CN112814565A - 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; a lifting support assembly connected to the chassis; the drilling machine host 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 host machine; the high-capacity drill rod box is used for placing a plurality of rows of drill rods; a transfer carriage for temporarily storing drill rods; 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 drilling machine host; the high-capacity drill rod box, the transfer bracket, the first mechanical arm and the second mechanical arm are all arranged on the chassis, and one of the high-capacity drill rod box and the first mechanical arm can lift along the height direction of the chassis. The first mechanical arm and the second mechanical arm respectively transfer the drill rod between the large-capacity drill rod box and the transfer bracket and between the transfer bracket and the drilling machine host, so that the stroke of the single mechanical arm is reduced, and the drill rod loading and unloading efficiency and the drilling machine working efficiency 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 related engineering holes such as gas drainage holes, grouting fire extinguishing holes, coal seam water injection holes, geological exploration holes and the like, and is widely applied to the industries such as geological exploration, coal stove exploitation, hydroelectric power generation and the like.

The prior 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 walking 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 to and from the rear clamp holder, and a drill rod adjusting box for storing the drill rod and adjusting the position of the drill rod, thereby realizing the full-automatic operation of the tunnel drilling machine.

The position of drilling rod in the drilling rod regulating box is adjusted in the relative supporting seat rotation, because it is little to rotate the regulation range, and the arm stroke is big, has reduced the efficiency of snatching and has placed of arm, and then has reduced rig work efficiency.

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

Disclosure of Invention

In view of the above, an object of the present invention is to provide an automatic rod-adding drilling machine, wherein a transfer bracket is arranged between a drill rod box and a drilling machine main machine, 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 main machine, so that the drill rod loading and unloading efficiency is improved, and further, the drilling machine working efficiency is improved.

In order to achieve the above purpose, the invention provides the following technical scheme:

an automatic rodadding drill 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;

the high-capacity drill rod box is used for placing a plurality of rows of drill rods;

a transfer carriage for temporarily storing the drill pipe;

a first robot for transferring the drill rod between the high-capacity drill rod magazine and the transfer carriage;

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

the high-capacity drill rod box, the transfer bracket, the first mechanical arm and the second mechanical arm are all mounted on the chassis, and one of the high-capacity drill rod box and the first mechanical arm can lift in 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 drilling machine host machine, so that the pitching rotation assembly can adjust the drilling pitch angle of the drilling machine host 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, the mechanical arm base is slidably connected 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 rotary component, a second rotary component, a third rotary component and a second grabbing component for grabbing the drill rod, the first rotary component is mounted on the lifting support component, and a fixing part of the second rotary component is connected with a rotating part of the first rotary component, so that the first rotary component drives the second rotary component 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 pipe box comprises a drill pipe 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 pipe, 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 pipe box bottom plate, so that the first lifting assembly drives the drill pipe 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 connected with the second lifting guide assembly in a sliding manner.

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 body are consistent in height.

Preferably, the first mechanical arm and the second mechanical arm are both 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 a crawler under a chassis, and controls the lifting support assembly to adjust the direction of the drilling machine host machine, so that the drilling height, the drilling azimuth angle and the drilling pitch angle of the drilling machine host machine are adjusted to required angles; when a drill rod is loaded, the first mechanical arm grabs the drill rod in the large-capacity drill rod box and transfers the drill rod to the transfer bracket, and then the second mechanical arm grabs the drill rod on the transfer bracket and transfers the drill rod to the drilling machine host; when the drill rod is lowered, the second mechanical arm grabs the drill rod in the drilling machine main 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 large-capacity drill rod box.

Because be equipped with the transfer bracket between large capacity drilling rod case and rig host computer, and the drilling rod is transported by first arm and second arm respectively between large capacity drilling rod case to the transfer bracket, transfer bracket to the rig host computer, compare in prior art, the transportation stroke of single arm is very reduced, has improved the handling efficiency of drilling rod effectively to rig work efficiency has been improved.

Meanwhile, one of the large-capacity drill rod box and the first mechanical arm can lift 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 tunnel passing performance of the automatic rod-adding drilling machine is ensured.

Drawings

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

FIG. 1 is a schematic structural diagram of an embodiment of an automatic rod-adding drilling machine provided by 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 lift support assembly and transfer carriage of FIG. 1;

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

FIG. 6 is a 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 top view of FIG. 7;

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

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

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

FIG. 13 is a working principle diagram of the grabbing displacement of the large-capacity drill pipe box and the first mechanical arm;

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

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

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

fig. 17 is a 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 oil cylinder, 211 is a first cylinder body, 212 is a first piston, 213 is a first piston rod, 214 is a second cylinder body, 2141 is a first oil chamber, 2142 is a second oil chamber, 215 is a second piston, 220 is a lifting seat, 230 is a pitching rotation assembly, 300 is a main machine of a drilling machine, 400 is a large-capacity drill rod box, 410 is a bottom plate of the drill rod box, 420 is a lateral positioning assembly, 421 is a positioning plate, 4211 is a baffle plate, 422 is a limit baffle plate, 430 is a first lifting assembly, 431 is a hydraulic cylinder, 432 is a chain wheel, 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 slide rail, 442 is a slide sleeve, 500 is a first mechanical arm, 510 is a mechanical arm base, 520 is a mounting frame, 530 is a translation assembly, 540 is a second grabbing lifting assembly, 550 is a first grabbing lifting assembly, 600 is a transfer bracket, 443 is a, 610 is a drill rod bracket, 620 is a third lifting component, 630 is a second lifting guide component, 700 is a second mechanical arm, 710 is a first rotating component, 720 is a second rotating component, 730 is a third rotating component, 740 is a second grabbing component, 800 is a drill rod, L is a low position of a bottom plate of the drill rod box, H is a high position of the bottom plate of the drill rod box, L0 is a circulating position of the first mechanical arm, L1 is a first grabbing position of the first mechanical arm, and L2 is a second grabbing position of the first mechanical arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide an automatic rod-adding 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 working efficiency of the drilling machine is further improved.

It should be noted that, the length direction of the chassis 100 mentioned in this document is the extending direction of the roadway, and the width direction of the chassis 100 is the width direction of the roadway; center height refers to the height of the drill pipe axis as each assembly grips drill pipe 800.

Please refer to fig. 1-17.

The invention provides an automatic rod-adding drilling machine, which comprises: a chassis 100 mounted on the crawler; a lifting support assembly 200 attached 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 large-capacity drill rod magazine 400 for placing a plurality of rows of drill rods 800; a transfer carriage 600 for temporarily storing the drill rod 800; a first robot 500 transferring the drill rod 800 between the large-capacity drill rod magazine 400 and the transfer carriage 600; a second robot 700 transferring the drill rod 800 between the transfer carriage 600 and the drilling machine main body 300; the large-capacity rod box 400, the transfer bracket 600, the first robot 500, and the second robot 700 are all mounted on the chassis 100, and one of the large-capacity rod box 400 and the first robot 500 may be lifted and lowered in the height direction of the chassis 100.

It should be noted that the automatic rod-adding drilling machine further includes a traveling mechanism, a power system, an operating system, and the like for traveling in the roadway, and reference is made to the prior art for other systems in the automatic rod-adding drilling machine and connection relationships among the systems, which are not described herein again.

The chassis 100 is mounted on a crawler and is used for supporting the drilling machine main body 300, the large-capacity drill rod 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, the orientation of the drill rod main machine 300 arranged on the chassis 100 in the horizontal plane changes due to the fact that the chassis 100 is installed on the crawler, that is, the orientation angle of the drill rod main machine 300 changes.

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 host 300, and is matched with the drilling program of the drilling machine host 300 to realize the automatic operation of positioning and drilling.

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

The rotating part of the lifting 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 main machine 300 connected with the pitching rotation assembly 230 to lift relative to the chassis 100, and finally realize the adjustment of the drilling height of the drilling machine main machine 300.

In view of the safety of the roadway drilling process, the automatic rod-adding drilling machine is provided with a roadway support assembly for supporting a roadway roof. In order to simplify the structure of the device, please refer to fig. 17, the lift cylinder 210 includes a first cylinder body 211, a first piston rod 213 for supporting the top plate of the roadway, a first piston 212 for driving the first piston rod 213 to move up and down, a second cylinder body 214 for connecting with the lift base 220, and a second piston 215 for driving the second cylinder body 214 to move up and down, the first piston 212 is sleeved in the first cylinder body 211, and hydraulic oil chambers are disposed at the bottoms of the first piston 212 and 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 to the first cylinder 211.

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

With 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, when the first oil cavity 2141 is filled with oil and the second oil cavity 2142 returns oil, the second cylinder 214 ascends and drives the lifting seat 220 to ascend; on the contrary, when the first oil chamber 2141 returns oil and the second oil chamber 2142 is filled with oil, the second cylinder block 214 descends, and the lifting base 220 is driven to descend.

Therefore, the first oil cylinder 211 and the second oil cylinder 214 are nested, the lifting oil cylinder 210 realizes the lifting of the lifting seat 220 and the support of the roadway top plate, 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 drilling machine main machine 300 to rotate synchronously, so that the drilling hole pitching angle of the drilling machine main machine 300 is adjusted.

In order to adjust the drilling azimuth angle of the drilling machine main machine 300, an azimuth slewing assembly can be further arranged in the automatic rod-adding drilling machine, and the azimuth slewing assembly can be arranged at the bottom of the chassis 100 and drives the chassis 100 to rotate in the horizontal plane; the azimuth slewing assembly may also be disposed between the fixing portion of the lift cylinder 210 and the chassis 100 to drive the lift cylinder 210 to rotate in the horizontal plane; the azimuth slewing assembly can also be arranged between the rotating part of the elevation slewing assembly 230 and the drilling machine main body 300 to drive the drilling machine main body 300 to rotate around the height direction of the chassis 100.

Preferably, the azimuth slewing assembly is disposed at the bottom of the chassis 100 for the compact structure of the automatic rod-adding drilling machine and for the convenience of assembly and adjustment.

The number of the lift cylinders 210 may be one, or two or more. It should be noted that when the number of the lift cylinders 210 exceeds one, the plurality of lift cylinders 210 need to be kept to be lifted synchronously by the synchronization device, so as to avoid the lift base 220 from tilting relative to the chassis 100, and further affect the adjustment of the pitch azimuth angle of the drilling machine main body 300.

Please refer to the prior art according to the design size of the automatic rod-adding drilling machine, and the like, for the structure, the size, and the like of the azimuth slewing assembly and the pitching slewing assembly 230, which are not described herein again.

Referring to fig. 1, the large-capacity drill rod box 400 can accommodate and place a plurality of rows of drill rods 800, so that the capacity of the drill rods is greatly increased, frequent supplement of the drill rods 800 in the deep hole drilling process is avoided, and the work efficiency of the automatic rod-adding drilling machine is improved.

The height of large capacity drill rod magazine 400 determines the number of rows of drill rods 800, and the length of large capacity drill rod magazine 400 determines the number of drill rods that can be accommodated by each row; the rod capacity of the high capacity rod magazine 400 is determined based on the actual operating environment and requirements of the automatic rod adding 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 drilling machine host 300, and the original transfer stroke is divided into two parts by arranging the two mechanical arms, so that the transfer stroke of a single mechanical arm is effectively reduced; the transfer efficiency of the drill rod 800 is improved.

Because the large-capacity drill rod box 400 is provided with a plurality of rows of drill rods 800, after the upper layer of drill rods 800 are transferred, the lifting stroke of the first mechanical arm 500 for grabbing the lower layer of drill rods 800 is increased, and at least one of the large-capacity drill rod box 400 and the first mechanical arm 500 is arranged to lift relative to the chassis 100 in order to reduce the lifting stroke of the first mechanical arm 500 and improve the drill rod transfer efficiency of the first mechanical arm 500.

When the high-capacity drill rod box 400 is lifted, the high-capacity drill rod box 400 is controlled to ascend after the upper drill rod 800 is grabbed, so that the lower drill rod 800 ascends to the height of the original upper drill rod 800, and the first mechanical arm 500 can grab the lower drill rod 800; when the first mechanical arm 500 only ascends and descends, the first mechanical arm 500 is controlled to descend after the upper layer of drill rod 800 is grabbed, so that the grabbing position of the first mechanical arm 500 is descended from the original position of the upper layer of drill rod 800 to the position of the lower layer of drill rod 800; when 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 at the same time, and the lifting strokes of the high-capacity drill rod box 400 and the first mechanical arm 500 are determined according to the height limit requirement of a roadway on the automatic rod-adding drilling machine and the like.

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

In this embodiment, be equipped with the transfer bracket 600 between large capacity drilling rod case 400 and the rig host computer 300, and large capacity drilling rod case 400 transports drilling rod 800 by first arm 500 and second arm 700 respectively to transfer bracket 600, transfer bracket 600 to the rig host computer 300, compares in prior art, and the transfer stroke of single arm is very reduced, has improved drilling rod 800's handling efficiency effectively to rig work efficiency has been improved.

Meanwhile, one of the large-capacity drill rod box 400 and the first mechanical arm 500 can lift relative to the chassis 100, so that the grabbing range of the first mechanical arm 500 is expanded, the height of the mechanical arm 1 is reduced, and the tunnel passing performance of the automatic rod-adding drilling machine is ensured.

In addition to the above embodiments, referring to fig. 7-9, the structure of the first robot 500 is further defined, the first robot 500 may include a robot 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 robot base 510 is slidably connected to the chassis 100 through the translation assembly 530, the mounting frame 520 is connected to the robot 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 to drive the first gripper assembly 550 to move along the length direction of the chassis 100, and the second lifting assembly 540 is used to drive the first gripper assembly 550 to move along the height direction of the chassis 100.

It should be noted that the top end of the mounting frame 520 herein refers to the free end of the mounting frame 520, and corresponds to the connecting end of the mounting frame 520 for connecting with the robot arm 510.

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

In addition, the mounting frame 520 may also be provided as an integral composite beam, such as an arc beam. At this time, the second elevating assembly 540 may be disposed between the mounting frame 520 and the robot arm base 510, or between the mounting frame 520 and the first grasping assembly 550.

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

The translation assembly 530 drives the robot 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 both fixedly mounted on the chassis 100, and the slide rail and the rack are both disposed along the length direction of the chassis 100; the hydraulic motor is fixed on the mechanical arm base 510, and the gear is sleeved on an output shaft of the hydraulic motor.

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

Preferably, the first robot 500 may further include a translation detection assembly for detecting a displacement of the first gripper assembly 550 with respect to the large capacity rod magazine 400 and a lift detection assembly for detecting a displacement of the first gripper assembly 550 with respect to the chassis 100.

The first grabbing assembly 550 is used for grabbing the drill rod 800, referring to fig. 7, the first grabbing assembly 550 may include a first jaw and a second jaw which are hinged to each other, a control assembly for controlling the first jaw and/or the second jaw to approach or move away from each other is provided on the first jaw and/or the second jaw, and the control assembly may include a hydraulic cylinder, an electric push rod, and the like. Of course, the first gripper assembly 550 may be replaced with other gripper configurations as well, in accordance with the prior art.

Translation detecting element and lift detecting element can set up to displacement sensor, proximity switch etc. and its specific kind and mounting means are according to the needs in the actual drilling work and refer to prior art and confirm, no longer describe herein.

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

Referring to fig. 13, L and H are respectively a lower position and an upper position of a pipe box bottom plate 410 of the large-capacity pipe box 400; l0 is the cruise position of the first robot arm 500, and L1 and L2 are the first and second gripping positions of the first robot arm 500, respectively. N rows and m columns of drill rods 800 are arranged in the large-capacity drill rod box 400, and the drill rods 800 are sequentially sequenced according to the number of 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 positive integers).

When adding the drill rods, firstly the first mechanical arm 500 is positioned at the left end of the cruise position L, namely above the drill rod 11, the first grabbing assembly 550 descends to a first grabbing position L1, after grabbing the drill rod 11, the first grabbing assembly 550 ascends to the cruise position L again and moves to the transfer bracket 600, and after loosening the drill rod 11, the first grabbing assembly 550 returns to the left end of the cruise position L; under the action of the translation assembly 530, the first mechanical arm 500 successively grabs the rest drill rods 800 in the first row until the drill rods are grabbed to 1m, and the first row of drill rods 800 are grabbed; after the first row of drill rods 800 is grabbed, the first mechanical arm 500 successively grabs the second row of drill rods positioned at the second grabbing position L2 from the drill rods 21 to the drill rods 2 m; because the first mechanical arm 500 is lowest to the second grabbing position L2, after the second row of drill rods 800 are grabbed completely, the drill rod box bottom plate 410 of the large-capacity drill rod box 400 is controlled to ascend, the third row of drill rods 800 are driven to ascend to the first grabbing position L1 or the second grabbing position L2, and then the first mechanical arm 500 sequentially 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 until all the required N drill rods 800 are grabbed completely.

When the drill rod 800 is recovered, the first mechanical arm 500 descends to the transfer bracket 600 to grab the drill rod 800, then moves to the cruise position L2 above the position where the drill rod 800 is not placed, descends to the second grab position L2 to loosen the drill rod 800 and complete the recovery and placement of the drill rod 800; after the nth 1 row at the second grabbing position L2 is full, controlling the first mechanical arm 500 to place the drill rod 800 to the nth 1-1 row at the first grabbing position L1; after the nth 1-1 row is fully released, the drill rod box bottom plate 410 of the large-capacity drill rod box 400 descends, so that the nth 1-3 row and the nth 1-2 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.

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

On the basis of the above embodiments, the structure of the second mechanical arm 700 is defined, the second mechanical arm 700 includes 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 mounted on the lifting support component 200, and a fixed portion of the second rotating component 720 is connected with a rotating portion 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 revolving assembly 730 is connected with the rotating part of the second revolving assembly 720, so that the second revolving assembly 720 drives the third revolving assembly 730 to rotate around the width direction of the chassis 100; the second grabbing assembly 740 is connected to the rotating portion of the third rotating assembly 730, and the rotating shaft of the third rotating assembly 730 is perpendicular to the rotating shaft of the second rotating assembly 720.

Taking the width direction of the chassis 100 as the X-axis direction, the height direction of the chassis 100 as the Y-axis direction and the length direction of the chassis 100 as the Z-axis direction, the drilling height of the drilling machine main machine 300 is adjusted to adjust the Y coordinate of the drilling machine main machine 300, the drilling azimuth angle is adjusted to drive the drilling machine main machine 300 to rotate on the XZ plane, and the drilling pitch angle is adjusted to drive the drilling machine main machine 300 to rotate on the XY plane.

Referring to fig. 4-6, the drilling machine main body 300 is fixedly installed on the rotating portion of the pitch rotating assembly 230 to adjust the drilling pitch angle of the drilling machine main body 300. When the drilling pitch angle of the drilling machine main body 300 changes, referring to fig. 10, the first rotating assembly 710 drives the second rotating assembly 720 to rotate around the length direction of the chassis 100, that is, the first rotating assembly 710 drives the second robot 700 to rotate in the XY plane, so as to ensure that the second grabbing assembly 740 can put or retrieve the drill rod 800 into or from the second robot 700.

The drilling machine main body 300 and the transfer bracket 600 are respectively arranged at the left side and the right side of the second mechanical arm 700, and the second rotating assembly 720 rotates around the length direction of the chassis 100 to drive the third rotating assembly 730 and the second grabbing assembly 740 to rotate towards the direction close to the drilling machine main body 300 or the direction close to the transfer bracket 600. Referring to fig. 1 and 10, when the second rotating assembly 720 rotates clockwise, the second grabbing assembly 740 is relatively close to the transfer bracket 600 and far away from the drilling machine main body 300; when the second swing assembly 720 is rotated counterclockwise, the second gripper assembly 740 is relatively closer to the drilling machine main body 300 and away from the transfer bracket 600.

The third rotating assembly 730 has a rotation axis perpendicular to the rotation axis of the second rotating assembly 720 for rotating the second gripper assembly 740 to change the orientation of the gripper fingers of the second gripper assembly 740.

In the automatic mast-adding apparatus shown in fig. 1, the azimuth slewing assembly is disposed below the chassis 100, so that the drilling machine main body 300 and the second robot arm 700 rotate synchronously in the XZ plane, without disposing a slewing assembly in the second robot arm 700 to adjust the azimuth angle of the second robot arm 700 in the XZ plane.

When the azimuth changes in the XZ plane of the rig mainframe 300 and the second robotic arm 700 are asynchronous, the second robotic arm 700 includes a swing assembly that rotates about the elevation of the chassis 100.

For the specific structure of the first rotating assembly 710, the second rotating assembly 720 and the third rotating assembly 730, reference is made to the rotating structure in the prior art, and the detailed description thereof is omitted here.

The structure of the second grabbing element 740 refers to the first grabbing element 550, and is not described herein again.

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

The steps of the second robot 700 transferring the drill rod 800 from the transfer carriage 600 to the drilling machine main body 300 are as follows:

step S1, controlling the third rotating assembly 730 to rotate so that the second grabbing assembly 740 faces the transfer tray 600;

step S2, controlling the second rotating assembly 720 to rotate toward 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 assembly 740 to grab the drill rod 800;

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

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

step S6, controlling the second rotating assembly 720 to rotate to the side close to the drilling machine main body 300 until the second grabbing assembly 740 moves to the drilling machine main body 300;

step S7, controlling the first rotating assembly 710 to rotate, wherein the rotating angle of the first rotating 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 release the drill rod 800;

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

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 the above steps may be performed simultaneously or in an alternate sequence, such as step S301 and step S302, in case the second robotic arm 700 and the drill rod 800 gripped by the second robotic arm during the movement will not collide or interfere with other components in the add-on drill.

On the contrary, when the second mechanical arm 700 transfers the drill rod 800 to the drilling machine main body 300 through the transfer bracket 600, the rotation directions of the first rotating assembly 710, the second rotating assembly 720 and the third rotating assembly 730 are opposite to the above steps, and the rest of the steps are not described again.

On the basis of the above embodiments, the first mechanical arm 500 and the second mechanical arm 700 are both provided with a grabbing detection component, and the grabbing detection component includes a proximity switch or a travel switch.

Considering that the first gripper assembly 550 corresponds to a plurality of gripping positions in the large-capacity drill rod magazine 400, it is preferable that the first gripper assembly 550 is provided with a first grip detection sensor so as to detect whether the drill rod 800 exists at the position to be gripped.

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

When the drill rod 800 exists at the position to be grabbed, the proximity switch transmits a grabbing signal to the first grabbing assembly 550 to control the first grabbing assembly 550 to complete grabbing; otherwise, when the drill rod 800 is not present in the position to be gripped, the translation assembly 530 or the second lifting assembly 540 is controlled to move the first gripping assembly 550.

Since the second robot 700 transfers the drill rod 800 between the transfer carriage 600 and the drilling machine main body 300, both the transfer carriage 600 and the drilling machine main body 300 are provided with only one gripping position, a second gripping detection sensor may be provided on the second gripping assembly 740, or a second gripping detection sensor may be provided at the transfer carriage 600 and the drilling machine main body 300.

When the drill rod 800 exists in the transfer bracket 600 or the drilling machine host 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; otherwise, when the drill rod 800 is not present, the first rotating assembly 710, the second rotating assembly 720 or the third rotating assembly 730 is controlled to rotate to move the second grabbing assembly 740.

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

On the basis of the above embodiment, the large-capacity pipe box 400 includes a pipe box bottom plate 410, a lateral positioning assembly 420 for separating and positioning the drill pipe 800, and a first lifting assembly 430, wherein 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 pipe box bottom plate 410, so that the first lifting assembly 430 drives the pipe box bottom plate 410 to move along the height direction of the chassis 100.

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

The first lifting assembly 430 is used to lift the pipe box bottom plate 410 relative to the chassis 100, thereby reducing the lifting stroke of the first robot 500. The first lifting assembly 430 may be disposed at the middle point of the width of the pipe box bottom plate 410, as shown in fig. 14 and 15, or at the four corners of the pipe box bottom plate 410, or at other positions.

The first elevating assembly 430 may be composed of a linear displacement mechanism such as a hydraulic cylinder 431 and an electric push rod.

Referring to FIG. 13, the high capacity rod magazine 400 may hold n layers of drill rods 800(n ≧ 2), and the first robot 500 may grasp the drill rods 800 at the heights of the first gripping position L1 and the second gripping position L2. During grabbing, the first mechanical arm 500 gradually grabs each layer of drill rod 800 from top to bottom, and the grabbing process is as follows: first, the first robot 500 grips the 1 st row of drill rods 800 at the first gripping position L1; after the grabbing of the 1 st row of drill rods 800 is finished, the first mechanical arm 500 continues to move downwards to grab 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 completely grabbed, the first lifting assembly 430 lifts the bottom plate 410 of the drill rod box to lift the lower layer of drill rods 800 to the height of the first grabbing position L1, and the first mechanical arm 500 continues to grab the drill rods 800 until the nth row of drill rods 800 is completely grabbed.

In this embodiment, the first lifting assembly 430 drives the bottom plate 410 of the drill rod box to lift relative to the chassis 100, so that the change of the height of the drill rod 800 in the large-capacity drill rod box 400 is realized, the position of the drill rod 800 can be lifted by lifting the bottom plate 410 of the drill rod box under the condition that the height of the first mechanical arm 500 is not changed, the lifting stroke of the first mechanical arm 500 is reduced, the grabbing range is expanded under the condition that the maximum lifting stroke of the first mechanical arm 500 is not changed, and a plurality of layers of drill rods 800 can be placed in the box; the lateral positioning assembly 420 is used for positioning multiple rows of drill rods 800 in the high-capacity drill rod box 400 in a separated manner, so that the first mechanical arm 500 can be grabbed and put back conveniently.

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

On the basis of the above embodiment, in order to prevent the movement direction of the boring bar box bottom plate 410 from deviating from the height direction of the chassis 100, one of the chassis 100 and the boring bar box bottom plate 410 is provided with a slide rail 441, and the other is provided with a slide sleeve 442 sliding relative to the slide rail 441; the sliding rail 441 extends perpendicularly to the chassis 100.

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

The connection mode and the connection position of the sliding rail 441 and the chassis 100, the connection mode and the connection position of the sliding sleeve 442 and the bottom plate 410 of the drill rod box, and the shape, the type and the size of the sliding rail 441 and the sliding sleeve 442 are determined according to actual production needs by referring to the prior art, and are not described herein again.

Preferably, in order to increase the smoothness of the movement of the sliding sleeve 442 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 which slide relative to each other are used as the first lifting guide assembly 440, so that the movement direction of the rod box bottom plate 410 is limited, and the movement direction of the rod box bottom plate 410 is prevented from deviating from the height direction of the chassis 100 during the movement process.

On the basis of the above embodiment, in order to increase the lifting stroke of the bottom plate 410 of the pipe box within a limited lifting stroke, the first lifting assembly 430 may include a hydraulic cylinder 431, a chain wheel 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 to the chain wheel shaft on which the chain wheel 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 bottom plate 410 of the drill rod box by winding around the chain wheel 432.

Referring to fig. 15, the left chain 433 is connected to the bottom plate 410 of the drill pipe box, and the right 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 chain 433 to the center of the sprocket 432 is the maximum lifting stroke of the bottom plate 410 of the drill rod box.

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

When the piston rod of the hydraulic cylinder 431 extends for a length L, the wheel spacing of the driving chain wheel 432 is increased by L, and as the chain 433 passes around the chain wheel 432, the stroke of the chain 433 is increased by 2L, the bottom plate 410 of the drill rod box connected with one end of the chain 433 moves upwards for a distance of 2L along the height direction of the chassis 100; conversely, when the rod of the hydraulic cylinder 431 is retracted by the length L, the rod box bottom plate 410 moves downward by a distance of 2L in the height direction of the chassis 100.

It should be noted that if the chain 433 loosens during the movement, the elevation height of the bottom plate 410 of the drill rod box and the extension length of the piston cylinder no longer satisfy the vertical relationship.

Preferably, the chain wheels 432 are symmetrically distributed about a symmetry plane of the hydraulic cylinder 431 perpendicular to the width direction of the chassis 100, as shown in fig. 2, the chain wheels 432 are arranged on both sides of the hydraulic cylinder 431, the drill rod box bottom plate 410, the lateral positioning assembly 420 mounted on the drill rod box bottom plate 410 and the drill rod 800 are driven to move together by the chains 433 on both sides, the stress on the chain 433 on one side is small, the service life of the chain 433 is prolonged, and the drill rod box bottom plate 410 has a plurality of stress points and is relatively uniformly stressed.

In the present embodiment, by providing the chain wheel 432 and the chain 433, the stroke of the rod box bottom plate 410 is doubled under the condition that the stroke of the hydraulic cylinder 431 is effective, and the stroke of the rod box bottom plate 410 is greatly expanded.

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

On the basis of the above embodiment, in order to limit the moving direction of the chain wheel 432, the first lifting assembly 430 further includes a guide post 434, the guide post 434 is a door frame structure disposed on both sides of the hydraulic cylinder 431, the guide post 434 is provided with a guide slot 4341, and the chain wheel shaft is mounted in the guide slot 4341; the guide groove 4341 extends in a direction perpendicular to the base plate 100.

Preferably, the end of the sprocket 432 away from the piston rod is provided with a cam bearing 435, and the cam bearing 435 is installed in the guide groove 4341 to reduce friction between the sprocket shaft and the guide groove 4341 and improve the smoothness of sliding movement of the sprocket shaft relative to the guide groove 4341.

In this embodiment, the guide groove 4341 is used to guide the sprocket shaft, so that the movement direction of the sprocket 432 is limited, and the sprocket 432 is prevented from deviating from the height direction of the chassis 100 during the lifting process.

On the basis of the above embodiments, the structure of the lateral positioning assembly 420 is limited, please refer to fig. 16, the lateral positioning assembly 420 includes a positioning plate 421 and a limit baffle 422 connected to two ends of the positioning plate 421, and both the positioning plate 421 and the limit baffle 422 are vertically connected to the chassis 100; the inner side surface of the positioning plate 421 is provided with a plurality of groups of clapboards 4211 for separating the drill rods 800, and each clapboard 4211 comprises a left clapboard positioned at the left side of the drill rod 800 and a right clapboard positioned at the right side of the drill rod 800, so that the left clapboard and the right clapboard separate a row of drill rods 800; a grabbing gap is formed between two adjacent groups of partition plates 4211, so that the first mechanical arm 500 can be inserted into the grabbing drill rod 800.

The partition plate 4211 is perpendicular to the positioning plate 421 and is used for partitioning and positioning each row of drill rods 800, so that the drill rods 800 are prevented from rolling in the box body, and the first mechanical arm 500 is facilitated to sequentially grab the drill rods 800. The height of the clapboard 4211 is the same as that of the positioning plate 421; the thickness of the spacer 4211 may be equal to the length of the drill rod 800, or may only protrude a part of the distance from the inner surface of the positioning plate 421, as long as the positioning and spacing function is achieved.

The group of clapboards 4211 is used for separating a column of drill rods 800, and the distance between the left clapboard and the right clapboard is slightly larger than the diameter of the drill rods 800, so that the drill rods 800 can be smoothly placed between the left clapboard and the right clapboard.

Preferably, the distance L between the left partition plate and the right partition plate and the diameter d of the drill rod can meet the condition that d is more than L and less than or equal to 1.05 d.

Preferably, the grabbing gaps between two adjacent groups of partition plates 4211 are the same, and the specific values are determined according to the grabbing space required by the first mechanical arm 500, so as to ensure that the first mechanical arm 500 smoothly inserts into the grabbing drill rod 800 through the grabbing gaps.

Referring to fig. 16, preferably, the upper end and the lower end of the positioning plate 421 are provided with edge beams, and the height of the edge beams is determined according to the actual production requirement by referring to the prior art, which is not described herein again.

The limit baffles 422 are arranged at two sides of the positioning plate 421 in the length direction and are used for preventing the drill rod 800 from rolling out of two ends of the box body under the conditions of bumping 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 length of the limit stop 422 is set to be equal to the length of the drill pipe 800.

The limit baffle 422 can be welded to the positioning plate 421, or can be rotatably connected to the positioning plate 421 through a rotating shaft, so that the limit baffle 422 is opened when a large number of drill rods 800 are loaded into and unloaded from the drill rod, and the operation is convenient.

In this embodiment, the partition plates 4211 on the positioning plate 421 separate and position each row of drill rods 800, and the limit baffle 422 prevents the drill rods 800 from rolling out of the box, which is beneficial to orderly grabbing and replacing the drill rods 800 by the first mechanical arm 500.

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

The third lifting assembly 620 may be provided with a hydraulic cylinder, a linear guide rail and other linear displacement mechanisms, and the specific type of the third lifting assembly is determined according to actual production needs, which is not described herein again.

When the automatic rod-adding drilling machine works, considering the passing performance of a roadway and avoiding the influence of the overhigh height of the first mechanical arm 500 on the sight, the lifting stroke of the first mechanical arm 500 is usually set to be shorter, namely the lowest central height (the second grabbing position L2) and the highest central height (the cruising position L0) of the first mechanical arm 500 are relatively close. In order to enlarge the drilling range of the drilling machine main body 300, the lifting stroke of the first lifting cylinder in the lifting support assembly 200 is longer, i.e. the most central height and the highest central height of the drilling machine main body 300 are relatively closer. Therefore, there is a possibility that the highest center height of the first robot 500 is much lower than the highest center height of the drilling machine main body 300, so that the second robot 700 cannot transfer the first robot 500 to grasp 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 difference in height between the first robot 500 and the drilling machine main body 300.

The highest center height of the third lifting assembly 620 is greater than the highest center height of the first robot arm 500; since the center height of the rig mast 300 is generally lower than the highest center height thereof, the highest center height of the third lift assembly 620 can be set equal to or higher than the center height of the rig mast 300.

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

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

In this embodiment, the third lifting assembly 620 is disposed in the transfer bracket 600, so that a height difference between the first robot 500 and the drilling machine main body 300 is compensated, and smooth transfer of the drill rod 800 between the transfer bracket 600 and the drilling machine main body 300 is facilitated.

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

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

The second lifting guide assembly 630 is provided with a slide rail, the drill rod bracket 610 is provided with a slide block matched with the slide rail, and the extension direction of the slide 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 elevation guide assembly 630 and the drill rod holder 610 may also be connected by rack and pinion engagement, etc.

On the basis of the above embodiment, in order to facilitate the low position detection during the transfer of the drill rod 800, the heights of the lowest center height of the transfer bracket 600, the lowest center height of the first robot 500, and the lowest center height of the drilling machine main body 300 may be set to be the same.

Referring to fig. 1 to 3, the transfer bracket 600, the first robot 500, and the drilling machine main body 300 are disposed on the lift base 220 of the lift support assembly 200, so that the heights of the lowest centers of the three are the same.

It should be noted that, in the present document, the first robot arm 500 and the second robot arm 700, the first elevation guide assembly 440 and the second elevation guide assembly 630, the first gripper assembly 550 and the second gripper assembly 740, the first gripper detection sensor and the second gripper detection sensor, the first elevation assembly 430, the second elevation assembly 540 and the third elevation assembly 620, and the first, the second and the third of the first revolving assembly 710, the second revolving assembly 720 and the third revolving assembly 730 are only used for distinguishing the difference of the positions, and do not limit the sequence.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred 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 are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

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

a chassis (100) mounted on the crawler;

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

the drilling machine main body (300) is mounted 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 temporarily storing the drill rods (800);

a first robot (500) 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 rod (800) between the transfer carriage (600) and the rig mainframe (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 mounted on the chassis (100), and one of the high-capacity drill rod box (400) and the first mechanical arm (500) can be lifted and lowered in the height direction of the chassis (100).

2. The automated rodding drill according to claim 1, wherein the elevation support assembly (200) comprises an elevation base (220), a pitch slewing assembly (230), and a lift cylinder (210) mounted on the chassis (100), the elevation base (220) being fixedly mounted to a moving portion of the lift cylinder (210);

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

3. The automated 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 at 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 automated rod-adding drilling machine according to claim 3, characterized in that the first mechanical arm (500) further comprises a translation detection assembly for detecting the displacement of the first gripper assembly (550) relative to the high-capacity drill rod magazine (400) and a lift detection assembly for detecting the displacement of the first gripper assembly (550) relative to the chassis (100).

5. The automatic rod adding drilling machine according to claim 1, wherein the second mechanical arm (700) comprises a first rotating assembly (710), a second rotating assembly (720), a third rotating assembly (730) and a second grabbing assembly (740) for grabbing the drill rod (800), the first rotating assembly (710) is mounted on the lifting support assembly (200), a fixed part of the second rotating assembly (720) is connected with a rotating part of the first rotating assembly (710), so that the first rotating assembly (710) drives the second rotating assembly (720) to rotate around the length direction of the chassis (100);

the fixed part of the third rotating assembly (730) is connected with the rotating part of the second rotating assembly (720), so that the second rotating assembly (720) drives the third rotating 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).

6. The automatic rod adding drilling machine according to claim 1, wherein the high-capacity rod box (400) comprises a 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 rod box bottom plate (410), so that the first lifting assembly (430) drives the rod box bottom plate (410) to move along the height direction of the chassis (100).

7. The automatic rod-adding drilling machine according to any one of claims 1-6, wherein the transfer carriage (600) comprises a rod carriage (610) for temporarily storing the rod (800) and a third lifting assembly (620) for moving the rod carriage (610) in the height direction of the chassis (100), one end of the third lifting assembly (620) is connected with the chassis (100), and the other end of the third lifting assembly (620) is connected with the rod carriage (610).

8. The automated rod adding drilling machine according to claim 7, wherein the transfer carriage (600) further comprises a second elevation guide assembly (630), the second elevation guide assembly (630) is mounted on the elevation support assembly (200), and the drill rod carriage (610) is slidably connected with the second elevation guide assembly (630).

9. The automated rod-adding drilling machine according to claim 7, wherein the lowest center height of the transfer bracket (600), the lowest center height of the first robot arm (500) and the lowest center height of the drilling machine main body (300) are all the same height.

10. The automated rod-adding drilling machine according to any one of claims 1-6, wherein a grab detection sensor is provided in each of the first mechanical arm (500) and the second mechanical arm (700), the grab detection sensor comprising a proximity switch.

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