阅读说明：本技术 煤矿井下双向旋转螺旋钻杆、卸扣装置和装卸系统及方法 (Coal mine underground bidirectional rotating spiral drill rod, tripping device, loading and unloading system and method ) 是由 李旺年 邵俊杰 张幼振 凡东 张宁 常江华 钟自成 孙道明 于 2021-08-20 设计创作，主要内容包括：本发明公开一种煤矿井下双向旋转螺旋钻杆、卸扣装置和装卸系统及方法,双向旋转螺旋钻杆包括钻杆公头、钻杆母头、芯杆及螺旋叶片,钻杆公头为外六方结构,外壁设有环形凹槽,钻杆母头为内六方结构,内有销钉及磁铁；配套卸扣装置包括卸扣机械手、水平伸缩机构及连接弹簧,卸扣机械手为内六方形状,每个内平面内置磁铁；钻杆装卸系统包括配套卸扣装置、钻机、上杆工作臂等。本发明解决了螺旋钻杆自动上卸扣问题,使钻机具备钻杆反转功能,使得钻进可实现钻杆双向旋转,满足钻进工艺要求；可用于自动钻机,取代传统的插销式螺旋钻杆,实现自动上卸钻杆。(The invention discloses a coal mine underground bidirectional rotary spiral drill rod, a shackle device, a loading and unloading system and a loading and unloading method, wherein the bidirectional rotary spiral drill rod comprises a drill rod male head, a drill rod female head, a core rod and a spiral blade, the drill rod male head is of an outer hexagonal structure, the outer wall of the drill rod male head is provided with an annular groove, the drill rod female head is of an inner hexagonal structure, and a pin and a magnet are arranged in the drill rod female head; the matched shackle device comprises a shackle manipulator, a horizontal telescopic mechanism and a connecting spring, wherein the shackle manipulator is in an inner hexagonal shape, and a magnet is arranged in each inner plane; the drill rod loading and unloading system comprises a matched shackle device, a drilling machine, an upper rod working arm and the like. The invention solves the problem of automatic screwing and unscrewing of the spiral drill rod, and the drilling machine has the function of drill rod reversing, so that the drilling can realize bidirectional rotation of the drill rod, and the requirements of the drilling process are met; the automatic drill pipe loading and unloading device can be used for an automatic drilling machine to replace a traditional bolt type spiral drill pipe and realize automatic loading and unloading of the drill pipe.)

1. A coal mine underground bidirectional rotary auger stem comprises a core rod (101), a drill stem male head (102) and a drill stem female head (103) which are arranged at two ends of the core rod (101), and a helical blade (104) arranged on the outer wall of the core rod (101), and is characterized in that the drill stem male head (102) is of an outer hexagonal structure, and an annular groove (105) along the circumferential direction is arranged on the outer wall of the outer hexagonal structure; the drill rod female head (103) is of an inner hexagonal structure, a step hole (106) which radially penetrates through the side wall of the drill rod female head (103) is formed in the side wall of the drill rod female head (103), a large-diameter hole of the step hole (106) is communicated to the outer wall of the drill rod female head (103), an end cover (107) is installed on the large-diameter hole, a small-diameter hole of the step hole (106) is communicated to the inner wall of the drill rod female head (103), an annular step is formed at the joint of the large-diameter hole and the small-diameter hole, an annular magnet (108) is arranged on the annular step, a pin (109) is installed in the step hole (106), a pin cap is located between the end cover (107) and the annular magnet (108), a pin rod is located in the small-diameter hole and can extend out of the small-diameter hole, and the pin (109) can move radially along the drill rod female head (103);

the drill rod male head (102) can be inserted into the drill rod female head (103) in a matching mode to realize torque transmission between drill rods; the pin (109) in the drill rod female head (103) can radially move to extend into the annular groove (105) under the magnetic force action of the annular magnet (108) to realize automatic buckling and transfer axial force.

2. The coal mine underground bidirectional rotary auger as claimed in claim 1, wherein there are six stepped holes (106), and the six stepped holes (106) are respectively located on six planes of the inner wall of the hexagonal structure in the auger female head (103).

3. The coal mine underground bidirectional rotary auger stem according to claim 2, wherein the pin (109) comprises a pin cap and a pin rod, the pin cap is of a circular plane structure, the diameter of the pin cap is the same as the outer diameter of the annular magnet (108), the end of the pin rod is rounded, and the diameter of the pin rod is the same as the inner diameter of the annular magnet (108);

the maximum distance that the pin cap can move between the end cover (107) and the annular magnet (108) is not less than the length that the pin rod can extend out of the inner wall of the drill rod female head (103);

the end part of the drill rod male head (102) is a chamfer inclined plane.

4. The matched tripping device for the coal mine underground bidirectional rotary auger stem is characterized by being used for automatic tripping at the joint of the auger stem female head (103) and the auger stem male head (102) of the coal mine underground bidirectional rotary auger stem according to claim 3; this supporting shackle device (2) includes: the device comprises a shackle manipulator (201), a horizontal telescopic mechanism (202) positioned below the shackle manipulator (201), and a vertical connecting spring (203) connected between the shackle manipulator (201) and the horizontal telescopic mechanism (202);

the shackle manipulator (201) comprises an upper gripper (204) and a lower gripper (205) which can be opened and closed, the upper gripper (204) and the lower gripper (205) can be enclosed into an inner hexagonal structure and can be sleeved outside the drill rod female head (103), six inner planes of the upper gripper (204) and the lower gripper (205) can correspond to end covers (107) on six stepped holes (106) of the drill rod female head (103) one by one, and magnets are arranged in the six inner planes to attract pins (109) to move radially outwards to realize tripping of the drill rod female head (103) and the drill rod male head (102);

the connecting spring (203) enables the shackling manipulator (201) to have flexibility, so that the angle of an inner hexagonal structure of the shackling manipulator (201) corresponds to the arrangement angle of six end covers (107) outside the drill rod female head (103); the horizontal telescopic mechanism (202) can drive the shackle manipulator (201) to move back and forth.

5. The matched shackle device for the bidirectional rotary auger stem in a coal mine underground according to claim 4, wherein the shackle manipulator (201) further comprises a mounting seat (206), a connecting rod piece (207) and a manipulator oil cylinder (208);

one end of the upper gripper (204), one end of the lower gripper (205) and the mounting seat (206) are hinged, the upper gripper (204) and the lower gripper (205) are respectively hinged with a connecting rod piece (207), the connecting rod piece (207) is connected with a manipulator oil cylinder (208), and the manipulator oil cylinder (208) can drive the connecting rod piece (207) to drive the upper gripper (204) and the lower gripper (205) to open and close.

6. The matched shackle device for the bidirectional rotary auger stem in the underground coal mine according to claim 4, wherein the horizontal telescopic mechanism (202) comprises a telescopic oil cylinder (209), a sliding plate (210), a sliding rail (211) and a bottom plate (212);

a sliding rail (211) is fixed on the bottom plate (212), the sliding plate (210) is installed in the sliding rail (211), one end of the telescopic oil cylinder (209) is connected with the sliding plate (210), the other end of the telescopic oil cylinder (209) is connected with the bottom plate (212), and the telescopic oil cylinder (209) can drive the sliding plate (210) to move along the sliding rail (211); the connecting spring (203) is arranged on the sliding plate (210).

7. A coal mine underground bidirectional rotary auger stem handling system is characterized in that the coal mine underground bidirectional rotary auger stem is the coal mine underground bidirectional rotary auger stem according to claim 3; the handling system comprises the matched shackle device of the coal mine underground bidirectional rotary auger stem as defined in claim 5, and further comprises an upper shackle manipulator (3), a drilling machine (4), a clamp holder (5) arranged on the drilling machine (4), an upper boom working arm (6) and a drill stem box (7);

the drilling machine (4) comprises a power head (401), a primary feeding machine body (402), a primary feeding oil cylinder (403), a secondary feeding machine body (404), a secondary feeding oil cylinder (405), a rotary support (406) and an angle adjusting oil cylinder (407); the power head (401) is connected with the primary feeding machine body (402) through the primary feeding oil cylinder (403), the clamp holder (5) is arranged at the end part of the primary feeding machine body (402), and the matched shackle device (2) is arranged on the primary feeding machine body (402) and is positioned between the power head (401) and the clamp holder (5); the primary feeding machine body (402) is connected with the secondary feeding machine body (404) through a secondary feeding oil cylinder (405), the rotary support (406) is positioned below the secondary feeding machine body (404), and the angle adjusting oil cylinder (407) is hinged between the end part of the secondary feeding machine body (404) and the rotary support (406);

the rod loading and unloading manipulator (3) comprises two grippers, the distance between the two grippers is less than the length of a single drill rod (1), and the two grippers are used for gripping the drill rod (1);

the upper rod working arm (6) comprises a mounting seat (601), a rotator I (602) arranged on the mounting seat (601), a large arm (603) arranged on the rotator I (602), a guide arm (604) hinged with the upper end of the large arm (603), a telescopic arm (605) connected with the guide arm (604), a rotator II (606) arranged at the end part of the telescopic arm (605) and a gripper body (607) connected with the rotator II (606); a vertical lifting oil cylinder (608) adjacent to the large arm (603) is arranged between the gyrator I (602) and the guide arm (604), and the upper end of the lifting oil cylinder (608) is hinged with the guide arm (604); a horizontal telescopic oil cylinder (609) is connected between the guide arm (604) and the telescopic arm (605).

8. The coal mine underground bidirectional rotary auger handling system of claim 7, wherein the power head (401) is capable of reciprocating along the primary feeder body (402) under the action of a primary feeder cylinder (403), the primary feeder body (402) is capable of reciprocating along the secondary feeder body (404) under the action of a secondary feeder cylinder (405), the secondary feeder body (404) is capable of adjusting the inclination angle of the body under the action of an angle adjusting cylinder (407), and the secondary feeder body (404) is capable of adjusting the azimuth angle of the body under the action of a pivoting support (406);

the gripper body (607) can move up and down under the action of the large arm (603) and the lifting oil cylinder (608), the gripper body (607) can horizontally move along the guide arm (604) under the action of the telescopic arm (605) and the telescopic oil cylinder (609), and the spatial orientation adjustment of the gripper body (607) can be realized under the combined action of the gyrator I (602) and the gyrator II (606).

9. The coal mine underground bidirectional rotary auger handling system of claim 8, wherein the drilling machine (4), the upper boom (6) and the auger stem box (7) are all mounted on a vehicle chassis (10); the drilling machine (4) is connected with a vehicle body chassis (10) below the drilling machine through a rotary support (406), and the upper rod working arm (6) is connected with the vehicle body chassis (10) below the drilling machine through a mounting seat (601).

10. A coal mine underground bidirectional rotary auger stem loading and unloading method, which is realized by the coal mine underground bidirectional rotary auger stem loading and unloading system of claim 9, and comprises the following steps:

under the drive of a power head, a drill rod male head of a driving drill rod enters a drill rod female head of an adjacent drill rod, and under the action of magnetic force, a pin extends into an annular groove of the drill rod male head to clamp the drill rod male head and the drill rod female head to realize automatic screwing;

step two, when a rod is added, the drilling machine stops drilling, the clamp holder clamps a drill rod in the hole, the shackle manipulator is sleeved at the joint of the driving drill rod and the adjacent drill rod, a magnet in the shackle manipulator outwards attracts the pin to the annular groove where the pin is separated from the male head of the drill rod, and the power head drives the driving drill rod to move backwards to realize the tripping of the drill rod; the gripper body of the upper rod working arm grabs a next drill rod from the drill rod box and sends the next drill rod to the upper rod manipulator, the drill rod is sent to a set position by the upper rod manipulator, the power head drives the driving drill rod to be connected with a female head of the next drill rod through the first step, and the upper rod manipulator is loosened and retracted to enter the next circular drilling operation;

step three, when the drill is retreated, the power head drives the drill rod to retreat, the front end of the middle drill rod reaches the matched shackle device in front, the clamp holder clamps the drill rod in the hole, the shackle manipulator of the matched shackle device acts, and the middle drill rod is completely disengaged from the drill rod in the hole; the power head drives the drill rod to continuously retreat, the rear end of the middle drill rod reaches a matched shackle device at the rear part, the upper rod manipulator extends out to clamp the middle drill rod, and the shackle manipulator of the matched shackle device acts to complete the tripping of the middle drill rod and the driving drill rod; and the power head moves forwards, the driving drill rod is buckled with the female head of the drill rod in the hole, and the operations are repeated to finish the withdrawal of all the drill rods.

Technical Field

The invention belongs to the technical field of underground coal mine roadway engineering, and particularly relates to an underground coal mine bidirectional rotating auger stem, a shackle device, a loading and unloading system and a loading and unloading method.

Background

The underground drill rig is generally used in underground gas extraction of coal mines, hidden disaster exploration and other constructions, automatic drilling is realized in the underground drill rig of the coal mines at present, drill rods can be automatically unloaded and loaded, but the drill rods are in screw thread structures and cannot be reversed. In special coal seams such as soft and protruding coal seams, the construction process requires that the drill rod can be reversed to prevent drill sticking. The traditional bolt type spiral drill rod can realize the reverse rotation of the drill rod by adopting a hexagonal joint and a bayonet lock form; however, due to the structural reasons, the bayonet and the locknut need to be accurately positioned and plugged, and the action is complicated to complete through the mechanical arm, so that the traditional bolt-type spiral drill rod cannot be used on an automatic drilling machine, the automatic drilling machine cannot realize the reverse rotation of the drill rod, and the application range of the automatic drilling machine is limited.

Disclosure of Invention

Aiming at the defects and shortcomings in the prior art, the invention provides a coal mine underground bidirectional rotation spiral drill rod, a shackle device, a loading and unloading system and a method, so that bidirectional rotation of the drill rod can be realized during drilling, and the requirements of a drilling process are met; the automatic drill pipe loading and unloading device can be used for an automatic drilling machine to replace a traditional bolt type spiral drill pipe and realize automatic loading and unloading of the drill pipe.

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

a coal mine underground bidirectional rotary spiral drill rod comprises a core rod, a drill rod male head and a drill rod female head which are arranged at two ends of the core rod, and a spiral blade arranged on the outer wall of the core rod, wherein the drill rod male head is of an outer hexagonal structure, and an annular groove along the circumferential direction is arranged on the outer wall of the outer hexagonal structure; the drill rod female head is of an inner hexagonal structure, a step hole radially penetrating through the side wall of the drill rod female head is formed in the side wall of the drill rod female head, a large-diameter hole of the step hole is communicated to the outer wall of the drill rod female head, an end cover is arranged on the large-diameter hole, a small-diameter hole of the step hole is communicated to the inner wall of the drill rod female head, an annular step is formed at the joint of the large-diameter hole and the small-diameter hole, an annular magnet is arranged on the annular step, a pin is arranged in the step hole, a pin cap is located between the end cover and the annular magnet, a pin rod is located in the small-diameter hole and can extend out of the small-diameter hole, and the pin can move radially along the drill rod female head;

the drill rod male head can be inserted into the drill rod female head in a matched mode to achieve torque transmission between the drill rods; the pin in the drill rod female head can radially move under the action of the magnetic force of the annular magnet to extend into the annular groove to realize automatic buckling and transfer axial force.

The invention also comprises the following technical characteristics:

optionally, the number of the step holes is six, and the six step holes are respectively located on six planes of the inner wall of the hexagonal structure in the drill rod female head.

Optionally, the pin comprises a pin cap and a pin rod, the pin cap is of a circular plane structure, the diameter of the pin cap is the same as the outer diameter of the annular magnet, the end of the pin rod is rounded, and the diameter of the pin rod is the same as the inner diameter of the annular magnet;

the maximum distance that the pin cap can move between the end cover and the annular magnet is not less than the length that the pin rod can extend out of the inner wall of the female head of the drill rod;

the end part of the drill rod male head is a chamfer inclined plane.

The matched shackle device can be used for automatic shackle at the joint of a drill rod female head and a drill rod male head of the underground coal mine bidirectional rotary spiral drill rod; this supporting shackle device includes: the device comprises a shackle manipulator, a horizontal telescopic mechanism positioned below the shackle manipulator and a vertical connecting spring connected between the shackle manipulator and the horizontal telescopic mechanism;

the shackle manipulator comprises an upper gripper and a lower gripper which can be opened and closed, the upper gripper and the lower gripper can be enclosed into an inner hexagonal structure and can be sleeved outside the drill rod female head, six inner planes of the upper gripper and the lower gripper can correspond to end covers on six step holes of the drill rod female head one by one, and magnets are arranged in the six inner planes to attract the pins to move radially outwards to realize the tripping of the drill rod female head and the drill rod male head;

the connecting spring enables the shackling manipulator to have flexibility, so that the angle of a hexagonal structure in the shackling manipulator corresponds to the arrangement angles of six end covers outside the drill rod female head; the horizontal telescopic mechanism can drive the shackle manipulator to move back and forth.

Optionally, the shackle manipulator further comprises a mounting seat, a connecting rod piece and a manipulator oil cylinder;

the manipulator is characterized in that one end of the upper gripper, one end of the lower gripper and the mounting seat are hinged, the upper gripper and the lower gripper are respectively hinged with a connecting rod piece, the connecting rod piece is connected with a manipulator oil cylinder, and the manipulator oil cylinder can drive the connecting rod piece to drive the upper gripper and the lower gripper to open and close.

Optionally, the horizontal telescopic mechanism comprises a telescopic oil cylinder, a sliding plate, a sliding rail and a bottom plate;

the sliding plate is fixed on the bottom plate, the sliding plate is installed in the sliding rail, one end of the telescopic oil cylinder is connected with the sliding plate, the other end of the telescopic oil cylinder is connected with the bottom plate, and the telescopic oil cylinder can drive the sliding plate to move along the sliding rail; the connecting spring is installed on the sliding plate.

A coal mine underground bidirectional rotary auger stem handling system is provided, wherein the coal mine underground bidirectional rotary auger stem is the coal mine underground bidirectional rotary auger stem; the loading and unloading system comprises the matched shackle device of the coal mine underground bidirectional rotary spiral drill rod, and also comprises an upper unloading rod manipulator, a drilling machine, a clamp arranged on the drilling machine, an upper rod working arm and a drill rod box;

the drilling machine comprises a power head, a primary feeding machine body, a primary feeding oil cylinder, a secondary feeding machine body, a secondary feeding oil cylinder, a rotary support and an angle adjusting oil cylinder; the power head is connected with the first-stage feeding machine body through the first-stage feeding oil cylinder, the clamp is arranged at the end part of the first-stage feeding machine body, and the matched shackle device is arranged on the first-stage feeding machine body and is positioned between the power head and the clamp; the primary feeding machine body is connected with the secondary feeding machine body through a secondary feeding oil cylinder, the rotary support is positioned below the secondary feeding machine body, and the angle adjusting oil cylinder is hinged between the end part of the secondary feeding machine body and the rotary support;

the rod loading and unloading manipulator comprises two grippers, and the distance between the two grippers is less than the length of a single drill rod and is used for gripping the drill rod;

the upper rod working arm comprises a mounting seat, a gyrator I arranged on the mounting seat, a large arm arranged on the gyrator I, a guide arm hinged with the upper end of the large arm, a telescopic arm connected with the guide arm, a gyrator II arranged at the end part of the telescopic arm and a gripper body connected with the gyrator II; a vertical lifting oil cylinder adjacent to the large arm is arranged between the gyrator I and the guide arm, and the upper end of the lifting oil cylinder is hinged with the guide arm; a horizontal telescopic oil cylinder is connected between the guide arm and the telescopic arm.

Optionally, the power head can reciprocate along the primary feeding machine body under the action of the primary feeding oil cylinder, the primary feeding machine body can reciprocate along the secondary feeding machine body under the action of the secondary feeding oil cylinder, the secondary feeding machine body can adjust the inclination angle of the machine body under the action of the angle adjusting oil cylinder, and the secondary feeding machine body can adjust the azimuth angle of the machine body under the action of the rotary support;

the gripper body can move up and down under the action of the large arm and the lifting oil cylinder, the gripper body can horizontally move along the guide arm under the action of the telescopic arm and the telescopic oil cylinder, and the spatial orientation adjustment of the gripper body can be realized under the combined action of the gyrator I and the gyrator II.

Optionally, the drilling machine, the upper rod working arm and the drill rod box are all mounted on the vehicle body chassis; the drilling machine is connected with a vehicle body chassis below the drilling machine through a rotary support, and the upper rod working arm is connected with the vehicle body chassis below the drilling machine through a mounting seat.

A coal mine underground bidirectional rotary auger stem loading and unloading method is realized by the coal mine underground bidirectional rotary auger stem loading and unloading system and comprises the following steps:

under the drive of a power head, a drill rod male head of a driving drill rod enters a drill rod female head of an adjacent drill rod, and under the action of magnetic force, a pin extends into an annular groove of the drill rod male head to clamp the drill rod male head and the drill rod female head to realize automatic screwing;

step two, when a rod is added, the drilling machine stops drilling, the clamp holder clamps a drill rod in the hole, the shackle manipulator is sleeved at the joint of the driving drill rod and the adjacent drill rod, a magnet in the shackle manipulator outwards attracts the pin to the annular groove where the pin is separated from the male head of the drill rod, and the power head drives the driving drill rod to move backwards to realize the tripping of the drill rod;

the gripper body of the upper rod working arm grabs a next drill rod from the drill rod box and sends the next drill rod to the upper rod manipulator, the drill rod is sent to a set position by the upper rod manipulator, the power head drives the driving drill rod to be connected with a female head of the next drill rod through the first step, and the upper rod manipulator is loosened and retracted to enter the next circular drilling operation;

step three, when the drill is retreated, the power head drives the drill rod to retreat, the front end of the middle drill rod reaches the matched shackle device in front, the clamp holder clamps the drill rod in the hole, the shackle manipulator of the matched shackle device acts, and the middle drill rod is completely disengaged from the drill rod in the hole; the power head drives the drill rod to continuously retreat, the rear end of the middle drill rod reaches a matched shackle device at the rear part, the upper rod manipulator extends out to clamp the middle drill rod, and the shackle manipulator of the matched shackle device acts to complete the tripping of the middle drill rod and the driving drill rod; and the power head moves forwards, the driving drill rod is buckled with the female head of the drill rod in the hole, and the operations are repeated to finish the withdrawal of all the drill rods.

Compared with the prior art, the invention has the beneficial technical effects that:

(1) the bidirectional rotary spiral drill rod improves the connecting structure of the traditional plug pin type spiral drill rod, has the automatic buckling and anti-falling functions, can transmit torque and simultaneously transmit feed force and pull-out force, and effectively solves the problem of drill jamming of the traditional spiral drill rod;

(2) the matched tripping device can realize tripping of the joint part of the drill rod, can be matched with the upper rod manipulator and the upper rod working arm of the drilling machine, can finish the action of tripping without manual operation in the drilling process of the drilling machine, and provides a supporting condition for automatic drilling;

(3) the invention does not adopt a screw thread structure, thereby reducing the influence of axial force on the structural member during feeding.

Drawings

FIG. 1 is a schematic structural view of a bidirectional rotary auger stem used in an underground coal mine;

FIG. 2 is a structure view of a drill rod male end of the invention;

FIG. 3 is a view of the structure of the female drill rod head of the present invention;

FIG. 4 is a cross-sectional view of a drill stem female end of the present invention;

FIG. 5 is a view showing the construction of the shackle device of the present invention;

FIG. 6 is a schematic view of the complete shackle device of the present invention being sleeved at the connection of the drill pipe male head and the drill pipe female head;

FIG. 7 is a schematic diagram showing the matching of the shackout manipulator of the matched shackout device of the present invention with six end covers on the female head of the drill rod;

FIG. 8 is a schematic view of the loading and unloading system of the present invention;

FIG. 9 is a block diagram of the drill of the present invention;

fig. 10 is a structural view of the upper lever working arm of the present invention.

Reference signs mean:

1. the drill rod, 101, a core rod, 102, a drill rod male head, 103, a drill rod female head, 104, a helical blade, 105, an annular groove, 106, a stepped hole, 107, an end cover, 108, an annular magnet and 109, a pin; 2. the device comprises a matched shackle device, 201, a shackle manipulator, 202, a horizontal telescopic mechanism, 203, a connecting spring, 204, an upper gripper, 205, a lower gripper, 206, a mounting seat, 207, a connecting rod piece, 208, a manipulator oil cylinder, 209, a telescopic oil cylinder, 210, a sliding plate, 211, a sliding rail and 212, a bottom plate; 3. the method comprises the following steps of (1) loading and unloading a rod manipulator, 4. a drilling machine, 401. a power head, 402. a primary feeding machine body, 403. a primary feeding oil cylinder, 404. a secondary feeding machine body, 405. a secondary feeding oil cylinder, 406. a rotary support and 407. an angle adjusting oil cylinder; 5. the gripper comprises a gripper, 6, an upper rod working arm, 601, a mounting seat, 602, a gyrator I, 603, a large arm, 604, a guide arm, 605, a telescopic arm, 606, a gyrator II, 607, a gripper body, 608, a lifting oil cylinder and 609, a telescopic oil cylinder; 7. the drilling rod box, 8 power batteries, 9 electric control boxes and 10 vehicle body chassis.

The invention is described in detail below with reference to the drawings and the detailed description.

Detailed Description

The present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention fall within the protection scope of the present invention. The present invention will be described in further detail with reference to examples.

Example 1:

the embodiment provides a coal mine underground bidirectional rotary auger stem, which comprises a core bar 101, a drill stem male head 102 and a drill stem female head 103 which are arranged at two ends of the core bar 101, and a helical blade 104 arranged on the outer wall of the core bar 101, wherein the drill stem male head 102 is of an outer hexagonal structure, and the outer wall of the outer hexagonal structure is provided with an annular groove 105 along the circumferential direction; female head 103 of drilling rod is interior hexagonal structure, female head 103 lateral wall of drilling rod is equipped with the step hole 106 that radially link up female head 103 lateral wall of drilling rod, the major diameter hole of step hole 106 communicates to female head 103 outer wall of drilling rod and installs end cover 107 on the major diameter hole, the minor diameter hole of step hole 106 communicates to female head 103 inner wall of drilling rod, the major diameter hole is annular step with minor diameter hole junction, be equipped with annular magnet 108 on annular step, install pin 109 in step hole 106, and the pin cap is located between end cover 107 and the annular magnet 108, the pin pole is located the minor diameter downthehole and can stretch out the minor diameter hole, pin 109 can follow female head 103 radial movement of drilling rod.

The drill rod male head 102 can be inserted into the drill rod female head 103 in a matching manner to realize torque transmission between drill rods; the pin 109 in the drill rod female head 103 can radially move into the annular groove 105 under the magnetic force of the annular magnet 108, so that automatic screwing-up is realized, and axial force can be transmitted. When the drill rod male head is inserted into the drill rod female head, the end part of a pin rod of the pin is rounded and can slide outwards in the radial direction under the action of the chamfer inclined plane of the drill rod male head, and when the annular groove of the drill rod male head is aligned with the pin, the pin moves inwards in the radial direction under the action of magnetic force to the annular groove to realize automatic screwing.

Six stepped holes 106 are formed, and the six stepped holes 106 are respectively positioned on six planes of the inner wall of the hexagonal structure in the drill rod female head 103.

The pin 109 comprises a pin cap and a pin rod, the pin cap is of a circular plane structure, the diameter of the pin cap is the same as the outer diameter of the annular magnet 108, the end part of the pin rod is rounded, and the diameter of the pin rod is the same as the inner diameter of the annular magnet 108;

the maximum distance that the pin cap can move between the end cover 107 and the ring magnet 108 is not less than the length that the pin rod can extend out of the inner wall of the drill rod female head 103.

The end part of the drill rod male head 102 is a chamfer inclined plane; when the drill rod male head is inserted into the drill rod female head, the chamfer inclined plane of the drill rod male head can push the pin to move outwards in the radial direction.

The end part of the large-diameter hole of the stepped hole is provided with an annular boss, the inner wall of the annular boss is provided with an internal thread, and the end cover is of an external thread structure, so that the end cover is convenient to mount.

Example 2:

the embodiment provides a matched tripping device for a bidirectional rotary auger stem in an underground coal mine, which can be used for automatic tripping at the joint of a female drill stem head 103 and a male drill stem head 102 of the bidirectional rotary auger stem in the underground coal mine in embodiment 1 as shown in fig. 5 to 7; this supporting shackle device 2 includes: the device comprises a shackling manipulator 201, a horizontal telescopic mechanism 202 positioned below the shackling manipulator 201 and a vertical connecting spring 203 connected between the shackling manipulator 201 and the horizontal telescopic mechanism 202.

The shackle manipulator 201 comprises an upper hand grip 204 and a lower hand grip 205 which can be opened and closed, the upper hand grip 204 and the lower hand grip 205 can be enclosed into an inner hexagonal structure and can be sleeved outside the drill rod female head 103, six inner planes of the upper hand grip 204 and the lower hand grip 205 can correspond to the end covers 107 on the six stepped holes 106 of the drill rod female head 103 one by one, and magnets are arranged in the six inner planes to attract the pins 109 to move radially outwards to realize tripping of the drill rod female head 103 and the drill rod male head 102. Specifically, one or N series magnets are arranged in each inner plane, and the shackle manipulator can be closed and opened around a fixed point under the action of the manipulator oil cylinder, the mounting seat and the connecting rod piece.

The connecting spring 203 enables the shackling manipulator 201 to have flexibility, so that the angle of a hexagonal structure in the shackling manipulator 201 corresponds to the arrangement angle of six end covers 107 outside the drill rod female head 103; the horizontal telescoping mechanism 202 can drive the shackle manipulator 201 to move back and forth.

In this embodiment, the attraction force of the magnet arranged in the shackle manipulator to the pin is greater than the attraction force of the annular magnet to the pin.

The break-out robot 201 further comprises a mounting 206, a connecting rod 207 and a robot cylinder 208.

One end of the upper gripper 204, one end of the lower gripper 205 and the mounting seat 206 are hinged, the upper gripper 204 and the lower gripper 205 are respectively hinged with a connecting rod 207, the connecting rod 207 is connected with a manipulator cylinder 208, and the manipulator cylinder 208 can drive the connecting rod 207 to drive the upper gripper 204 and the lower gripper 205 to open and close.

The horizontal telescopic mechanism 202 comprises a telescopic oil cylinder 209, a sliding plate 210, a sliding rail 211 and a bottom plate 212; a slide rail 211 is fixed on the bottom plate 212, the slide plate 210 is installed in the slide rail 211, one end of the telescopic oil cylinder 209 is connected with the slide plate 210, the other end of the telescopic oil cylinder 209 is connected with the bottom plate 212, and the telescopic oil cylinder 209 can drive the slide plate 210 to move along the slide rail 211; the slide plate 210 is provided with a connection spring 203.

Example 3:

the embodiment provides a coal mine underground bidirectional rotary auger stem handling system, as shown in fig. 8 to 10, the coal mine underground bidirectional rotary auger stem is the coal mine underground bidirectional rotary auger stem in embodiment 1; the handling system comprises the matched shackle device in the embodiment 2, and further comprises an upper shackle manipulator 3, a drilling machine 4, a clamp 5 arranged on the drilling machine 4, an upper working arm 6 and a drill rod box 7.

The drilling machine 4 comprises a power head 401, a primary feeding machine body 402, a primary feeding oil cylinder 403, a secondary feeding machine body 404, a secondary feeding oil cylinder 405, a rotary support 406 and an angle modulation oil cylinder 407; the power head 401 is connected with the primary feeding machine body 402 through a primary feeding oil cylinder 403, the clamp holder 5 is arranged at the end part of the primary feeding machine body 402, and the matched shackle device 2 is arranged on the primary feeding machine body 402 and is positioned between the power head 401 and the clamp holder 5; the primary feeding machine body 402 is connected with the secondary feeding machine body 404 through a secondary feeding oil cylinder 405, the rotary support 406 is positioned below the secondary feeding machine body 404, and an angle adjusting oil cylinder 407 is hinged between the end part of the secondary feeding machine body 404 and the rotary support 406.

The rod loading and unloading manipulator 3 comprises two grippers, and the distance between the two grippers is smaller than the length of a single drill rod 1, so that the two grippers can grab the drill rod 1.

The upper rod working arm 6 comprises a mounting base 601, a rotator I602 arranged on the mounting base 601, a big arm 603 arranged on the rotator I602, a guide arm 604 hinged with the upper end of the big arm 603, a telescopic arm 605 connected with the guide arm 604, a rotator II606 arranged at the end part of the telescopic arm 605 and a hand grip body 607 connected with the rotator II 606; a vertical lifting cylinder 608 adjacent to the large arm 603 is arranged between the gyrator I602 and the guide arm 604, and the upper end of the lifting cylinder 608 is hinged with the guide arm 604; a horizontal telescopic cylinder 609 is connected between the guide arm 604 and the telescopic arm 605.

The power head 401 can reciprocate along the primary feeding machine body 402 under the action of the primary feeding oil cylinder 403, the primary feeding machine body 402 can reciprocate along the secondary feeding machine body 404 under the action of the secondary feeding oil cylinder 405, the secondary feeding machine body 404 can adjust the inclination angle of the machine body under the action of the angle adjusting oil cylinder 407, and the secondary feeding machine body 404 can adjust the azimuth angle of the machine body under the action of the rotary support 406.

The gripper body 607 can move up and down under the action of the large arm 603 and the lifting cylinder 608, the gripper body 607 can horizontally move along the guide arm 604 under the action of the telescopic arm 605 and the telescopic cylinder 609, and the spatial orientation adjustment of the gripper body 607 can be realized under the combined action of the gyrator I602 and the gyrator II 606.

The drilling machine 4, the upper rod working arm 6 and the drill rod box 7 are all arranged on the vehicle body chassis 10; the drilling machine 4 is connected with the vehicle body chassis 10 below through a rotary support 406, and the upper rod working arm 6 is connected with the vehicle body chassis 10 below through a mounting seat 601.

A power battery 8 and an electric cabinet 9 are also arranged on the chassis of the vehicle body; the power battery 8 provides power for the whole system, and the electric cabinet 9 is used for controlling and realizing automatic control of rod feeding and rod unloading.

Example 4:

the embodiment provides a method for loading and unloading a coal mine underground bidirectional rotary auger stem, which is realized by the system for loading and unloading the coal mine underground bidirectional rotary auger stem of the embodiment 3, and comprises the following steps:

the method comprises the following steps that firstly, under the driving of a power head, a drill rod male head of a driving drill rod enters a drill rod female head of an adjacent drill rod, a pin in the drill rod female head moves outwards in the radial direction under the action of a chamfer inclined plane of the drill rod male head, when an annular groove of the drill rod male head is aligned with the pin, the pin extends into the annular groove of the drill rod male head under the action of magnetic force, the drill rod male head and the drill rod female head are clamped to realize automatic screwing, feeding force and pulling force can be transmitted, and meanwhile, torque can be transmitted by means of a hexagonal structure of the drill rod male head and the drill rod female head to realize drilling action;

step two, when a rod is added, the drilling machine stops drilling, the clamp holder clamps a drill rod in the hole, the joint of the driving drill rod and the adjacent drill rod is stopped at the position of a shackle manipulator of the matched shackle device, and the shackle manipulator is close to the drill rod under the action of the horizontal telescopic mechanism; the shackle manipulator is sleeved at the joint of the driving drill rod and the adjacent drill rod, a magnet in the shackle manipulator outwards attracts the pin to an annular groove of a male head of the disengagement drill rod, and the power head drives the driving drill rod to move backwards along the primary feeding machine body under the action of the primary feeding oil cylinder to realize the tripping of the drill rod;

the gripper body of the upper rod working arm grabs a next drill rod from the drill rod box and sends the next drill rod to the upper rod manipulator, the upper rod manipulator sends the drill rod to a set position, the power head drives the driving drill rod to be connected with a next drill rod female head through the first step, the upper rod manipulator is loosened and retracted, under the action of the power head, a next drill rod male head is connected with a hole drill rod female head clamped by the clamp holder, and then the next circular drilling operation is carried out;

step three, during the drill withdrawal, the drill rods are a driving drill rod, a middle drill rod and an in-hole drill rod which are connected with the power head in sequence, and two matched shackle devices are arranged between the power head and the clamp holder and are respectively a matched shackle device close to the front of the clamp holder and a matched shackle device close to the rear of the power head; the power head drives the drill rod to retreat, the front end of the middle drill rod reaches the matched shackle device in front, the clamp holder clamps the drill rod in the hole, the shackle manipulator of the matched shackle device acts, and the middle drill rod is completely released from the drill rod in the hole; the power head drives the drill rod to continuously retreat, the rear end of the middle drill rod reaches a matched shackle device at the rear part, the upper rod manipulator extends out to clamp the middle drill rod, and the shackle manipulator of the matched shackle device acts to complete the tripping of the middle drill rod and the driving drill rod; the upper rod manipulator retracts, a gripper body of the upper rod working arm grips the drill rod in the upper rod manipulator and puts the drill rod back to the drill rod box, and the drill rod is stored; and the power head moves forwards, the driving drill rod is buckled with the female head of the drill rod in the hole, and the operations are repeated to finish the withdrawal of all the drill rods.