Full-automatic hydraulic deep hole drilling machine and fault diagnosis system thereof

Abstract

The invention discloses a full-automatic hydraulic deep hole drilling machine and a fault diagnosis system thereof, and relates to the technical field of coal mine drilling rigs, the full-automatic hydraulic deep hole drilling machine comprises a walking unit, a drilling main machine, an electro-hydraulic system and an automatic control system, the drilling main machine, an electromagnetic valve box of the hydraulic system and the automatic control system are all arranged on the walking unit, and a driving motor is arranged in the walking unit; the drilling main machine is rotationally connected with the walking unit through a driving motor, the drilling main machine is electrically connected with the automatic control system, the drilling main machine is connected with an electromagnetic valve box oil way, the drilling main machine comprises a drill rod storage device, an installation base, a main mechanical arm, an auxiliary mechanical arm, a ferry device and a feeding device, and the auxiliary mechanical arm is arranged on one side of the drill rod storage device; the ferrying device, the main manipulator and the feeding device are sequentially arranged on the mounting base. By operating the control system, automatic drilling construction is realized, the production efficiency is improved, and fault diagnosis can be automatically completed, so that fault elimination work is carried out.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine drilling machines, and in particular relates to a full-automatic hydraulic deep hole drilling machine and a fault diagnosis system thereof. Background Art

[0002] Coal is one of the main energy sources in my country. With the mining of underground coal mines, the geological conditions are becoming more and more complex, the scale and workload of mining are increasing, and production safety accidents are becoming more frequent. The situation has become complex and severe, and higher requirements have been put forward for coal mining equipment. Hydraulic drilling rigs are the main equipment for underground coal mine gas extraction, coal seam water injection, geological exploration and other operations. At present, drilling rigs generally have the following problems: they cannot be separated from manual auxiliary operations, the labor intensity of coal miners is high, and the production efficiency is low; they cannot achieve automatic drilling and cannot meet the construction needs of all-round and multi-angle drilling; drilling rigs have faults during drilling operations and cannot be automatically diagnosed. Therefore, a fully automatic hydraulic drilling rig is needed to solve the problem that underground coal mine construction cannot be separated from manual operations. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes a fully automatic hydraulic deep hole drilling rig and its fault diagnosis system, which realizes automatic drilling construction through an operation control system, so that the drilling operation in the coal mine is free from manual operation, reducing the labor intensity of workers and improving production efficiency; by setting a lifting mechanism and a rotating mechanism, in conjunction with a feeding machine body, it is possible to realize arbitrary adjustment of the angle according to actual needs, meet the construction needs of all-round and multi-angle drilling, and improve the accuracy of drilling operations; by setting a sensor unit, the fault characteristic parameters of the drilling rig are extracted to form a parameter library of the fault diagnosis system. When the same fault occurs, the fault diagnosis can be automatically completed, thereby troubleshooting the fault.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A fully automatic hydraulic deep hole drilling rig comprises a walking unit, a drilling main unit, an electro-hydraulic system and an automatic control system, wherein the drilling main unit, the solenoid valve box of the hydraulic system and the automatic control system are all arranged on the walking unit, wherein a driving motor is arranged in the walking unit, wherein the drilling main unit is rotatably connected to the walking unit via the driving motor, wherein the drilling main unit is electrically connected to the automatic control system, wherein the drilling main unit is connected to the oil circuit of the solenoid valve box, wherein the drilling main unit comprises a drill rod storage device, a mounting base, a main manipulator, an auxiliary manipulator, a ferrying device and a feeding device, wherein the auxiliary manipulator is arranged on one side of the drill rod storage device, wherein the ferrying device, the main manipulator and the feeding device are arranged on the mounting base in sequence, wherein the drill rod storage device is used for storing drill rods, wherein the auxiliary manipulator is used for taking drill rods from the drill rod storage device, wherein the ferrying device is used for positioning the drill rod after the auxiliary manipulator is released, wherein the main manipulator is used for adding the drill rod on the ferrying device to the feeding device, and wherein the feeding device is used for drilling.

[0006] Furthermore, the drill rod storage device includes a connecting plate, a base plate and a drill rod bin. The drill rod bin is composed of a number of equally spaced partitions, the partitions are fixed to the base plate, the connecting plate is arranged on both sides of the base plate, and the base plate is provided with a number of threaded holes for fixing the base plate to the walking unit.

[0007] Furthermore, it also includes a translation mechanism, which is arranged on one side of the drill rod storage device. The translation mechanism includes a first bracket, a displacement sensor, a slider and a translation cylinder. The bracket is fixed to the side of the drill rod storage device, the translation cylinder is arranged in the bracket, the slider is slidably arranged in the bracket, the slider is fixed on the piston rod of the translation cylinder, the auxiliary manipulator is fixedly connected to the slider, the displacement sensor is arranged on one side of the translation cylinder, and the displacement sensor is electrically connected to the automatic control system.

[0008] Furthermore, the auxiliary manipulator includes a first telescopic cylinder, a first transverse connecting rod and a first mechanical clamp, the first telescopic cylinder is arranged on a slider, the first transverse connecting rod is arranged on a piston rod of the first telescopic cylinder, the first transverse connecting rod is arranged parallel to the drill rod magazine, the first mechanical clamp is vertically arranged at the end of the first transverse connecting rod for clamping the drill rod, and the first telescopic cylinder and the first mechanical clamp are both connected to the oil circuit of the solenoid valve box.

[0009] Furthermore, the ferry device includes a hydraulic cylinder, a slide rail, a positioning plate, a V-block, a first clamping cylinder and a baffle, the hydraulic cylinder and the slide rail are both arranged on a mounting base, the slide rail is arranged on one side of the hydraulic cylinder, the positioning plate is arranged on the piston rod of the hydraulic cylinder, the positioning plate is slidably connected to the slide rail, two V-blocks and two first clamping cylinders are each provided, the two V-blocks are symmetrically arranged in the middle of the positioning plate, the two first clamping cylinders are arranged on one side of the V-block, and the baffle is arranged on the piston rod of the first clamping cylinder.

[0010] Furthermore, the main manipulator includes a lifting frame, a second telescopic cylinder and a second mechanical clamp, the lifting frame includes a first rotating disk and a rotating cylinder, the first rotating disk is arranged on a mounting base and is driven by a servo motor, the first rotating disk is provided with a connecting plate, the rotating cylinder is rotatably connected to the connecting plate, the second telescopic cylinder is arranged on the rotating cylinder, the second mechanical clamp is arranged on the piston rod of the second telescopic cylinder, and the rotating cylinder and the second telescopic cylinder are connected to the oil circuit of the solenoid valve box.

[0011] Furthermore, the feeding device is rotatably arranged on the mounting base and driven by a servo motor. The feeding device includes a mounting plate, a power head, a movable seat, a third telescopic cylinder and a clamping device. The third telescopic cylinder is arranged in the mounting plate, and the movable seat is slidably arranged on the mounting plate. The movable seat is fixedly connected to the piston rod of the third telescopic cylinder, the power head is arranged on the movable seat, and the clamping device is arranged at the end of the second mounting plate. The power head is electrically connected to the automatic control system, and the third telescopic cylinder and the clamping device are connected to the oil circuit of the solenoid valve box.

[0012] Furthermore, the clamping device includes a front clamp, a rear clamp and a swing cylinder, the front clamp and the rear clamp are both hinged with a second clamping cylinder, a cava is provided on the piston rod of the second clamping cylinder, the swing cylinder is arranged below the front clamp and the rear clamp, and the piston rod of the swing cylinder is fixedly connected to the second clamping cylinder.

[0013] Furthermore, it also includes a supporting device, which is respectively arranged on the transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device, the transverse supporting device is arranged at both ends of the feeding device, the first longitudinal supporting device is arranged on the upper end surface of the walking unit, and the second longitudinal supporting device is arranged at the bottom of the walking unit, the transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device have the same structure, and all include an anchoring cylinder and a support seat, the anchoring cylinder is connected to the oil circuit of the solenoid valve box, and the support seat is arranged on the piston rod of the anchoring cylinder.

[0014] A fault diagnosis system for a fully automatic hydraulic deep hole drilling machine comprises the following steps:

[0015] S01. Start the drilling rig to start drilling through ground remote control. The automatic control system adjusts the flow and direction of the hydraulic oil by controlling the solenoid valve box of the solenoid valve box, and the hydraulic circuits of each actuator produce different actions accordingly;

[0016] S02. After the drilling rig starts the drilling program, the fault diagnosis system executes the initialization process, sends a drive command to the solenoid valve box, the solenoid valve box, and the actuator through the control program, and feeds back the signal of each system to the signal processing unit to determine whether the signal is normal. If the signal is normal, it is fed back to the control center to continue the drilling program;

[0017] S03. If the signal is abnormal, the fault diagnosis system will extract the signal features and determine the fault type, feed back the diagnosis information to the automatic control system, repair the fault, and diagnose again after the repair is completed. If the diagnosis is correct, continue the drilling program; otherwise, continue the repair until the fault is repaired.

[0018] The beneficial effects of the present invention are:

[0019] 1. The fully automatic hydraulic deep hole drilling machine designed in this paper can realize fully automatic operation, and can realize the transportation, drilling and loading and unloading of drill rods without too much manual intervention, which reduces the fatigue intensity of manual operation and greatly improves production efficiency; at the same time, it avoids the safety hazards caused by manual operation in coal mines and ensures the life safety of workers to the greatest extent;

[0020] 2. The present invention realizes the multi-directional and multi-angle operation of the drilling rig, and can accurately locate the position of the drilling construction; in addition to the fully automatic drilling mode, it can also be manually controlled, and can be reasonably selected according to the actual needs of the working conditions;

[0021] 3. By setting up sensor units, the temperature, vibration, noise and other signals of the drilling rig are monitored in real time, and the fault characteristic parameters are collected and extracted, forming a complete fault diagnosis unit to ensure the reliability and safety of the drilling rig;

[0022] 4. Through the monitoring system, the staff can observe the temperature, hydraulic pressure, inclination and other characteristic parameters of the underground drilling rig and the working conditions of the drilling rig in real time on the ground to ensure the normal operation of the drilling rig;

[0023] 5. A large-capacity drill rod storage device is set up, which eliminates the need to manually add drill rods multiple times, can meet most drilling needs, reduce the labor intensity of operators, and improve the continuity of drilling construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the overall assembly diagram of the present invention;

[0025] Figure 2A top view of the present invention;

[0026] Figure 3 It is a schematic diagram of the motor and hydraulic pump of the present invention;

[0027] Figure 4 It is a schematic diagram of the clamping mechanism of the present invention;

[0028] Figure 5 It is a schematic diagram of the drill rod storage device of the present invention;

[0029] Figure 6 It is a working schematic diagram of the translation mechanism of the present invention;

[0030] Figure 7 It is a schematic diagram of the ferry device of the present invention;

[0031] Figure 8 This is a schematic diagram of the main manipulator structure of the present invention;

[0032] Fig. 9 It is a schematic diagram of the structure of the mounting plate of the feeding device of the present invention;

[0033] Fig.10 This is the automatic control principle diagram of the solenoid valve box of the present invention;

[0034] Fig.11 This is a schematic diagram of the fault diagnosis principle of the present invention.

[0035] In the figure: 1-automatic control system; 2-drill pipe storage device; 3-auxiliary manipulator; 4-feeding device; 5-power head; 6-lifting frame; 7-main manipulator; 8-front clamp; 9-rear clamp; 10-drill pipe; 11-ferry device; 12-support device; 13-travel unit; 14-oil tank; 15-solenoid valve box; 16-drive motor; 17-hydraulic pump; 18-visual unit; 19-clamping cylinder; 20-swing Cylinder; 21-connecting plate; 22-bottom plate; 23-drill rod magazine; 24-bracket; 25-displacement sensor; 26-slider; 27-translation cylinder; 28-sprocket mechanism; 29-clamping cylinder; 30-V-block; 31-hydraulic cylinder; 32-slide rail; 33-positioning plate; 34-baffle; 35-first rotating disk; 36-rotating cylinder; 37-second telescopic cylinder; 38-second mechanical clamp; 39-third telescopic cylinder. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0037] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "horizontal", "inner", "outer", "one side", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a circuit connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Example 1

[0039] like Figure 1-9 As shown, a fully automatic hydraulic deep hole drilling rig includes a traveling unit 13, a drilling main machine, a hydraulic system and an automatic control system 1. The drilling main machine, the solenoid valve box 15 of the hydraulic system and the automatic control system 1 are all arranged on the traveling unit 13, the oil tank 14 of the hydraulic system is arranged in the traveling unit 13, and the traveling unit 13 is provided with a driving motor 16 and a hydraulic pump 17. The drilling main machine is rotatably connected to the traveling unit 13 through the driving motor 16 and the hydraulic pump 17, the drilling main machine is electrically connected to the automatic control system 1, and the drilling main machine is oil-connected to the solenoid valve box 15.

[0040] The walking unit of the present invention has an automatic walking function. By designing a sensor unit, the position information is transmitted to the automatic control system in real time, the drilling rig posture is adjusted in time, and the distance between the drilling rig and the two sides of the tunnel is controlled to prevent friction or collision. At the same time, sensors are set in the forward and backward directions of the drilling rig to avoid obstacles in the tunnel and ensure the reliability of the walking function.

[0041] The automatic control system of the present invention also includes a detection system and a fault diagnosis unit, including a hydraulic monitoring sensor set in each oil cylinder, an inclination angle and rotation sensor set in the motor, and an environmental detection sensor, a displacement sensor, etc. Common faults include wear, looseness, fatigue, leakage, etc. Wear leads to increased friction and reduced speed; looseness leads to local vibration of the device and reduced displacement accuracy; leakage leads to reduced oil pressure and insufficient power. Different faults will produce different data features, and different fault features are extracted to form a complete fault feature database. The construction data extracted by the sensor unit is screened and diagnosed by the fault diagnosis unit to monitor the working status of the drilling rig in real time.

[0042] The present invention has an automatic drilling function. Under the drive of the automatic control system, it can realize the adjustment of multiple azimuths and different inclination angles and accurately locate the operation position. The program then drives the conveying of the drill rod, the clamping of the hydraulic clamp, the feeding of the rotary mechanism and other actions to perform automatic drilling operations without manual operation, thereby reducing fatigue and errors in manual operation.

[0043] Specifically, the drilling main machine includes a drill rod storage device 2, a mounting base, a main manipulator 7, an auxiliary manipulator 3, a ferry device 11 and a feeding device 4. The auxiliary manipulator 3 is arranged on one side of the drill rod storage device 2, and the ferry device 11, the main manipulator 7 and the feeding device 4 are arranged on the mounting base in sequence. The drill rod storage device 2 is used for storing the drill rod 10, the auxiliary manipulator 3 is used for taking the drill rod 10 in the drill rod storage device 2, the ferry device 11 is used for positioning the drill rod 10 after the auxiliary manipulator 3 is released, the main manipulator 7 is used for adding the drill rod 10 on the ferry device 11 to the feeding device 4, and the feeding device 4 is used for drilling.

[0044] The drill rod storage device 2 includes a connecting plate 21, a base plate 22 and a drill rod bin 23. The drill rod bin 23 is composed of a number of equally spaced partitions fixed on the base plate 22. The connecting plate 21 is arranged on both sides of the base plate 22. The base plate 22 is provided with a number of threaded holes for fixing the base plate 22 on the walking unit 13.

[0045] It also includes a translation mechanism, which is arranged on one side of the drill rod storage device 2. The translation mechanism includes a first bracket 24, a displacement sensor 25, a slider 26, a translation cylinder 27 and a sprocket mechanism 28. The bracket 24 is fixed to the side of the drill rod storage device 2, the translation cylinder 27 is arranged in the bracket 24, and the sprocket mechanism is arranged on both sides of the translation cylinder 27 to improve the stability of the slider 26 moving in the bracket 24. The slider 26 is slidably arranged in the bracket 24, the slider 26 is fixed on the piston rod of the translation cylinder 27, the auxiliary manipulator 3 is fixedly connected to the slider 26, the displacement sensor 25 is arranged on one side of the translation cylinder 27, and the displacement sensor 25 is electrically connected to the automatic control system 1.

[0046] The auxiliary manipulator 3 includes a first telescopic cylinder, a first transverse connecting rod and a first mechanical clamp. The first telescopic cylinder is arranged on the slider 26, the first transverse connecting rod is arranged on the piston rod of the first telescopic cylinder, the first transverse connecting rod is arranged parallel to the drill rod magazine 23, and the first mechanical clamp is vertically arranged at the end of the first transverse connecting rod for clamping the drill rod 10. The first telescopic cylinder and the first mechanical clamp are both connected to the oil circuit of the solenoid valve box 15.

[0047] The ferry device 11 includes a hydraulic cylinder 31, a slide rail 32, a positioning plate 33, a V-block 30, a first clamping cylinder 19 and a baffle 34. The hydraulic cylinder 31 and the slide rail 32 are both arranged on a mounting base, the slide rail 32 is arranged on one side of the hydraulic cylinder 31, the positioning plate 33 is arranged on the piston rod of the hydraulic cylinder 31, the positioning plate 33 is slidably connected to the slide rail 32, and two V-blocks 30 and two first clamping cylinders 19 are each provided with two, the two V-blocks 30 are symmetrically arranged in the middle of the positioning plate 33, the two first clamping cylinders 19 are arranged on one side of the V-block 30, and the baffle 34 is arranged on the piston rod of the first clamping cylinder 19.

[0048] The main manipulator 7 includes a lifting frame 6, a second telescopic cylinder 37 and a second mechanical clamp 38. The lifting frame 6 includes a first rotating disk 35 and a rotating cylinder 36. The first rotating disk 35 is arranged on a mounting base and is driven by a servo motor. The first rotating disk 35 is provided with a connecting plate 21. The rotating cylinder 36 is rotatably connected to the connecting plate 21. The second telescopic cylinder 37 is arranged on the rotating cylinder 36. The second mechanical clamp 38 is arranged on the piston rod of the second telescopic cylinder 37. The rotating cylinder 36 and the second telescopic cylinder 37 are connected to the oil circuit of the solenoid valve box 15.

[0049] The feeding device 4 is rotatably arranged on the mounting base and driven by a servo motor so that the feeding device 4 can rotate around the mounting base. The drilling main unit is rotatably connected to the walking unit 13 by a driving motor, and the feeding device 4 is rotatably connected to the mounting base by a servo electric rotation. All of these are to achieve flexible changes in the drilling angle and adjust the inclination angle of the drilling rig. The feeding device 4 includes a mounting plate, a power head 5, a moving seat, a third telescopic cylinder 39 and a clamping device. The third telescopic cylinder 39 is arranged in the mounting plate, and the moving seat is slidably arranged on the mounting plate. The moving seat is fixedly connected to the piston rod of the third telescopic cylinder 39. The power head 5 is arranged on the moving seat. A visual unit 18 is arranged above the power head 5. A hydraulic chuck and a speed sensor for clamping the drill rod 10 are arranged at the front end of the power head 5. The clamping device is arranged at the end of the second mounting plate. The power head 5 is electrically connected to the automatic control system 1, and the third telescopic cylinder 39, the hydraulic chuck, the clamping device and the solenoid valve box 15 are connected in oil circuit.

[0050] The clamping device includes a front clamp 8, a rear clamp 9 and a swing cylinder 20. The front clamp 8 and the rear clamp 9 are both hinged with a second clamping cylinder 29. A slip is provided on the piston rod of the second clamping cylinder 29. The swing cylinder 20 is arranged below the front clamp and the rear clamp 9, and the piston rod of the swing cylinder 20 is fixedly connected to the second clamping cylinder 29.

[0051] It also includes a supporting device 12, which is respectively arranged on the transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device. The transverse supporting device is arranged at both ends of the feeding device 4, the first longitudinal supporting device is arranged on the upper end surface of the walking unit 13, and the second longitudinal supporting device is arranged at the bottom of the walking unit 13. The transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device have the same structure and all include an anchoring cylinder and a support seat. The anchoring cylinder is connected to the oil circuit of the solenoid valve box 15, and the support seat is arranged on the piston rod of the anchoring cylinder.

[0052] Example 2

[0053] like Figure 10-11 As shown, a fault diagnosis system for a fully automatic hydraulic deep hole drilling machine includes the following steps:

[0054] S01. Start the drilling rig for drilling construction through ground remote control. According to the construction requirements, set the drilling height, inclination, azimuth and other technical requirements. The automatic control system 1 controls the solenoid valve box 15 of the solenoid valve box 15 to open and close the valve group of the solenoid valve box 15, and the hydraulic circuits of the actuators produce different actions accordingly;

[0055] S02. After the drilling rig starts the drilling program, the fault diagnosis system executes the initialization process, sends a drive command to the solenoid valve box 15, the solenoid valve box 15, and the actuator through the control program, and feeds back the signal of each system to the signal processing unit to determine whether the signal is normal. If the signal is normal, it is fed back to the control center to continue the drilling program;

[0056] S03. If the signal is abnormal, the fault diagnosis system extracts the signal features and determines the fault type, feeds back the diagnosis information to the automatic control system 1, repairs the fault, and diagnoses again after the repair is completed. If the diagnosis is correct, continue the drilling program; otherwise, continue the repair until the fault is repaired.

[0057] Example 3

[0058] This embodiment discloses the basic process and adjustment flow of automatic drilling by the drilling rig in Embodiment 2, and the specific process is as follows:

[0059] 1. Drilling rig self-inspection

[0060] (1) Self-check of the auxiliary manipulator 3. In the initial state, there should be no drill rod 10 in the gripper of the auxiliary manipulator 3, and the gripper should be in a loose state, located directly above the ferry device 11; if not satisfied, it will automatically adjust to the above state;

[0061] (2) The ferry device 11 self-checks. In the initial state, the first clamping cylinder 19 is in the extended state, and the hydraulic cylinder 31 is in the retracted state; if not satisfied, it will automatically adjust to the above state;

[0062] (3) Self-check of the main manipulator 7. In the initial state, the second telescopic cylinder 37 should be in the retracted state, the second mechanical gripper 38 should be located near the ferry device 11, and the rotation angle is 0°; if not satisfied, it will automatically adjust to the above state;

[0063] (4) Clamp self-check. In the initial state, the front clamp 8 and the rear clamp 9 should both be in the loose state; if not, they will automatically adjust to the above state;

[0064] (5) Self-check of the power head 5. In the initial state, the power head 5 is located at the end away from the front clamp 8; if it is not satisfied, it will automatically adjust to the above state.

[0065] 2. Drilling posture self-check: Check whether the drilling height, inclination and azimuth of the drill rig are consistent with the set parameters in the initial state; if not, it will automatically adjust to the above state.

[0066] 3. Transportation of drill pipe

[0067] (1) Grab the drill rod 10. The displacement sensor 25 monitors the position of the auxiliary manipulator 3 in real time, and the automatic control system 1 determines the distance that the auxiliary manipulator 3 needs to translate. The drill rod bin 23 close to the ferry device 11 is the first drill rod bin 23, and the drill rod bin 23 at the maximum travel of the translation mechanism is the ninth drill rod bin 23. The grabbing order of the drill rod 10 is from the first to the ninth;

[0068] The auxiliary manipulator 3 moves to the top of the drill rod bin 23, the first telescopic cylinder contracts, and the first mechanical gripper grabs the drill rod 10. The exact distance the first mechanical gripper moves is determined by the automatic control system 1;

[0069] (2) The ferry device 11 transports the drill rod 10. After the auxiliary manipulator 3 grabs the drill rod 10, the automatic control system 1 controls the translation mechanism to drive the auxiliary manipulator 3 back to the top of the ferry device 11. After the drill rod 10 is released, the drill rod 10 automatically rolls to the lowest point of the V-block 30, the first clamping cylinder 19 is retracted, and the baffle 34 drives the drill rod 10 to automatically align to the specified position of the ferry device 11. The hydraulic cylinder 31 extends to the maximum stroke;

[0070] (3) The main manipulator 7 grabs the drill rod 10. The second telescopic cylinder 37 of the main manipulator 7 extends, and the second mechanical gripper 38 grabs the drill rod 10. Under the action of the rotating cylinder 36, the drill rod 10 rotates 242° around the rotating cylinder 36 and is located directly above the front gripper 8;

[0071] (4) The clamp clamps the drill rod 10. The main manipulator 7 places the drill rod 10 between the two slips of the front clamp 8, and the second clamping cylinder 29 extends, and the drill rod 10 is clamped by the clamp;

[0072] (5) The automatic control system 1 drives the second mechanical gripper of the main manipulator 7 to release, and the second telescopic cylinder 37 and the second mechanical gripper 38 are retracted accordingly.

[0073] 4. Automatic drilling

[0074] (1) The automatic control system 1 drives the third telescopic cylinder 39 of the feeding device 4 to extend, and the power head 5 slides forward. When it approaches the drill rod 10, the speed decreases, and the hydraulic chuck of the power head 5 clamps the drill rod 10;

[0075] (2) The automatic control system 1 drives the second clamping cylinder 29 to retract, driving the front clamp 8 to release the drill rod 10;

[0076] (3) The third telescopic cylinder 39 of the feeding device 4 is retracted, and the power head 5 is then retracted to the other end of the feeding device 4;

[0077] (4) Execute step 3;

[0078] (5) The automatic control system 1 drives the third telescopic cylinder 39 of the feeding device 4 to extend, and the power head 5 slides forward, and the power head 5 drives the drill rod 10 to rotate and approach the previous drill rod 10, so that the threads of the front and rear drill rods 10 are connected together;

[0079] (6) Execute step 4 (2), push the power head 5 to the maximum stroke, the front clamp 8 and the rear clamp 9 cooperate to release the buckle, the rear clamp 9 clamps the next drill rod 10, the front clamp 8 releases the previous drill rod 10, the power head 5 retracts, and the drill rods 10 are added in sequence, and the drilling depth increases continuously;

[0080] (7) Execute step 3 and step 4 (5) and (2), the power head 5 rotates and engages the drill rod 10 in the front clamp 8 and the rear clamp 9, and the rear clamp 9 is released;

[0081] (8) Execute step 4 (6);

[0082] (9) Repeat steps (7) and (6) of step 4 until the drilling depth is reached.

[0083] 5. Automatic drill retraction

[0084] (1) The automatic control system 1 drives the power head 5 to drive the drill rod 10 in the rear clamp 9 to retreat to the front clamp 8;

[0085] (2) The second clamping cylinder 29 extends, the front clamp 8 is clamped, and the rear clamp 9 is also clamped;

[0086] (3) The automatic control system 1 drives the third telescopic cylinder 39 to extend, causing the front clamp 8 and the rear clamp 9 to swing relative to each other, thereby removing the preload force of the threaded connection of the drill rod 10;

[0087] (4) The automatic control system 1 drives the front clamp 8 to release, and the power head 5 rotates, so that the threaded connection of the drill pipe 10 between the front clamp 8 and the rear clamp 9 is disconnected, and then the second clamping cylinder 29 extends and the front clamp 8 is clamped;

[0088] (5) The power head 5 continues to rotate, and the threaded connection between the active drill rod 10 and the drilling drill rod 10 is removed. (The active drill rod 10 is the drill rod 10 clamped by the hydraulic chuck of the power head 5)

[0089] 6. Drill pipe storage

[0090] (1) The automatic control system 1 drives the main manipulator 7 to grab the drill rod 10 and place it on the ferry device 11;

[0091] (2) The hydraulic cylinder 31 and the first clamping cylinder 19 of the ferry device 11 are retracted simultaneously, so that the drill rod 10 moves to the bottom of the auxiliary manipulator 3;

[0092] (3) The auxiliary manipulator 3 grabs the drill rods 10 and stores them in the drill rod bins 23, starting from the first drill rod bin 23 until the last drill rod 10 is stored;

[0093] (4) Repeat steps 5 and 6 (1), (2), and (3) until the drill bit is removed.

[0094] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A fully automatic hydraulic deep hole drilling machine, characterized in that: It includes a walking unit, a drilling main unit, an electro-hydraulic system and an automatic control system. The drilling main unit, the solenoid valve box of the hydraulic system and the automatic control system are all arranged on the walking unit. A driving motor is arranged in the walking unit. The drilling main unit is rotatably connected to the walking unit through the driving motor. The drilling main unit is electrically connected to the automatic control system. The drilling main unit is connected to the oil circuit of the solenoid valve box. The drilling main unit includes a drill rod storage device, a mounting base, a main manipulator, an auxiliary manipulator, a ferrying device and a feeding device. The auxiliary manipulator is arranged on one side of the drill rod storage device. The ferrying device, the main manipulator and the feeding device are arranged on the mounting base in sequence. The drill rod storage device is used for storing drill rods. The auxiliary manipulator is used for taking drill rods in the drill rod storage device. The ferrying device is used for positioning the drill rod after the auxiliary manipulator is released. The main manipulator is used to add the drill rod on the ferrying device to the feeding device. The feeding device is used for drilling.

2. A fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: The drill rod storage device includes a connecting plate, a base plate and a drill rod bin. The drill rod bin is composed of a number of equally spaced partitions, the partitions are fixed to the base plate, the connecting plate is arranged on both sides of the base plate, and the base plate is provided with a number of threaded holes for fixing the base plate to the walking unit.

3. The fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: It also includes a translation mechanism, which is arranged on one side of the drill rod storage device. The translation mechanism includes a first bracket, a displacement sensor, a slider and a translation cylinder. The bracket is fixed to the side of the drill rod storage device, the translation cylinder is arranged in the bracket, the slider is slidably arranged in the bracket, the slider is fixed on the piston rod of the translation cylinder, the auxiliary manipulator is fixedly connected to the slider, the displacement sensor is arranged on one side of the translation cylinder, and the displacement sensor is electrically connected to the automatic control system.

4. The fully automatic hydraulic deep hole drilling machine according to claim 3, characterized in that: The auxiliary manipulator includes a first telescopic cylinder, a first transverse connecting rod and a first mechanical clamp, the first telescopic cylinder is arranged on a slider, the first transverse connecting rod is arranged on a piston rod of the first telescopic cylinder, the first transverse connecting rod is arranged parallel to the drill rod magazine, the first mechanical clamp is vertically arranged at the end of the first transverse connecting rod, and is used for clamping the drill rod, and the first telescopic cylinder and the first mechanical clamp are both connected to the oil circuit of the solenoid valve box.

5. The fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: The ferry device includes a hydraulic cylinder, a slide rail, a positioning plate, a V-block, a first clamping cylinder and a baffle. The hydraulic cylinder and the slide rail are both arranged on a mounting base, the slide rail is arranged on one side of the hydraulic cylinder, the positioning plate is arranged on the piston rod of the hydraulic cylinder, the positioning plate is slidably connected to the slide rail, two V-blocks and two first clamping cylinders are each provided, the two V-blocks are symmetrically arranged in the middle of the positioning plate, the two first clamping cylinders are arranged on one side of the V-block, and the baffle is arranged on the piston rod of the first clamping cylinder.

6. The fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: The main manipulator includes a lifting frame, a second telescopic cylinder and a second mechanical clamp. The lifting frame includes a first rotating disk and a rotating cylinder. The first rotating disk is arranged on a mounting base and is driven by a servo motor. The first rotating disk is provided with a connecting plate. The rotating cylinder is rotatably connected to the connecting plate. The second telescopic cylinder is arranged on the rotating cylinder. The second mechanical clamp is arranged on the piston rod of the second telescopic cylinder. The rotating cylinder and the second telescopic cylinder are connected to the oil circuit of the solenoid valve box.

7. The fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: The feeding device is rotatably arranged on the mounting base and driven by a servo motor. The feeding device includes a mounting plate, a power head, a movable seat, a third telescopic oil cylinder and a clamping device. The third telescopic oil cylinder is arranged in the mounting plate, the movable seat is slidably arranged on the mounting plate, the movable seat is fixedly connected to the piston rod of the third telescopic oil cylinder, the power head is arranged on the movable seat, the clamping device is arranged at the end of the second mounting plate, the power head is electrically connected to the automatic control system, and the third telescopic oil cylinder and the clamping device are connected to the oil circuit of the solenoid valve box.

8. The fully automatic hydraulic deep hole drilling machine according to claim 7, characterized in that: The clamping device includes a front clamp, a rear clamp and a swing cylinder. The front clamp and the rear clamp are both hinged with a second clamping cylinder, and a slip is provided on the piston rod of the second clamping cylinder. The swing cylinder is arranged below the front clamp and the rear clamp, and the piston rod of the swing cylinder is fixedly connected to the second clamping cylinder.

9. The fully automatic hydraulic deep hole drilling machine according to claim 1, characterized in that: It also includes a supporting device, which is respectively arranged on the transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device. The transverse supporting device is arranged at both ends of the feeding device, the first longitudinal supporting device is arranged on the upper end surface of the walking unit, and the second longitudinal supporting device is arranged at the bottom of the walking unit. The transverse supporting device, the first longitudinal supporting device and the second longitudinal supporting device have the same structure and all include an anchoring cylinder and a support seat. The anchoring cylinder is connected to the oil circuit of the solenoid valve box, and the support seat is arranged on the piston rod of the anchoring cylinder.

10. A fault diagnosis system for a fully automatic hydraulic deep hole drilling machine, characterized in that: The following steps are involved: S01. Start the drilling rig to start drilling through ground remote control. The automatic control system adjusts the flow and direction of the hydraulic oil by controlling the solenoid valve box of the solenoid valve box, and the hydraulic circuits of each actuator produce different actions accordingly; S02. After the drilling rig starts the drilling program, the fault diagnosis system executes the initialization process, sends a drive command to the solenoid valve box, the solenoid valve box, and the actuator through the control program, and feeds back the signal of each system to the signal processing unit to determine whether the signal is normal. If the signal is normal, it is fed back to the control center to continue the drilling program; S03. If the signal is abnormal, the fault diagnosis system will extract the signal features and determine the fault type, feed back the diagnosis information to the automatic control system, repair the fault, and diagnose again after the repair is completed. If the diagnosis is correct, continue the drilling program; otherwise, continue the repair until the fault is repaired.

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