed, and then the drill rods 800 in the first row are grabbed; after the first row of drill rods 800 is grabbed, the first mechanical arm 500 grabs the second row of drill rods located on the second grabbing position L2 from the drill rod 21 to the drill rod 2m successively; because the first mechanical arm 500 is lowered to the position of the second grabbing position L2, after the second row of drill rods 800 is grabbed, the drill rod box bottom plate 410 of the high-capacity drill rod box 400 is controlled to rise to drive the third row of drill rods 800 to rise to the first grabbing position L1 or the second grabbing position L2, and then the first mechanical arm 500 grabs the 3 rd row of drill rods 800, the 4 th row of drill rods 800, … and the nth row of drill rods 800 in sequence until all the required N drill rods 800 are grabbed.

When the drill rod 800 is recovered, the first mechanical arm 500 descends to the position of the transfer bracket 600 to grasp the drill rod 800, then moves to the cruising position L2 above the position where the drill rod 800 is not placed, descends to the second grasping position L2 to loosen the drill rod 800, and finishes the recovery placement of the drill rod 800; after the n1 th row at the second grabbing position L2 is fully filled, the first mechanical arm 500 is controlled to place the drill rod 800 to the n1 st row at the first grabbing position L1; after the N1-1 th row is fully filled, the drill rod box bottom plate 410 of the high-capacity drill rod box 400 descends, so that the N1-3 th row and the N1-2 th row are respectively located at the heights of the first grabbing position L1 and the second grabbing position L2, and the first mechanical arm 500 continues to recover the drill rods 800 until all N drill rods 800 are recovered.

In the case of retrieving the drill rods 800, the first robot arm 500 may place the drill rods 800 in the order from left to right or may place the drill rods 800 in the order from right to left in the same row.

On the basis of the above embodiment, the structure of the second mechanical arm 700 is defined, the second mechanical arm 700 includes a first swing assembly 710, a second swing assembly 720, a third swing assembly 730, and a second gripping assembly 740 for gripping the drill pipe 800, the first swing assembly 710 is mounted on the lifting support assembly 200, and a fixing portion of the second swing assembly 720 is connected with a rotating portion of the first swing assembly 710, so that the first swing assembly 710 drives the second swing assembly 720 to rotate around the length direction of the chassis 100; the fixed portion of the third swing assembly 730 is connected with the rotating portion of the second swing assembly 720, so that the second swing assembly 720 drives the third swing assembly 730 to rotate around the width direction of the chassis 100; the second grabbing component 740 is connected with the rotating part of the third rotating component 730, and the rotating shaft of the third rotating component 730 is perpendicular to the rotating shaft of the second rotating component 720.

With the width direction of the chassis 100 being the X-axis direction, the height direction of the chassis 100 being the Y-axis direction, and the length direction of the chassis 100 being the Z-axis direction, the drilling height of the rig main body 300 is adjusted to adjust the Y-coordinate of the rig main body 300, the drilling azimuth is adjusted to drive the rig main body 300 to rotate in the XZ-plane, and the drilling pitch angle is adjusted to drive the rig main body 300 to rotate in the XY-plane.

Referring to fig. 4-6, the main body 300 of the drilling machine is fixedly installed at the rotating part of the pitching rotation assembly 230 to adjust the pitch angle of the drilling holes of the main body 300 of the drilling machine. When the pitch angle of the drill hole of the drill main machine 300 changes, referring to fig. 10, the first revolving assembly 710 drives the second revolving assembly 720 to rotate around the length direction of the chassis 100, that is, the first revolving assembly 710 drives the second mechanical arm 700 to rotate in the XY plane, so as to ensure that the second grabbing assembly 740 can put or recover the drill pipe 800 into the second mechanical arm 700.

The main machine 300 and the transfer bracket 600 are respectively disposed at the left and right sides of the second mechanical arm 700, and the second rotating assembly 720 rotates around the length direction of the chassis 100, so as to drive the third rotating assembly 730 and the second grabbing assembly 740 to rotate in a direction approaching the main machine 300 or approaching the transfer bracket 600. Referring to fig. 1 and 10, when the second swing assembly 720 rotates clockwise, the second grabbing assembly 740 is relatively close to the transfer bracket 600 and far from the main machine 300; when the second swing assembly 720 rotates counterclockwise, the second grabbing assembly 740 is relatively close to the main machine 300 and far away from the transfer bracket 600.

The rotation axis of the third rotation assembly 730 is perpendicular to the rotation axis of the second rotation assembly 720, so as to rotate the second grabbing assembly 740, and change the orientation of the clamping jaw of the second grabbing assembly 740.

In the automatic pole adding device shown in fig. 1, the azimuth rotating assembly is disposed below the chassis 100, so that the drill main body 300 and the second mechanical arm 700 synchronously rotate in the XZ plane, and the rotating assembly is not required to be disposed in the second mechanical arm 700 to adjust the azimuth of the second mechanical arm 700 in the XZ plane.

When the drill main body 300 and the second robot arm 700 are not synchronized in azimuth change in the XZ plane, the second robot arm 700 includes a swing assembly that rotates around the height direction of the chassis 100.

The specific structure of the first swing assembly 710, the second swing assembly 720 and the third swing assembly 730 refer to the rotation structure in the prior art, and will not be described herein.

The structure of the second grabbing component 740 refers to the first grabbing component 550, and will not be described herein.

Referring to fig. 10, the zero position of the second mechanical arm 700 is defined when the rotating portion of the first rotating assembly 710 and the rotating portion of the second rotating assembly 720 of the second mechanical arm 700 are both vertically upward along the Y-axis direction.

The second mechanical arm 700 transfers the drill rod 800 from the transfer bracket 600 to the drill main body 300 as follows:

Step S1, controlling the third revolving assembly 730 to rotate so that the second grabbing assembly 740 faces the transfer bracket 600;

step S2, the second rotating assembly 720 is controlled to rotate to the side close to the transfer bracket 600 until the second grabbing assembly 740 moves to the transfer bracket 600;

step S3, controlling the second grabbing component 740 to grab the drill rod 800;

step S4, controlling the second rotating assembly 720 to rotate, so that the second mechanical arm 700 is reset to the zero position;

step S5, controlling the third rotary assembly 730 to rotate so that the second grabbing assembly 740 faces the main machine 300 of the drilling machine;

step S6, the second rotary assembly 720 is controlled to rotate to the side close to the main machine 300 of the drilling machine until the second grabbing assembly 740 moves to the main machine 300 of the drilling machine;

step S7, controlling the first rotary assembly 710 to rotate, wherein the rotation angle of the first rotary assembly 710 is the same as the pitch angle direction and the size of the drilling machine main machine 300;

step S8, controlling the second grabbing assembly 740 to loosen the drill rod 800;

step S9, controlling the first rotating assembly 710 to rotate, wherein the rotation angle of the first rotating assembly 710 is opposite to the pitch angle direction of the drilling machine main machine 300 and the pitch angle is the same as the pitch angle direction of the drilling machine;

in step S10, the second swing assembly 720 is controlled to rotate, so that the second mechanical arm 700 is reset to the zero position.

It should be noted that, in the case that the second mechanical arm 700 and the drill rod 800 grabbed by the second mechanical arm cannot collide or interfere with other components in the automatic rod adding drill, the above steps may be performed synchronously or the sequence may be exchanged, such as step S301 and step S302.

In contrast, when the second mechanical arm 700 transfers the drill rod 800 to the main drilling machine 300 from the transfer bracket 600, the rotation directions of the first rotation assembly 710, the second rotation assembly 720 and the third rotation assembly 730 are opposite to the above steps, and the rest is not repeated.

On the basis of the above embodiment, the first mechanical arm 500 and the second mechanical arm 700 are respectively provided with a grabbing detection assembly, and the grabbing detection assemblies comprise a proximity switch or a travel switch.

In view of the fact that the first gripping assembly 550 corresponds to a plurality of gripping positions within the high capacity drill rod magazine 400, it is preferable that a first gripping detection sensor is provided on the first gripping assembly 550 in order to detect whether a drill rod 800 is present at a position to be gripped.

The first grabbing detection sensor may be configured as a proximity switch, and the specific type and size of the proximity switch are determined with reference to the prior art, and are not described herein.

When the drill rod 800 exists at the grabbing position, the proximity switch transmits grabbing signals to the first grabbing component 550, and the first grabbing component 550 is controlled to complete grabbing actions; conversely, when the drill rod 800 is not present at the position to be grabbed, the translation assembly 530 or the second lifting assembly 540 is controlled to move the first grabbing assembly 550.

Since the second mechanical arm 700 transfers the drill pipe 800 between the transfer bracket 600 and the drill main body 300, the transfer bracket 600 and the drill main body 300 are provided with only one grabbing position, the second grabbing detection sensor may be disposed on the second grabbing component 740, and the second grabbing detection sensor may also be disposed at the transfer bracket 600 and the drill main body 300.

When the drill rod 800 exists at the transit bracket 600 or the drill main machine 300, the proximity switch transmits a grabbing signal to the second grabbing component 740, and the second grabbing component 740 is controlled to complete grabbing actions; conversely, in the absence of drill pipe 800, first swing assembly 710, second swing assembly 720, or third swing assembly 730 is controlled to rotate to move second gripping assembly 740.

In the embodiment, the automatic control of the grabbing action of the mechanical arm is finished through the grabbing detection sensor, manual operation is not needed, and automatic rod adding of the drilling machine is facilitated.

Based on the above embodiment, the high-capacity drill rod box 400 includes a drill rod box bottom plate 410, a lateral positioning assembly 420 for separating and positioning the drill rod 800, and a first lifting assembly 430, one end of the first lifting assembly 430 is fixedly connected with the chassis 100, and the other end of the first lifting assembly 430 is connected with the drill rod box bottom plate 410, so that the first lifting assembly 430 drives the drill rod box bottom plate 410 to move along the height direction of the chassis 100.

Drill rod magazine floor 410 and lateral positioning assembly 420 together form the magazine of high capacity drill rod magazine 400 to store and position drill rods 800. The height of the lateral positioning assembly 420 determines the number of rows of receivable drill rods 800; the length of the drill rod box floor 410 determines the number of drill rods 800 that can be accommodated per row, i.e., the number of columns of drill rods 800. The length of the drill pipe box floor 410 and the height of the lateral positioning assembly 420 are determined according to the drill pipe capacity requirements in actual production.

The first lifting assembly 430 is configured to lift the drill pipe box bottom plate 410 relative to the chassis 100, thereby reducing the lifting stroke of the first mechanical arm 500. The first lifting assembly 430 may be disposed at a wide midpoint of the drill pipe box floor 410, as shown in fig. 14 and 15, or at four corners of the drill pipe box floor 410, although other locations are possible.

First lift assembly 430 may be comprised of a linear displacement mechanism such as hydraulic cylinder 431, electric push rod, and the like.

Referring to FIG. 13, the high capacity drill rod box 400 can accommodate n layers of drill rods 800 (n. Gtoreq.2), and the first robot arm 500 can grasp the drill rods 800 at the first grasping location L1 and the second grasping location L2. During grabbing, the first mechanical arm 500 grabs each layer of drill pipe 800 from top to bottom, and the grabbing process is specifically as follows: first, the first mechanical arm 500 grabs the 1 st row of drill rods 800 located at the first grabbing position L1; after the 1 st row of drill rods 800 are grabbed, the first mechanical arm 500 continues to downwards search, and grabs the 2 nd row of drill rods 800 positioned at the second grabbing position L2; after the 2 nd row of drill rods 800 are grabbed, the first lifting assembly 430 lifts the drill rod box bottom plate 410 to enable the lower layer of drill rods 800 to be lifted to the height of the first grabbing position L1, and the first mechanical arm 500 continues to grab the drill rods 800 until the n th row of drill rods 800 are completely grabbed.

In this embodiment, the first lifting assembly 430 drives the drill rod box bottom plate 410 to lift relative to the chassis 100, so as to realize the change of the height of the drill rod 800 in the high-capacity drill rod box 400, and the position of the drill rod 800 can be lifted by lifting the drill rod box bottom plate 410 under the condition that the height of the first mechanical arm 500 is unchanged, so that the lifting stroke of the first mechanical arm 500 is reduced, and the grabbing range is enlarged under the condition that the maximum lifting stroke of the first mechanical arm 500 is unchanged, so that multiple layers of drill rods 800 can be placed in the box; the lateral positioning assembly 420 performs separate positioning of multiple columns of drill rods 800 within the high capacity drill rod magazine 400 to facilitate grasping and retrieval of the first robotic arm 500.

Therefore, the high-capacity drill rod box 400 provided in this embodiment can be used for placing multiple layers of drill rods 800, so that the drill rod capacity is effectively enlarged, and meanwhile, the lifting stroke of the first mechanical arm 500 is reduced by the first lifting assembly 430, which is beneficial to improving the drill rod transferring efficiency of the first mechanical arm 500.

On the basis of the above embodiment, in order to prevent the movement direction of the drill pipe box bottom plate 410 from deviating from the height direction of the chassis 100, one of the chassis 100 and the drill pipe box bottom plate 410 is provided with a slide rail 441, and the other is provided with a slide sleeve 442 that slides relatively to the slide rail 441; the extending direction of the sliding rail 441 is perpendicular to the chassis 100.

Referring to fig. 15, a sliding rail 441 perpendicular to the chassis 100 is disposed on the chassis 100, a sliding sleeve 442 is sleeved on the sliding rail 441, and the sliding sleeve 442 is connected to the drill pipe box bottom plate 410. When the first lifting assembly 430 drives the drill pipe box bottom plate 410 to lift, the sliding sleeve 442 lifts along with the drill pipe box bottom plate 410 relative to the sliding rail 441, so that limitation and guiding of the movement direction of the drill pipe box bottom plate 410 are achieved.

The connection manner and connection position of the sliding rail 441 and the chassis 100, the connection manner and connection position of the sliding sleeve 442 and the drill pipe box bottom plate 410, and the shapes, types and sizes of the sliding rail 441 and the sliding sleeve 442 are determined according to actual production requirements with reference to the prior art, and are not described herein.

Preferably, in order to increase the smoothness of the sliding sleeve 442 lifting relative to the sliding rail 441, a sliding bearing 443 is sleeved between the sliding rail 441 and the sliding sleeve 442.

In this embodiment, the sliding rail 441 and the sliding sleeve 442 that slide relatively are used as the first lifting guide assembly 440, so as to limit the movement direction of the drill pipe box bottom plate 410, and prevent the movement direction of the drill pipe box bottom plate 410 from deviating from the height direction of the chassis 100 during the movement.

On the basis of the above embodiment, in order to increase the lifting stroke of the drill pipe box bottom plate 410 within a limited lifting stroke, the first lifting assembly 430 may include a hydraulic cylinder 431, a sprocket 432 and a chain 433, the cylinder body of the hydraulic cylinder 431 is fixed to the chassis 100, and the piston rod of the hydraulic cylinder 431 is hinged with the sprocket shaft to which the sprocket 432 is mounted; one end of the chain 433 is fixedly connected with the chassis 100 or the cylinder body, and the other end of the chain 433 is connected with the drill rod box bottom plate 410 by the sprocket 432.

Referring to fig. 15, a left side chain 433 is connected to the drill pipe box bottom plate 410, and a right side chain 433 is connected to the chassis 100; since the chain 433 cannot exceed the height of the center of the sprocket 432, the distance from the bottom end of the left side chain 433 to the center of the sprocket 432 is the maximum lifting stroke of the drill rod box floor 410.

The diameter of the sprocket 432, the length and shape of the chain 433, etc. are determined with reference to the prior art according to actual production needs, and will not be described in detail herein.

When the piston rod of the hydraulic cylinder 431 extends by a length L, the wheel distance of the driving chain wheel 432 is increased by L, and the travel of the chain 433 is increased by 2L because the chain 433 winds the chain wheel 432, so that the drill pipe box bottom plate 410 connected with one end of the chain 433 moves upwards by a distance of 2L along the height direction of the chassis 100; conversely, when the piston rod of hydraulic cylinder 431 is retracted by length L, drill pipe box floor 410 moves downward in the height direction of chassis 100 by a distance of 2L.

It should be noted that, if the chain 433 is loosened during the movement, the lifting height of the drill pipe box bottom plate 410 and the telescopic length of the piston cylinder no longer conform to the above-mentioned vertical relationship.

Preferably, the chain wheels 432 are symmetrically distributed about a symmetrical plane perpendicular to the width direction of the hydraulic cylinder 431 and the chassis 100, as shown in fig. 2, the chain wheels 432 are arranged at two sides of the hydraulic cylinder 431, the drill pipe box bottom plate 410, the lateral positioning assembly 420 arranged on the drill pipe box bottom plate 410 and the drill pipe 800 are driven to move by the chains 433 at two sides, the stress of the chain 433 at one side is small, the service life of the chain 433 is prolonged, and the drill pipe box bottom plate 410 is provided with a plurality of stress points and is relatively uniform in stress.

In the present embodiment, by providing the sprocket 432 and the chain 433, in the case where the stroke of the hydraulic cylinder 431 is effective, doubling of the lifting stroke of the drill pipe box floor 410 is achieved, greatly expanding the stroke of the drill pipe box floor 410.

Of course, the sprocket 432 and the chain 433 may be replaced with a fixed pulley, a wire rope, or the like having a similar function.

On the basis of the above embodiment, in order to limit the movement direction of the sprocket 432, the first lifting assembly 430 further includes a guide post 434, the guide post 434 is a portal structure disposed at two sides of the hydraulic cylinder 431, the guide post 434 is provided with a guide slot 4341, and the sprocket shaft is mounted in the guide slot 4341; the extending direction of the guide groove 4341 is perpendicular to the chassis 100.

Preferably, a cam bearing 435 is disposed at an end of the sprocket 432 away from the piston rod, and the cam bearing 435 is mounted in the guide groove 4341, so as to reduce friction between the sprocket shaft and the guide groove 4341 and improve sliding smoothness of the sprocket shaft relative to the guide groove 4341.

In the present embodiment, the sprocket shaft is guided by the guide groove 4341, which limits the movement direction of the sprocket 432 and prevents the sprocket 432 from deviating from the height direction of the chassis 100 during lifting.

On the basis of the above embodiment, the structure of the lateral positioning assembly 420 is limited, referring to fig. 16, the lateral positioning assembly 420 includes a positioning plate 421 and a limiting plate 422 connected to two ends of the positioning plate 421, and the positioning plate 421 and the limiting plate 422 are vertically connected to the chassis 100; the inner side of the locating plate 421 is provided with a plurality of groups of clapboards 4211 for separating the drill rods 800, and the clapboards 4211 comprise a left clapboards positioned on the left side of the drill rods 800 and a right clapboards positioned on the right side of the drill rods 800, so that the left clapboards and the right clapboards separate a column of drill rods 800; a gripping gap is provided between adjacent sets of bulkheads 4211 for insertion of the first robotic arm 500 into the gripping drill pipe 800.

The baffle 4211 is perpendicular to the locating plate 421, and is used for separating and locating each column of drill rods 800, so as to prevent the drill rods 800 from rolling in the box body, and facilitate the first mechanical arm 500 to sequentially grasp the drill rods 800. The height of the spacer 4211 is the same as the height of the positioning plate 421; the thickness of the spacer 4211 may be equal to the length of the drill pipe 800, or may be protruded only a partial distance from the inner surface of the positioning plate 421, so long as the positioning and separation functions are achieved.

A set of baffles 4211 is used to separate a column of drill pipes 800, with the distance between the left and right baffles being slightly greater than the diameter of the drill pipes 800 to ensure that the drill pipes 800 are properly positioned between the left and right baffles.

Preferably, the distance L between the left partition plate and the right partition plate and the diameter d of the drill rod can be set to satisfy d < L.ltoreq.1.05 d.

Preferably, the gripping clearances between two adjacent groups of the separators 4211 are the same, and the specific values thereof are determined according to the gripping space required by the first mechanical arm 500, so as to ensure that the first mechanical arm 500 is smoothly inserted into the gripping drill pipe 800 through the gripping clearances.

Referring to fig. 16, preferably, the upper and lower ends of the positioning plate 421 are provided with side beams, and the heights of the side beams are determined according to the actual production requirements with reference to the prior art, which is not described herein.

The limit baffles 422 are arranged on two sides of the positioning plate 421 in the length direction and are used for preventing the drill rod 800 from rolling out from two ends of the box body under the conditions of jolting and the like; the length of the limit stop 422 is at least 1/2 of the length of the drill pipe 800, and preferably the limit stop 422 is set to be equal to the length of the drill pipe 800.

The limit baffle 422 can be welded with the locating plate 421, or can be rotationally connected with the locating plate 421 through a rotating shaft, so that the limit baffle 422 is opened when a large number of drill rods 800 are loaded and unloaded, and the operation is convenient.

In this embodiment, the partition 4211 on the positioning plate 421 separates and positions each column of drill rods 800, and the limit baffle 422 prevents the drill rods 800 from rolling out of the box, which is beneficial for the orderly grabbing and replacing of the first mechanical arm 500 on the drill rods 800.

On the basis of the above embodiment, the structure of the transfer bracket 600 is defined, and the transfer bracket 600 includes a drill rod bracket 610 for temporarily storing the drill rod 800 and a third elevating assembly 620 for driving the drill rod bracket 610 to move in the height direction of the chassis 100, one end of the third elevating assembly 620 is connected to the chassis 100, and the other end of the third elevating assembly 620 is connected to the drill rod bracket 610.

The third lifting assembly 620 may be provided with a hydraulic cylinder, a linear guide rail, and other linear displacement mechanisms, and specific types thereof are determined according to actual production needs, and will not be described herein.

When the automatic rod-adding drilling machine works, considering the roadway passing performance and avoiding the influence of the excessive height of the first mechanical arm 500 on the sight, the lifting stroke of the first mechanical arm 500 is generally set to be shorter, that is, the lowest center height (the second grabbing position L2) and the highest center height (the cruising position L0) of the first mechanical arm 500 are relatively close. In order to expand the drilling range of the main body 300 of the drilling machine, the lifting stroke of the first lifting cylinder in the lifting support assembly 200 is long, i.e., the most central height and the most central height of the main body 300 of the drilling machine are relatively close. Thus, there is a possibility that the highest center height of the first robot arm 500 is far lower than the highest center height of the drill main body 300, so that the second robot arm 700 cannot transfer the first robot arm 500 to grip the drill rod 800.

To avoid the above risk, a third lifting assembly 620 is provided to adjust the height of the drill rod carriage 610 to compensate for the height difference between the first robot arm 500 and the drill main machine 300.

The highest center height of the third elevating assembly 620 is greater than the highest center height of the first robot 500; since the operating center height of the main rig 300 is generally lower than its highest center height, the highest center height of the third elevator assembly 620 can be set equal to or higher than the operating center height of the main rig 300.

When the first mechanical arm 500 grabs or retrieves the drill rod 800, the third lifting assembly 620 is controlled to drive the drill rod holder 610 to descend, so that the drill rod holder 610 is lowered to a lower position, and the lower position of the drill rod holder 610 is equal to the highest center height of the first mechanical arm 500.

When the second mechanical arm 700 grabs or retrieves the drill rod 800, the third lifting assembly 620 is controlled to drive the drill rod bracket 610 to lift to the high position, so that the high position of the drill rod bracket 610 is equal to the height of the working center of the drill main machine 300.

In this embodiment, by providing the third lifting assembly 620 in the transfer bracket 600, the height difference between the first mechanical arm 500 and the drill main body 300 is compensated, which is beneficial to smooth transfer of the drill pipe 800 between the transfer bracket 600 and the drill main body 300.

In addition, the third lifting assembly 620 may be provided to the second robot 700 as long as one of the relay bracket 600 and the second robot 700 is height-adjustable.

In order to prevent the drill rod holder 610 from deviating from the height direction of the chassis 100 during lifting, it is preferable that the relay holder 600 further includes a second lifting guide assembly 630, the second lifting guide assembly 630 being mounted on the lifting support assembly 200, and the drill rod holder 610 being slidably coupled to the second lifting guide assembly 630.

The second lifting guide assembly 630 is provided with a sliding rail, the drill rod bracket 610 is provided with a sliding block matched with the sliding rail, and the extending direction of the sliding rail is perpendicular to the chassis 100, so that the third lifting assembly 620 drives the drill rod bracket 610 to lift along the second lifting guide assembly 630.

In addition to the rail slide connection, the second elevator guide assembly 630 and the drill rod carriage 610 may be engaged with a rack and pinion connection, etc.

On the basis of the above embodiment, in order to facilitate the low-level detection during the transportation of the drill pipe 800, the height of the lowest center of the transfer bracket 600, the height of the lowest center of the first mechanical arm 500, and the height of the lowest center of the drill main body 300 may be set to be identical.

Referring to fig. 1-3, the transfer bracket 600, the first mechanical arm 500 and the main machine 300 are disposed on the lifting base 220 of the lifting support assembly 200, so that the lowest center heights of the three are the same.

It should be noted that, in the present disclosure, the first and second mechanical arms 500 and 700, the first and second lift guide assemblies 440 and 630, the first and second gripping assemblies 550 and 740, the first and second gripping detection sensors, the first and third lifting assemblies 430, 540 and 620, and the first, second and third rotating assemblies 710, 720 and 730 are only used to distinguish the difference in position, and are not limited to the sequence.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The automatic rod-adding drilling machine provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims (8)

1. An automatic rod-adding drilling machine, comprising:

a chassis (100) mounted on the crawler;

a lifting support assembly (200) connected to the chassis (100);

the drilling machine main body (300) is arranged on the lifting support assembly (200), and the lifting support assembly (200) is used for adjusting the drilling height and the drilling pitch angle of the drilling machine main body (300);

a high capacity drill rod magazine (400) for holding a plurality of rows of drill rods (800);

-a transfer carriage (600) for temporary storage of the drill rod (800);

a first robotic arm (500) for transferring the drill rod (800) between the high capacity drill rod magazine (400) and the transfer carriage (600);

a second robotic arm (700) for transferring the drill pipe (800) between the transfer carriage (600) and the rig main machine (300);

the high-capacity drill rod box (400), the transfer bracket (600), the first mechanical arm (500) and the second mechanical arm (700) are all arranged on the chassis (100), and the high-capacity drill rod box (400) and the first mechanical arm (500) can be lifted upwards along the height direction of the chassis (100);

the high-capacity drill rod box (400) comprises a drill rod box bottom plate (410), a lateral positioning assembly (420) for separating and positioning the drill rods (800) and a first lifting assembly (430), one end of the first lifting assembly (430) is fixedly connected with the chassis (100), and the other end of the first lifting assembly (430) is connected with the drill rod box bottom plate (410), so that the first lifting assembly (430) drives the drill rod box bottom plate (410) to move along the height direction of the chassis (100);

The first lifting assembly (430) comprises a hydraulic cylinder (431), a chain wheel (432) and a chain (433), wherein a cylinder body of the hydraulic cylinder (431) is fixed on the chassis (100), a piston rod of the hydraulic cylinder (431) is hinged with a chain wheel shaft provided with the chain wheel (432), one end of the chain (433) is fixedly connected with the chassis (100) or the cylinder body, and the other end of the chain (433) is connected with the drill rod box bottom plate (410) around the chain wheel (432);

the second mechanical arm (700) comprises a first rotating component (710), a second rotating component (720), a third rotating component (730) and a second grabbing component (740) for grabbing the drill rod (800), the first rotating component (710) is installed on the lifting supporting component (200), and the fixing part of the second rotating component (720) is connected with the rotating part of the first rotating component (710), so that the first rotating component (710) drives the second rotating component (720) to rotate around the length direction of the chassis (100);

the fixed part of the third rotary assembly (730) is connected with the rotating part of the second rotary assembly (720) so that the second rotary assembly (720) drives the third rotary assembly (730) to rotate around the width direction of the chassis (100);

The second grabbing component (740) is connected with the rotating part of the third rotating component (730), and the rotating shaft of the third rotating component (730) is perpendicular to the rotating shaft of the second rotating component (720).

2. The automatic sucker rod drilling machine according to claim 1, wherein the lifting support assembly (200) comprises a lifting seat (220), a pitching rotation assembly (230) and a lifting cylinder (210) mounted on the chassis (100), and the lifting seat (220) is fixedly mounted on a moving part of the lifting cylinder (210);

the fixed part of the pitching rotation assembly (230) is connected with the lifting seat (220), and the rotating part of the pitching rotation assembly (230) is connected with the drilling machine main machine (300) so that the pitching rotation assembly (230) can adjust the drilling pitch angle of the drilling machine main machine (300).

3. The automatic rod-adding drilling machine according to claim 1, wherein the first mechanical arm (500) comprises a mechanical arm base (510), a mounting frame (520), a translation assembly (530), a second lifting assembly (540) and a first grabbing assembly (550) for grabbing the drill rod (800), the mechanical arm base (510) is slidably connected with the chassis (100) through the translation assembly (530), the mounting frame (520) is connected with the mechanical arm base (510), and the first grabbing assembly (550) is mounted on the top end of the mounting frame (520);

The translation assembly (530) is used for driving the mechanical arm base (510) to move along the length direction of the chassis (100), and the second lifting assembly (540) is used for driving the first grabbing assembly (550) to move along the height direction of the chassis (100).

4. The automatic rod-adding drilling machine of claim 3, wherein the first mechanical arm (500) further comprises a translation detection assembly for detecting a displacement of the first gripping assembly (550) relative to the high capacity drill rod magazine (400) and a lift detection assembly for detecting a displacement of the first gripping assembly (550) relative to the chassis (100).

5. The automatic pipe-feeding drilling machine according to any one of claims 1-4, wherein the transfer carriage (600) comprises a pipe carriage (610) for temporarily storing the pipe (800) and a third lifting assembly (620) for driving the pipe carriage (610) to move in the height direction of the chassis (100), one end of the third lifting assembly (620) being connected to the chassis (100), the other end of the third lifting assembly (620) being connected to the pipe carriage (610).

6. The automatic pipe-handling drill of claim 5, wherein the transfer carriage (600) further comprises a second elevation guide assembly (630), the second elevation guide assembly (630) being mounted on the elevation support assembly (200), the pipe carriage (610) being slidably coupled to the second elevation guide assembly (630).

7. The automatic sucker rod drilling machine of claim 5, wherein the lowest center height of the transfer carriage (600), the lowest center height of the first robotic arm (500) and the lowest center height of the drill main machine (300) are identical in height.

8. The automatic sucker rod drilling machine according to any one of claims 1-4, wherein a grabbing detection sensor is arranged in each of the first mechanical arm (500) and the second mechanical arm (700), and the grabbing detection sensor comprises a proximity switch.