Integral type automatic directional drilling machine suitable for underground directional construction and control method of integral type automatic directional drilling machine

Abstract

The invention discloses an integral type automatic directional drilling machine suitable for underground directional construction and a control method of the integral type automatic directional drilling machine. The integral type automatic directional drilling machine comprises a walking mechanism, a drilling main machine, a rod loading and unloading mechanical arm, a rod supplementing device, a suspension arm and a power pump station, in the drill rod loading and unloading construction process, the rod loading and unloading mechanical arm can achieve the rod loading and unloading function at different drilling angles, the rod loading and unloading action within the range of 0-90 degrees can be achieved in the mode that linear motion and rotary motion are combined, accurate positioning at multiple angles is achieved in the mode that mechanical limiting and an angle sensor are combined, and the drill rod loading and unloading efficiency and reliability are improved; during rod supplementing operation, the drilling machine has the rod bin capacity meeting the single-shift footage average value in actual construction, single-shift one-time rod supplementing can be achieved, and auxiliary personnel do not need to wait for rod supplementing basically. The drilling machine is suitable for underground coal mine automatic directional drilling machine construction, can achieve integral layout, is compact in structure, is provided with a power system, and does not need to be matched with a special power pump truck for use.

Description

Technical Field

[0001] The invention belongs to the technical field of gas extraction drilling equipment and relates to an integral automatic directional drilling rig suitable for underground directional construction and a control method thereof. Background Art

[0002] Directional drilling technology and equipment for measurement while drilling are widely used in my country's coal mining enterprises, and have played an important role in efficient gas extraction, advanced water disaster prevention and control, overall roof fracturing and pressure relief, and accurate exploration of hidden geological factors that cause disasters. In order to improve the utilization rate of boreholes, the depth of directional drilling holes has gradually developed to the kilometer level, and the demand for drill rods for single-hole construction is large; at the same time, trajectory control is required during directional drilling. The drill rods are generally long and have a large diameter. Generally, at least one person is required to operate the drill rig, and another two people are required to carry and load and unload the drill rods. The above construction method not only has high labor intensity for workers, but also requires many auxiliary personnel, and has poor safety, which cannot meet the actual needs of intelligent drilling in coal mines.

[0003] At present, there are three main types of directional drilling rigs with automatic loading and unloading drill rod systems. One is upgraded from the automatic drilling rig used for ordinary rotary drilling. Its structural feature is that the drilling host is placed horizontally at the front end of the drilling rig, and the rod bin is placed inside the vehicle body. The loading and unloading of drill rods is completed by the mutual transmission of the rod replenishing manipulator and the rod adding manipulator. Since the host is placed horizontally at the front end, the length of the fuselage should not be too long to occupy the space size. Therefore, it can only meet the intermediate loading and unloading of shorter drill rods with a length of less than 1 meter. The directional drilling process requires that the drill rod length is generally more than 1.5 meters, which is not completely applicable. At the same time, this method has a long drill rod transmission path and relatively low loading and unloading efficiency. The second type is upgraded from the traditional directional drilling rig. Its structural feature is that the drilling rig body is equipped with a rod loading and unloading manipulator arm. The drilling rig body does not have the function of storing rods. The drill rod tray is hung on the side of the host. Each time manual or auxiliary lifting equipment is used, 5-7 drill rods are placed in the tray, and the loading and unloading rod mechanical arm grabs and places the drill rods, and then transports them to the main machine for loading and unloading drill rods. In this method, due to the drill rod tray mounted on the side of the main machine, the tray not only increases the width of the drilling rig and occupies space, but also has to move synchronously with the main machine as the inclination angle of the drilling hole changes, resulting in the position of the replenishing rod being uncertain, which increases the difficulty of replenishing rods. At the same time, due to the small capacity of drill rods in the tray, auxiliary personnel are still required to replenish and remove rods at any time, which is inefficient, labor-intensive, and has safety hazards. The third type of automatic directional drilling rig with a large-capacity rod bin, the drilling main machine and the drill rod bin are placed side by side inside the drilling rig platform, and the drill rods are arranged in two rod bins along the length of the drilling rig. The rod replenishing manipulator slides along the length to grab the drill rods in the rod bin and places them on a fixed drill rod tray, which is then grabbed by the loading and unloading rod mechanical arm and transferred to the main machine rotation center to complete the loading and unloading drill rod operation process. This type of automatic directional drilling rig structure, because multiple rod bins are placed side by side with the main machine, occupying most of the space on the drilling rig platform, the drilling rig itself does not have a power system, and needs to be equipped with a special power pump truck for mobile use, which limits its applicability. At the same time, because directional drilling rigs are mainly used for medium-deep hole construction, the hole depth is mainly in the hundreds of meters or kilometers. In the limited space of the drilling rig platform, no matter how large the capacity of the drill rod bin is, it is impossible to completely meet the single-hole drilling depth requirements. During the drilling process, it is necessary to manually add or remove rods from the rod bin. The rod bin is relatively high above the platform relative to the operator, and the drilling tools are long and heavy. It is extremely inconvenient to carry the drill rods up and down, and reducing manpower to increase efficiency is not significant.

[0004] The working paths of the three types of loading and unloading rod robotic arms mentioned above when transferring and loading and unloading drill rods are mainly divided into coordinate linear trajectory and rotation + linear motion trajectory. The working characteristics of the linear trajectory are that the stroke is fixed to facilitate mechanical positioning and the position accuracy is relatively high, but its linear motion is generally driven by a cylinder and the path is long, resulting in a large occupation of the mechanical working space. The tunnel space of the directional construction drilling site is relatively high, which reduces the adaptability of the automatic drilling rig; while the rotation + linear motion trajectory has a compact structure and a relatively short path, but the maximum working rotation angle of the existing loading and unloading rod robotic arms is generally in the range of (180~270°). An excessively large rotation path will not only increase the error, but also make it difficult to improve the efficiency of loading and unloading drill rods. At the same time, it will occupy more rotation space, and other components must be arranged in other areas. The spatial layout cannot be effectively utilized, and the overall size of the drilling rig is relatively large. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an integrated automatic directional drilling rig suitable for underground directional construction and a control method thereof, to solve the problems of split layout of the automatic directional drilling rig and low adaptability, and to solve the problems of low control accuracy and efficiency of the mechanical arm for loading and unloading drill rods of the automatic directional drilling rig, large space occupied, poor adaptability to tunnels, and the need for personnel to wait for the rod addition during the single-shift single-hole construction of the automatic directional drilling rig, the high and uncertain position of the rod addition, high labor intensity, and poor safety.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0007] An integral automatic directional drilling rig suitable for underground directional construction includes a traveling mechanism and a drilling host, a rod loading and unloading mechanical arm, a rod supplementing device, a boom, and a power pump station arranged on the traveling mechanism; the drilling host and the rod supplementing device are arranged in parallel and staggered along the length direction of the traveling mechanism, and the rod loading and unloading mechanical arm is arranged at the upper position between the two. The three cooperate to transmit actions to realize automatic rod supplementing, rod adding and rod unloading;

[0008] The drilling main machine includes a feeding device, a middle angle adjustment device arranged at the rear lower part of the feeding device, a front angle adjustment device arranged at the front end of the feeding device, a support plate device arranged on the feeding device, a rotator installed on the support plate device and an active drill rod group therein, and a clamping and shackle device arranged on the feeding device; the support plate device can drive the rotator to move on the guide rail of the feeding device, and the rotator and the active drill rod group are coaxial with the clamping and shackle device;

[0009] The loading and unloading rod mechanical arm includes an angle adjustment cylinder, a primary rotating arm, a secondary rotating arm, a rotating support beam, a translation support beam, a primary telescopic cylinder, a telescopic arm, a drill rod gripper and a secondary telescopic cylinder connected in sequence; the angle adjustment cylinder can adjust the angle of the primary rotating arm, and the secondary rotating arm can drive the rotating support beam, the translation support beam, the primary telescopic cylinder and the telescopic arm to rotate 0-90° along their rotation center as a whole; the translation support beam is clamped on the outer side of the guide rail of the telescopic arm so that the telescopic arm as a whole slides axially under the extension / retraction action of the primary telescopic cylinder; the drill rod gripper can slide axially as a whole under the extension / retraction action of the secondary telescopic cylinder in the telescopic arm;

[0010] The rod-making device comprises a drill rod bin, a rod-making manipulator, a horizontal position sensor, a rack guide, a sliding guide, a transfer pallet, a top-up device, and a transfer cylinder; the side and front sides of the drill rod bin are respectively fixed to the sliding guide and the rack guide, and the rod-making manipulator is clamped on the rack guide and can slide along the rack guide; one end of the horizontal position sensor is fixed to the rod-making manipulator, and the other end is fixed to the drill rod bin, so as to realize the positioning of the horizontal movement of the rod-making manipulator; the transfer pallet is clamped on the sliding guide, one end of the transfer cylinder is fixed to the sliding guide, and the other end is fixed to the drill rod bin, and the transfer pallet slides along the sliding guide under the action of the transfer cylinder, and the top-up device is symmetrically arranged at both ends of the transfer pallet to ensure that the position of the drill rod is relatively fixed each time, thereby improving the control accuracy;

[0011] The power pump station includes a motor pump assembly, an oil tank assembly, and a controller assembly.

[0012] The present invention also includes the following technical features:

[0013] Specifically, the feeding device includes an upper guide rail, a fuselage, a feeding cylinder, a lower guide rail, an inclination sensor assembly and a limit device. The upper guide rail and the lower guide rail are riveted and fixed to the fuselage. The feeding cylinder is fixed between the upper guide rail and the lower guide rail. The cylinder rod of the feeding cylinder is fixed to both ends of the fuselage. The cylinder barrel of the feeding cylinder can slide along the fuselage. The inclination sensor assembly and the limit device are riveted and fixed to the side of the fuselage. The support plate device is clamped on the guide rail of the feeding device and can slide with the feeding cylinder.

[0014] Specifically, the central angle adjustment device includes a base, a depression angle limit block, an elevation angle limit block, a rear angle adjustment cylinder, a rotating shaft and a sensor assembly; the elevation angle limit block is fixed at the rear of the base, the depression angle limit block is fixed at the front of the base, one end of the rear angle adjustment cylinder is hinged to the base, and the other end is hinged to the feeding device, the rotating shaft is hinged to the base, and the inclination sensor assembly is riveted and fixed to the side of the base.

[0015] Specifically, the front angle adjustment device includes a front angle adjustment cylinder, a column assembly, a beam I, and a beam II; the middle part of the beam I is hinged to the feeding device, and both ends are hinged to the column assembly, and can slide axially along the column assembly; one end of the front angle adjustment cylinder is hinged to the beam II, and the other end is hinged to the walking mechanism, and both ends of the beam II are hinged to the column assembly.

[0016] Specifically, the rotator is riveted and fixed to the support plate device, the active drill rod assembly is installed through the through hole in the rotator, and the front and rear limit clamps of the active drill rod assembly are clamped at the front and rear ends of the rotator; the active drill rod assembly includes an active drill rod, a front chuck, and a rear chuck, the front chuck is clamped on the shoulder of the active drill rod and is axially fixed, and the rear chuck is clamped on the groove of the active drill rod and is axially fixed.

[0017] Specifically, the clamping and shackle device is riveted and fixed to the front end of the feeding device, and the clamping and shackle device comprises a clamping bracket, a clamping cylinder, a pin shaft, a cover plate, a shackle device bracket, a support plate assembly, a shackle cylinder and a shackle cylinder connecting plate; two groups of clamping cylinders are respectively hinged to the clamping bracket and the shackle device bracket through the pin shaft, the cover plates are respectively arranged on the top of the clamping bracket and the shackle device bracket, the shackle device bracket is respectively hinged to the clamping bracket and the support plate assembly, one end of the shackle cylinder is hinged to the side of the shackle device bracket, and the other end is hinged to the shackle cylinder connecting plate, when the shackle cylinder is fully retracted to the initial position, the shackle device bracket and the clamping bracket have an angle deviation, and when the shackle cylinder is extended, the shackle device bracket can be rotated along the axis to increase the entire shackle stroke.

[0018] Specifically, the first-level swing arm is hinged to the angle adjustment cylinder, the second-level swing arm is riveted to the first-level swing arm, one end of the swing support beam is riveted to the second-level swing arm, and the other end is riveted to the translation support beam, one end of the first-level telescopic cylinder is hinged to the translation support beam, and the other end is hinged to the telescopic arm; the front end of the inner tube of the telescopic arm is riveted to the drill rod gripper, the outer tube is riveted to the probe rod sensor assembly, and the telescopic arm limit assembly is riveted to the side of the telescopic arm.

[0019] Specifically, the drill rod bin includes a bin body, a drill rod baffle, and a drill rod pad; the drill rod baffle is riveted and fixed to the inner sides of both ends of the bin body, and the drill rod pad is riveted and fixed to the bottom of the bin body; the drill rod baffle divides the inside of the drill rod bin into multiple columns, the number of drill rod baffles is N, and the number of drill rod columns is arranged in N+1, 1 means that only one drill rod is placed at the outermost bottom supplementary rod position of the drill rod bin.

[0020] Specifically, the rod-replenishing manipulator includes a driving motor, a driving gear, a first-level lifting cylinder, a first-level lifting guide cylinder, a lifting position sensor, a crossbeam, a second-level lifting cylinder, a second-level lifting guide cylinder, a manipulator grip, and a probe rod sensor assembly; the driving motor is riveted and fixed to the first-level lifting guide cylinder, the driving gear is hinged and fixed to the driving motor, the first-level lifting cylinder is installed inside the first-level lifting guide cylinder, one end of the first-level lifting cylinder is riveted and fixed to the outer tube of the first-level lifting guide cylinder, and the other end is hingedly connected to the crossbeam, the inner tube of the first-level lifting guide cylinder is riveted and fixed to one end of the crossbeam, the other end of the crossbeam is riveted and fixed to the side of the outer tube of the second-level lifting guide cylinder, one end of the second-level lifting cylinder is riveted and fixed to the upper surface of the outer tube of the second-level lifting guide cylinder, and the other end is hinged and fixed to the manipulator grip, the manipulator grip is riveted and fixed to the inner tube of the second-level lifting guide cylinder at the same time, and the probe rod sensor assembly is riveted and fixed to the side of the manipulator grip; the rod-replenishing manipulator realizes the vertical grabbing / placing of drill rods in the drill rod bin through the extension and retraction of the vertically lifting first-level lifting cylinder and the second-level lifting cylinder.

[0021] The control method for automatic rod replenishment of an integral automatic directional drilling rig suitable for underground directional construction is as follows: before the drilling rig is constructed, a single drill rod is placed manually at the rod replenishment position in the drill rod bin each time. After receiving the command, the rod replenishment manipulator moves horizontally to the outermost rod replenishment row in the drill rod bin, and the first-level lifting cylinder and the second-level lifting cylinder work together to lift the rod replenishment manipulator. After the probe rod sensor assembly touches the drill rod, a command to stop the lifting of the manipulator arm is sent. At this time, the gripping center of the manipulator coincides with the center of the drill rod. After the manipulator grabs the drill rod, it lifts it to the highest point and then moves horizontally to the first row of drill rods on the innermost side. The rod replenishment manipulator descends as a whole to lower the drill rod, and the lowering position depends on manual labor. The set initial position coordinate position (x, y) is determined, where x represents the drill rod column coordinate and y represents the drill rod row height; after the initial position coordinate is determined, each time a drill rod is manually loaded, the rod replenishment manipulator receives a trigger instruction, executes the automatic rod replenishment program, and places the drill rod to be loaded at the (x, y+A) coordinate position, where A represents the drill rod diameter; when the drill rods are lowered to the number and height that can be accommodated in a single column, the coordinates of the drill rods lowered by the rod replenishment manipulator automatically become (x+1, y). Similarly, when the horizontal column coordinates are full, it is prompted that the automatic rod replenishment program can no longer be executed, and the rod replenishment manipulator is fully retracted and docked at the rod replenishment position, maintaining the lowest waiting posture.

[0022] The control method for automatic rod replenishment of an integral automatic directional drilling rig suitable for underground directional construction, the walking mechanism includes a crawler body, the drilling host, the rod replenishment device, and the power pump station are all riveted and fixed on the crawler body, and a crawler assembly is provided at the lower end of the crawler body.

[0023] The control method for automatically loading and unloading drill rods of an integral automatic directional drilling rig suitable for underground directional construction is as follows: in the automatic rod loading mode, the rod adding manipulator switches to the rod adding control mode, the rod adding manipulator moves to the top of the outermost drill rod row, grabs the drill rods in sequence from top to bottom, and after grabbing the drill rods, moves horizontally and vertically in combination to the top of the transfer tray, the relative position of the transfer tray and the drill rod bin is fixed, the drill rod is lowered into the concave groove of the transfer tray, the lowering position is relatively fixed with the position of the drill rod bin, the drill rod detection device on the side of the transfer tray detects that there is a drill rod in the groove, the rod adding manipulator stops the descending movement, opens the manipulator to grab, and completes the rod delivery; fixed at The top-up device on the transfer pallet moves in opposite directions along the axis of the drill rod, clamping both ends of the drill rod to fix the drill rod along the axial direction, and then the transfer cylinder extends to push the transfer pallet to move along the sliding guide rail to the position to be added with the rod, and the top-up device opens to complete the delivery of the rod; at this time, the loading and unloading rod mechanical arm is in the initial vertical state before each loading and unloading of the drill rod, in which the secondary rotating arm is at the initial 0°, and the telescopic arm is in a fully retracted vertical state, and the drilling host rotator can drill normally along the axial direction of the fuselage without affecting the loading and unloading rod mechanical arm. When a drill hole on the drilling host is sent into the hole, the rotator retreats to the rear end of the feeding device, and the rod adding and buckling procedure can be executed at this time.

[0024] Specifically, the process of adding rods when the drilling host is working at a horizontal or elevated angle: first, the telescopic arm is partially extended in a vertical state, and the central axis of the drill rod gripper is aligned with the central axis of the drill rod to be added. After the drill rod gripper grabs the drill rod to be added, the telescopic arm is retracted to the initial position; during elevation construction, the first-level rotating arm is rotated under the action of the angle adjustment cylinder until the loading and unloading rod mechanical arm and the feeding device have the same inclination angle; the second-level rotating arm is controlled to move and rotate 90° clockwise along its rotation center. At this time, the telescopic arm is in a horizontal state, and at the same time, the first-level telescopic cylinder is controlled to be fully retracted, and the second-level telescopic cylinder is fully extended, and the telescopic arm is fully extended horizontally to its longest state; the second-level rotating arm The arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise, and the drill rod in the drill rod gripper rotates to the center of the rotator and is coaxial with the active drill rod assembly; at this time, the make-up procedure is executed, the clamp clamps the drill rod to be added, the rotator rotates and feeds simultaneously, and the drill rod gripper of the loading and unloading rod mechanical arm always clamps the drill rod, and when the active drill rod assembly is successfully made up with the drill rod to be added, the drill rod gripper releases the drill rod, the first-level telescopic cylinder is fully extended, the second-level telescopic cylinder is fully retracted, the telescopic arm is fully retracted along a straight line, and the second-level rotating arm continues to rotate counterclockwise to return to the initial rod adding position; the first-level rotating arm also rotates back to the initial position, and the single drill rod adding process is completed.

[0025] Specifically, the process of adding rods during the depression angle construction of the drilling main machine: the telescopic arm is partially extended in the vertical state, the central axis of the drill rod gripper is aligned with the central axis of the drill rod to be added, and after the drill rod gripper grabs the drill rod to be added, the telescopic arm is retracted to the initial position; during the depression angle construction, the movement of the secondary rotating arm is controlled to rotate 90° clockwise along its rotation center, and then the primary rotating arm is rotated by the angle adjustment cylinder until the loading and unloading rod mechanical arm is parallel to the feeding device; the subsequent process is the same as the rod adding process during the horizontal or elevation angle construction.

[0026] The control method for automatically loading and unloading drill rods of an integrated automatic directional drilling rig suitable for underground directional construction is as follows: in the automatic unloading mode, the rod supplement device and the rod loading and unloading mechanical arm are both switched to the rod unloading control mode, firstly, the first-level rotating arm of the rod loading and unloading mechanical arm is controlled to rotate at the same inclination angle as the feeding device, the drill rod gripper moves to the center of the rotator, clamps the middle drill rod to be unloaded, and returns to the initial position along the original path to wait; at this time, the transfer pallet of the rod supplement device is extended, and the telescopic arm of the rod loading and unloading mechanical arm is partially extended under the action of the second-level telescopic oil cylinder, and the drill rod to be unloaded is placed in the transfer pallet, and after the jacking device clamps the drill rod in the pallet, the drill rod gripper releases the drill rod, and the transfer pallet is After retracting to the initial position, the top device is released; the rod replenishing robot arm starts to work. At this time, the automatic rod unloading is divided into two modes. One is to place the drill rod to be unloaded back to the vacant position in the rod bin. The placement order is determined according to the last position coordinates of the last drill rod installed, until the drill rod in the rod bin is full. After that, the drill rod is unloaded and sent point-to-point from the transfer pallet to the manual rod placement / retrieval position in the rod bin by the rod replenishing robot arm. Each time a drill rod is placed, the operator takes out a drill rod from the fixed low position and places it on the drill rod rack; the other is to place the drill rod to be unloaded directly at the manual rod placement / retrieval position each time, no matter how many drill rods are left in the rod bin or there are no drill rods, and then the drill rods are taken away manually.

[0027] Compared with the prior art, the present invention has the following technical effects:

[0028] The integrated automated directional drilling rig efficient loading and unloading drill rod system and control method of the present invention are suitable for the construction of automatic directional drilling rigs in coal mines. The drilling rig can realize an integrated layout, a compact structure, and a self-contained power system. It does not need to be used in conjunction with a special power pump truck. Directional drilling construction can be realized with an existing conventional mud pump truck, and the adaptability is wider. During the loading and unloading of drill rods, the loading and unloading rod mechanical arm can realize the loading and unloading rod functions at different drilling angles. The movement adopts a combination of linear and rotational movement, and can realize the loading and unloading rod action within a small angle range of (0-90°). The combination of mechanical limit and angle sensor is adopted to realize precise positioning at multiple angles, thereby improving the efficiency and reliability of loading and unloading drill rods. During the rod replenishment operation, the drilling rig has a rod bin capacity that meets the average single-shift footage in actual construction, and can realize one-time rod replenishment in a single shift, basically eliminating the need for auxiliary personnel to wait for the rod replenishment, thereby reducing the number of people and increasing efficiency. At the same time, the rod bin is designed with an N+1 structure, which can realize multi-mode operations such as manual low-position and fixed-position adding / removing of rods, and automatic loading / removal of drill rods into / from the rod bin by the robotic arm, which greatly reduces the labor intensity of workers and significantly improves the safety of loading and unloading drill rods.

[0029] The rod-replenishing device of the present invention adopts a novel integrated structural design of a transfer tray and a drill rod bin, a manual rod placement position design and an automatic rod-replenishing control program design, which can not only fully utilize the effective space of the directional drilling rig to realize an overall layout, but also greatly reduce the labor intensity of rod-replenishing in directional drilling construction, and solve the problems of uncertain positions of manually installed drill rods and inconvenience in taking and placing rods at high positions.

[0030] The rod loading and unloading mechanical arm of the present invention adopts a combination of linear and rotational trajectory motion, which not only realizes the rod loading and unloading action in the narrow space between the drilling main machine and the rod replenishing device, but also has a low working height, a small rotation angle and high efficiency; at the same time, the ingenious two-level telescopic structure of the mechanical arm realizes repeated mechanical positioning of adding and unloading rods within a small angle range, thereby improving the control accuracy and reliability of the rod loading and unloading system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the entire machine structure.

[0032] Figure 2 This is a schematic diagram of the drilling host structure.

[0033] Figure 3 This is a schematic diagram of the active drill pipe structure.

[0034] Figure 4 It is a schematic diagram of the structure of the clamping shackle assembly.

[0035] Figure 5 This is a schematic diagram of the structure of the central angle adjustment device.

[0036] Figure 6 It is a schematic diagram of the feeding device structure.

[0037] Figure 7 This is a schematic diagram of the front angle adjustment device structure.

[0038] Figure 8 This is a schematic diagram of the structure of the rod-added robotic arm.

[0039] Fig. 9 This is a schematic diagram of the rod-replenishing device structure.

[0040] Fig.10 This is a schematic diagram of the rod-compensating robotic arm structure.

[0041] Fig.11 This is a schematic diagram of the rod bin body structure.

[0042] Fig.12 This is a schematic diagram of the power pump station structure.

[0043] Fig.13 It is the compensation rod mode and control method.

[0044] Fig.14 It is the loading and unloading rod mode and working path.

[0045] Fig.15 Schematic diagram of tilt detection.

[0046] Fig.16 This is a schematic diagram of the limit position of the rod-adding robotic arm.

[0047] The meaning of each number in the figure is:

[0048] 1. Drilling machine, 2. Loading and unloading rod mechanical arm, 3. Rod replenishing device, 4. Traveling mechanism, 5. Power pump station, 6. Boom;

[0049] 1-1. Middle angle adjustment device, 1-2. Feeding device, 1-3. Drag plate device, 1-4. Rotator, 1-5. Active drill rod group, 1-6. Clamping and shackle device, 1-7. Front angle adjustment device;

[0050] 2-1. Rear chuck, 2-2. Active drill rod, 2-3. Front chuck;

[0051] 3-1. Clamp bracket, 3-2. Clamping cylinder, 3-3. Shackle bracket, 3-4. Shackle cylinder, 3-5. Shackle cylinder connecting plate, 3-6. Support plate assembly, 3-7. Cover plate, 3-8. Pin shaft;

[0052] 4-1. Base, 4-2. Rear angle adjustment cylinder, 4-3. Rotating shaft, 4-4. Pitch limit block, 4-5. Elevation limit block, 4-6. Inclination sensor assembly;

[0053] 5-1. Upper guide rail, 5-2. Machine body, 5-3. Feed cylinder, 5-4. Displacement sensor assembly, 5-5. Lower guide rail, 5-6. Limit device;

[0054] 6-1. Front angle adjustment cylinder, 6-2. Column assembly, 6-3. Beam I, 6-4. Beam II;

[0055] 7-1. Angle adjustment cylinder, 7-2. First-level rotating arm, 7-3. Second-level rotating arm, 7-4. Rotating support beam, 7-5. Drill rod gripper, 7-6. Telescopic arm, 7-7. Telescopic arm limit assembly, 7-8. Second-level telescopic cylinder, 7-9. First-level telescopic cylinder, 7-10. Translation support beam;

[0056] 8-1. Drill rod bin, 8-2. Rod replenishing manipulator, 8-3. Sliding guide rail, 8-4. Transfer tray, 8-5. Transfer cylinder, 8-6. Top-up device, 8-7. Rack guide rail, 8-8. Horizontal position sensor;

[0057] 9-1. Driving motor, 9-2. First-stage lifting oil cylinder, 9-3. First-stage lifting guide cylinder, 9-4. Lifting position sensor, 9-5. Driving gear, 9-6. Crossbeam, 9-7. Second-stage lifting oil cylinder, 9-8. Second-stage lifting guide cylinder, 9-9. Robot gripper;

[0058] 10-1. Drill rod baffle, 10-2. Rod bin body, 10-3. Drill rod pad;

[0059] 11-1. Controller assembly, 11-2. Motor pump assembly, 11-3. Oil tank assembly. DETAILED DESCRIPTION

[0060] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0061] Example:

[0062] like Figures 1 to 12 As shown, this embodiment provides an integrated automatic directional drilling rig suitable for underground directional construction, including a traveling mechanism 4 and a drilling main machine 1, a rod loading and unloading mechanical arm 2, a rod supplementing device 3, a boom 6, and a power pump station 5 arranged on the traveling mechanism 4; the traveling mechanism 4 includes a crawler body, and the rod loading and unloading mechanical arm 2 is hinged to the drilling main machine 1; the drilling main machine 1, the rod supplementing device 3, the power pump station 5 and the control system are all riveted and fixed on the crawler body, and a crawler assembly is provided at the lower end of the crawler body; the drilling main machine 1 and the rod supplementing device 3 are arranged in parallel and staggered along the length direction of the crawler body of the traveling mechanism 4, and the rod loading and unloading mechanical arm 2 is arranged in the middle and upper position of the two. Through the coordinated transmission of actions among the three, various working modes of automatic rod supplementing, rod adding and rod unloading are realized.

[0063] The drilling main machine 1 includes a feeding device 1-2, a middle angle adjustment device 1-1 arranged at the rear and lower part of the feeding device 1-2, a front angle adjustment device 1-7 arranged at the front end of the feeding device 1-2, a drag device 1-3 arranged on the feeding device 1-2, a rotator 1-4 installed on the drag device 1-3 and an active drill rod group 1-5 therein, and a clamping and shackle device 1-6 arranged on the feeding device 1-2; the drag device 1-3 can drive the rotator 1-4 to move on the guide rail of the feeding device 1-2, and the rotator 1-4 and the active drill rod group 1-5 are coaxial with the clamping and shackle device 1-6.

[0064] The loading and unloading rod mechanical arm 2 includes an angle adjustment cylinder 7-1, a first-level rotating arm 7-2, a second-level rotating arm 7-3, a rotating support beam 7-4, a translation support beam 7-10, a first-level telescopic cylinder 7-9, a telescopic arm 7-6, a drill rod gripper 7-5 and a second-level telescopic cylinder 7-8 which are connected in sequence; the angle adjustment cylinder 7-1 can adjust the angle of the first-level rotating arm 7-2, and the second-level rotating arm 7-3 can drive the rotating support beam 7-4, the translation support beam 7-10, the first-level telescopic cylinder 7-9 and the telescopic arm 7-6 to rotate 0-90° along their rotation center as a whole; the translation support beam 7-10 is clamped on the outer side of the guide rail of the telescopic arm 7-6 so that the telescopic arm 7-6 can slide axially as a whole under the extension / retraction action of the first-level telescopic cylinder 7-9; the drill rod gripper 7-5 can slide axially as a whole under the extension / retraction action of the second-level telescopic cylinder 7-8 in the telescopic arm 7-6.

[0065] The rod replenishing device 3 includes a rod storage bin 8-1, a rod replenishing manipulator 8-2, a horizontal position sensor 8-8, a rack guide 8-7, a sliding guide 8-3, a transfer tray 8-4, a top device 8-6, and a transfer cylinder 8-5; the side and front of the rod storage bin 8-1 are riveted and fixed to the sliding guide 8-3 and the rack guide 8-7 respectively, and the rod replenishing manipulator 8-2 is clamped on the rack guide 8-7. Under the drive of the hydraulic motor, the rod replenishing manipulator 8-2 can slide along the rack guide 8-7 by gear meshing transmission; one end of the horizontal position sensor 8-8 is connected to the rod replenishing manipulator 8-2 One end is riveted and fixed, and the other end is riveted and fixed to the drill rod magazine 8-1, so as to realize the horizontal movement positioning of the rod replenishing manipulator 8-2; the transfer pallet 8-4 is clamped on the sliding guide rail 8-3, and one end of the transfer cylinder 8-5 is hinged and fixed to the sliding guide rail 8-3, and the other end is hinged and fixed to the drill rod magazine 8-1. Under the action of the transfer cylinder 8-5, the transfer pallet 8-4 slides along the sliding guide rail 8-3, and the top device 8-6 is symmetrically arranged at both ends of the transfer pallet 8-4 and riveted and fixed thereto. The top device 8-6 works together in pairs to ensure that the position of the drill rod is relatively fixed each time, thereby improving the control accuracy.

[0066] The power pump station 5 includes a motor pump group 11-2, a tank assembly 11-3, and a controller assembly 11-1; the motor pump group 11-2 adopts a three-series pump + inner shaft connection structure, which shortens the overall length, and the parallel-series pump part is placed deep in the empty space below the tank assembly 11-3. The controller assembly 11-1 is fixed to the side of the motor, and the controller is placed above the motor. The three fully utilize the local space between each other to achieve an integrated and compact layout of the entire drilling rig.

[0067] The feeding device 1-2 includes an upper guide rail 5-1, a body 5-2, a feeding oil cylinder 5-3, a lower guide rail 5-5, a displacement sensor assembly 5-4 and a limit device 5-6. The upper guide rail 5-1 and the lower guide rail 5-5 are riveted and fixed to the body 5-2. The feeding oil cylinder 5-3 is fixed between the upper guide rail 5-1 and the lower guide rail 5-5. The cylinder rod of the feeding oil cylinder 5-3 is fixed to both ends of the body 5-2. The cylinder barrel of the feeding oil cylinder 5-3 can slide along the body 5-2. The displacement sensor assembly 5-4 and the limit device 5-6 are riveted and fixed to the side of the body 5-2. The drag plate device 1-3 is clamped on the guide rail of the feeding device 1-2 and can slide with the feeding oil cylinder 5-3.

[0068] The middle angle adjustment device 1-1 includes a base 4-1, a depression angle limit block 4-4, an elevation angle limit block 4-5, a rear angle adjustment cylinder 4-2, a rotating shaft 4-3 and an inclination sensor assembly 4-6; the elevation angle limit block 4-5 is riveted and fixed to the rear of the base 4-1, the depression angle limit block 4-4 is riveted and fixed to the front of the base 4-1, one end of the rear angle adjustment cylinder 4-2 is hinged to the base 4-1, and the other end is hinged to the feeding device 1-2, the rotating shaft 4-3 is hinged to the base 4-1, and the inclination sensor assembly 4-6 is riveted and fixed to the side of the base 4-1, which is used to detect the initial horizontal position of the loading and unloading rod mechanical arm 2; the depression angle limit block 4-4 and the elevation angle limit block 4-5 strictly limit the movement of the feeding device 1-2 within the inclination angle range of -10° to 20°, and no angle overshoot will occur.

[0069] The front angle adjustment device 1-7 includes a front angle adjustment cylinder 6-1, a column assembly 6-2, a crossbeam I6-3, and a crossbeam II6-4; the middle part of the crossbeam I6-3 is hinged to the feeding device 1-2, and both ends are hinged to the column assembly 6-2, and can slide axially along the column assembly 6-2; one end of the front angle adjustment cylinder 6-1 is hinged to the crossbeam II6-4, and the other end is hinged to the crawler body of the walking mechanism 4, and both ends of the crossbeam II6-4 are hinged to the column assembly 6-2.

[0070] The rotator 1-4 is fixed to the drag plate device 1-3 by riveting, the active drill rod group 1-5 is installed through the through hole in the rotator 1-4, and the front and rear limit clamps of the active drill rod group 1-5 are clamped at the front and rear ends of the rotator 1-4; the active drill rod group 1-5 includes an active drill rod 2-2, a front chuck 2-3, and a rear chuck 2-1, the front chuck 2-3 is clamped on the shoulder of the active drill rod 2-2 and is axially fixed, and the rear chuck 2-1 is clamped on the groove of the active drill rod 2-2 and is axially fixed.

[0071] The clamping and shackle device 1-6 is riveted and fixed to the front end of the feeding device 1-2. The clamping and shackle device 1-6 includes a clamping bracket 3-1, a clamping cylinder 3-2, a pin shaft 3-8, a cover plate 3-7, a shackle bracket 3-3, a support plate assembly 3-6, a shackle cylinder 3-4 and a shackle cylinder connecting plate 3-5; the two groups of clamping cylinders 3-2 are respectively hinged to the clamping bracket 3-1 and the shackle bracket 3-3 through the pin shaft 3-8, and the cover plate 3-7 is respectively arranged on the top of the clamping bracket 3-1 and the shackle bracket 3-3 The shackle bracket 3-3 is hinged to the clamp bracket 3-1 and the support plate assembly 3-6 respectively, one end of the shackle cylinder 3-4 is hinged to the side of the shackle bracket 3-3, and the other end is hinged to the shackle cylinder connecting plate 3-5. When the shackle cylinder 3-4 is fully retracted to the initial position, the shackle bracket 3-3 and the clamp bracket 3-1 are angularly deviated. When the shackle cylinder 3-4 is extended, the shackle bracket 3-3 can be rotated along the axis and relative to the clamp bracket 3-1 and the support plate assembly 3-6, thereby increasing the entire shackle stroke.

[0072] The clamping cylinder 3-2 is a top cylinder, and a slip is installed at the front end of the lever of the top cylinder.

[0073] The clamp bracket 3-1 and the breaker bracket 3-3 are both U-shaped structures and are arranged adjacent to each other; the two groups of slips corresponding to the two groups of clamping cylinders 3-2 are respectively located at the slots of the clamp bracket 3-1 and the breaker bracket 3-3, and the two groups of slips can coaxially clamp the drill pipe.

[0074] The bottom of the clamp bracket 3-1 is provided with bolt holes so as to be fixedly mounted on the base by bolts.

[0075] The support plate assembly 3-6 is a semi-annular structure with an opening facing upward; bolt holes are provided at the bottom of the support plate assembly 3-6 so that it can be fixed on the base by bolts.

[0076] The shackle oil cylinder connecting plate 3-5 is provided with a mounting hole for fixed installation on the drilling rig.

[0077] The cover plates 3-7 are detachable.

[0078] The clamp bracket 3-1, the breaker bracket 3-3, and the support plate assembly 3-6 are arranged in sequence along the length direction of the drill pipe.

[0079] The working process of the clamping and shackle device is as follows: first, the centering initialization is performed: the rotator clamps the drill pipe, and the drill pipe enters the clamp bracket and the shackle cylinder in the shackle bracket in turn; the shackle bracket clamps the cylinder, and the extension amount when the pressure is stable, the extension amount when the pressure changes, and the extension amount when the pressure changes and stabilizes are recorded; the clamp bracket clamps the cylinder, and the extension amount when the pressure is stable, the extension amount when the pressure changes, and the extension amount when the pressure is stable are recorded. After the centering is initialized, the operation begins: the rotator rotates to perform drilling operations, and the maximum torque of the power head during drilling is collected as the reference value of the breakout torque; when drilling, the breakout bracket clamping cylinder is extended at the same time to complete the drill rod centering clamping; the rotator reverses, and after the active drill rod is withdrawn, the new drill rod is placed in the clamp bracket, and the clamp bracket clamping cylinder is extended at the same time to complete the clamping; after the rotator completes the connection between the active drill rod and the new drill rod tail buckle, the clamp bracket clamping cylinder is released, and the connection of the new drill rod head drill rod tail buckle is continued, and the breakout bracket clamping cylinder is released to continue drilling; when breaking the buckle, the two drill rods are put into the clamp bracket. The connection is located between the clamp bracket and the breaker bracket, and the breaker bracket clamping cylinder is extended to complete the clamping; then the clamp bracket clamping cylinder is extended to complete the clamping; after clamping, the breaker cylinder is extended to perform breaker; when the two drill rods slide relative to each other at the connection, the clamp bracket clamping cylinder is opened, and the drill rod moves backward for a distance under the drive of the power head reversal, and then the clamp bracket clamping cylinder is closed to clamp the next drill rod; the rotator continues to reverse to complete the breaker between the active drill rod and the next drill rod, and the clamp bracket clamping cylinder is released, the drill rod is taken out, and a drill unloading cycle is completed.

[0080] The primary rotating arm is hinged to the angle adjustment cylinder 7-1, the secondary rotating arm 7-3 is riveted to the primary rotating arm 7-2, one end of the rotating support beam 7-4 is riveted to the secondary rotating arm 7-3, and the other end is riveted to the translation support beam 7-10, one end of the primary telescopic cylinder 7-9 is hinged to the translation support beam 7-10, and the other end is hinged to the telescopic arm 7-6; the front end of the inner tube of the telescopic arm 7-6 is riveted to the drill rod gripper 7-5, the outer tube is riveted to the probe rod sensor assembly, and the telescopic arm limit assembly 7-7 is riveted to the side of the telescopic arm 7-6. The secondary rotating arm 7-3 can make the rotating and translation support beams 7-10 and the telescopic arm 7-6 reciprocate as a whole at an angle of 0 to 90 degrees. The above reciprocating motion requirements are achieved by using a liquid-driven swing cylinder, and it has a certain load-bearing capacity. The rotating mechanism is designed with an angle-adjustable mechanical limit device 5-6, which is limited by the raised part of the special-shaped limit plate. The raised part is equipped with an adjustment screw. The screw is rotated to fine-tune the angle of the initial and final positions of the turntable, which not only meets the limit requirements but also can be flexibly adjusted to compensate for the cumulative error.

[0081] The lower end of the angle adjustment cylinder 7-1 is hinged to the mounting ear seat, and the upper end is hinged to the lower part of the primary rotating arm 7-2.

[0082] The upper end of the primary rotating arm 7-2 is riveted and fixed to one end of the horizontal secondary rotating arm 7-3. The other end of the secondary rotating arm 7-3 is a rotating end, which is riveted and fixed to one end of a rotating support beam 7-4. The other end of the rotating support beam 7-4 is riveted and fixed to a translation support beam 7-10.

[0083] The telescopic arm 7-6 is perpendicular to the secondary rotating arm 7-3. A guide rail is provided on the outer wall of the telescopic arm 7-6 along its length direction. The translation support beam 7-10 is clamped on the guide rail. Under the telescopic action of the primary telescopic cylinder 7-9, the telescopic arm 7-6 can move relative to the translation support beam 7-10.

[0084] The cylinder barrel of the secondary telescopic oil cylinder 7-8 is fixed to one end of the outer barrel of the telescopic arm 7-6, and the cylinder rod of the secondary telescopic oil cylinder 7-8 is fixedly connected to the inner barrel of the telescopic arm 7-6.

[0085] The probe rod sensor assembly is arranged close to the drill rod gripper 7-5.

[0086] The drill rod bin 8-1 includes a bin body 10-2, a drill rod baffle 10-1, and a drill rod pad 10-3; the drill rod baffle 10-1 is riveted to the inner sides of both ends of the bin body 10-2, and the drill rod pad 10-3 is riveted to the bottom of the bin body 10-2; the drill rod baffle 10-1 divides the drill rod bin 8-1 into multiple columns, the number of drill rod baffles 10-1 is N, and the number of drill rod columns is arranged in N+1, 1 means that only one drill rod is placed at the outermost bottom supplementary rod position of the drill rod bin 8-1, and this position is a manual placement / removal position, which is convenient for manual placement and removal of drill rods at a fixed and low position, thereby reducing manual labor intensity.

[0087] The drill rod baffle 10-1 is perpendicular to the end surface of the drill rod bin 8-1 and the bottom surface of the drill rod bin 8-1; the drill rod baffles 10-1 on the two end surfaces of the drill rod bin 8-1 are opposite to each other.

[0088] The rod-replenishing manipulator 8-2 includes a driving motor 9-1, a driving gear 9-5, a first-level lifting cylinder 9-2, a first-level lifting guide cylinder 9-3, a lifting position sensor 9-4, a crossbeam 9-6, a second-level lifting cylinder 9-7, a second-level lifting guide cylinder 9-8, a manipulator grip 9-9, and a probe rod sensor assembly; the driving motor 9-1 is riveted and fixed to the first-level lifting guide cylinder 9-3, the driving gear 9-5 is hinged and fixed to the driving motor 9-1, the first-level lifting cylinder 9-2 is installed inside the first-level lifting guide cylinder 9-3, one end of the first-level lifting cylinder 9-2 is riveted and fixed to the outer tube of the first-level lifting guide cylinder 9-3, and the other end is hinged and connected to the crossbeam 9-6. The inner tube of the first-stage lifting guide cylinder 9-3 is riveted and fixed to one end of the crossbeam 9-6, and the other end of the crossbeam 9-6 is riveted and fixed to the side of the outer tube of the second-stage lifting guide cylinder 9-8. One end of the second-stage lifting cylinder 9-7 is riveted and fixed to the upper surface of the outer tube of the second-stage lifting guide cylinder 9-8, and the other end is hinged and fixed to the manipulator gripper 9-9. The manipulator gripper 9-9 is also riveted and fixed to the inner tube of the second-stage lifting guide cylinder 9-8, and the probe rod sensor assembly is riveted and fixed to the side of the manipulator gripper 9-9. The rod replenishing manipulator 8-2 is extended and retracted by the vertically lifting first-stage lifting cylinder 9-2 and the second-stage lifting cylinder 9-7 to realize the vertical grabbing / placing of the drill rod in the drill rod bin 8-1.

[0089] The driving gear 9-5 is installed in coordination with the rack guide rail 8-7. The grabbing centerline direction of the manipulator gripper 9-9 is consistent with the direction of the drill rod in the drill rod bin 8-1. The sliding guide rail 8-3 is parallel to the placement direction of the drill rod in the drill rod bin 8-1. The sliding guide rail 8-3 and the rack guide rail 8-7 are perpendicular to each other. The side wall and bottom surface of the drill rod bin 8-1 are hollowed out.

[0090] like Figure 13-16 As shown, in other embodiments of the present invention, a control method for automatically replenishing and automatically adding and removing drill rods of an integrated automatic directional drilling rig suitable for underground directional construction is also provided.

[0091] The control method for automatic rod replenishment of an integral automatic directional drilling rig suitable for underground directional construction. Before the drilling rig is constructed, a single drill rod is placed manually at the rod replenishment position in the drill rod bin each time. After receiving the command, the rod replenishment manipulator moves horizontally to the outermost row of rod replenishment in the drill rod bin. The first-level lifting cylinder and the second-level lifting cylinder work together to lift the rod replenishment manipulator. After the probe rod sensor assembly touches the drill rod, a command to stop the lifting of the manipulator arm is sent. At this time, the grip center of the manipulator coincides with the center of the drill rod. After the manipulator grabs the drill rod, it lifts it to the highest point and then moves horizontally to the first row of drill rods on the innermost side. The rod replenishment manipulator is completely The drill rod is lowered by the robot, and the lowering position is determined by the manually set initial position coordinate position (x, y), where x represents the drill rod column coordinate and y represents the drill rod row height. After the initial position coordinate is determined, each time a drill rod is manually loaded, the rod replenishment robot receives a trigger instruction and executes the automatic rod replenishment program to place the drill rod to be loaded at the (x, y+A) coordinate position, where A represents the drill rod diameter. Since the rod replenishment control system knows the initial position coordinate (x, y) and the number and height of drill rods that can be accommodated in a single column of the drill rod warehouse, when the rod replenishment control system determines that the coordinate (x, y+A) ≥ (x max ,y max ) value, the drill rods are lowered to the number and height that can be accommodated in a single row, and the coordinates of the drill rods lowered by the rod-replenishing manipulator automatically become (x+1, y). Similarly, when the horizontal column coordinates are full, the system prompts that the automatic rod-replenishing program can no longer be executed, and the rod-replenishing manipulator is fully retracted and docked at the rod-replenishing position, maintaining the lowest waiting posture. The above-mentioned automatic rod-replenishing mode can be used during the single-shift handover of the directional drilling rig in the coal mine. The workers only need to spend a short time to achieve the full state of a single rod bin to meet the footage demand of the next single shift. The rod-replenishing personnel will not interfere with the construction, and the single-shift reduction and efficiency improvement can be achieved. At the same time, the rod-replenishing position designed outside the rod bin has a low horizontal height and a fixed position. The mechanical arm automatically loads and drills according to the program, which greatly reduces the labor intensity and improves the construction safety. It is not easy to cause the drill rod sequence in the drill rod bin to be disordered due to manual placement of rods, resulting in errors in the rod-replenishing program, thereby improving the reliability of the system.

[0092] The control method for automatically loading and unloading drill rods of an integral automatic directional drilling rig suitable for underground directional construction, in which the rod-adding manipulator switches to the rod-adding control mode, moves to the top of the outermost drill rod row, grabs the drill rods in sequence from top to bottom, and after grabbing the drill rods, moves horizontally and vertically to the top of the transfer pallet, the transfer pallet and the drill rod bin are fixed in relative position, the drill rod is lowered into the concave groove of the transfer pallet, the lowering position is relatively fixed with the position of the drill rod bin, the drill rod detection device on the side of the transfer pallet detects that there is a drill rod in the groove, the rod-adding manipulator stops the descending movement, opens the manipulator to complete the delivery of the rod; the top-up device fixed on the transfer pallet moves oppositely along the axial direction of the drill rod, clamps both ends of the drill rod, fixes the drill rod along the axial direction, and then the transfer cylinder extends to push the transfer pallet to move horizontally along the sliding guide rail to the position to be loaded with rods, the top-up device is opened, and the delivery of the rod is completed; at this time, the loading and unloading rod mechanical arm as a whole is in the initial vertical state before each loading and unloading of the drill rod, such as Fig.13 As shown, the secondary rotating arm is at the initial 0°, the telescopic arm is in a fully retracted vertical state, and the rotator of the drilling host can drill normally along the axis of the fuselage without affecting the loading and unloading rod mechanical arm. When a drill hole on the drilling host is sent into the hole, the rotator retreats to the rear end of the feeding device, and the rod adding and buckling procedure can be executed at this time.

[0093] During construction, the drilling host has different construction conditions such as horizontal, elevation and depression, and corresponding different rod loading and unloading processes are executed; when the drilling rig is performing horizontal and elevation construction, the elevation rod adding program needs to be selected in the drilling rig control program, and the depression rod adding program is executed during depression construction.

[0094] The process of adding rods when drilling horizontally or at an elevation, such as Fig.14 As shown: first, the telescopic arm is partially extended in the vertical state, and its extension length is completely set by the stroke of the secondary telescopic cylinder to achieve mechanical positioning in the vertical direction. At this time, the central axis of the drill rod gripper is just aligned with the central axis of the drill rod to be added. After the drill rod gripper grabs the drill rod to be added from point a, the telescopic arm is retracted to the initial position point b; at this time, it is an elevation construction, and the primary rotating arm rotates to a certain angle under the action of the angle adjustment cylinder. Its inclination position is determined by the inclination sensor assembly fixed on the feeding device. When the sensor scans the upper calibration plate on the primary rotating mechanical arm, the angle adjustment cylinder stops moving. At this time, the loading and unloading mechanical arm and the feeding device have the same inclination angle. The inclination detection is as follows: Fig.15As shown; at this time, the secondary rotating arm is controlled to move and rotate 90° clockwise along its rotation center. When the drill rod is sent to point C, an angle limit block is set on the end face of the secondary rotating arm, which can realize the mechanical positioning of the rotating arm from the starting 0° to 90°; at this time, the telescopic arm is in a horizontal state, and at the same time, the first-level telescopic cylinder is controlled to be fully retracted, and the second-level telescopic cylinder is fully extended. The telescopic arm is fully extended horizontally to the longest state, and its position is mechanically positioned by the sum of the strokes of the first-level and second-level telescopic cylinders, and the drill rod is sent to point d; at this time, the secondary rotating arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise by a certain angle. Since the telescopic arm is fully extended, the telescopic arm limit assembly fixed on its side is extended. When rotating counterclockwise, the telescopic arm limit assembly collides with the limit device fixed on the side of the feeding device, limiting the telescopic arm from continuing to rotate counterclockwise. At this time, the drill rod in the drill rod gripper just rotates to the center of the rotator and is coaxial with the active drill rod assembly to reach the rod adding position point e. The limit is as shown in FIG. Fig.16 As shown; at this time, the make-up procedure is executed, the clamp clamps the drill rod to be added, the rotator rotates and feeds simultaneously, and the drill rod gripper of the loading and unloading rod mechanical arm always clamps the drill rod, and when the active drill rod assembly and the drill rod to be added are successfully made up, the drill rod gripper releases the drill rod, the first-level telescopic cylinder is fully extended, the second-level telescopic cylinder is fully retracted, the telescopic arm is fully retracted along the linear motion, and the second-level rotating arm is now infinitely locked and can continue to rotate counterclockwise to return to the initial rod adding position; the first-level rotating arm also rotates a certain angle to return to the initial position, and the initial position is determined by the lower calibration plate on the first-level rotating arm scanning the sensor component fixed on the middle angle adjustment device, and the single drill rod adding process is ended.

[0095] Rod adding process during depression angle construction of the drilling main machine: the telescopic arm is partially extended in the vertical state, and its extension length is completely set by the stroke of the secondary telescopic cylinder to achieve mechanical positioning in the vertical direction. At this time, the central axis of the drill rod gripper is just aligned with the central axis of the drill rod to be added. After the drill rod gripper grabs the drill rod to be added, the telescopic arm is retracted to the initial position; this is depression angle construction, first control the movement of the secondary rotating arm, and rotate 90° clockwise along its rotation center. The end face of the secondary rotating arm is provided with an angle limit block, which can realize the mechanical positioning of the rotating arm from the starting 0° to 90°; then the primary rotating arm rotates to a certain angle under the action of the angle adjustment cylinder, and its inclination position is determined by the inclination sensor assembly fixed on the feed device. When the sensor scans the upper calibration plate on the primary rotating mechanical arm, the angle adjustment cylinder stops moving, and the loading and unloading mechanical arm is parallel to the feed device; the subsequent process is the same as the rod adding process during horizontal or elevation angle construction.

[0096] A control method for automatically loading and unloading drill rods for an integral automatic directional drilling rig suitable for underground directional construction. In the automatic unloading mode, the rod-making device and the rod-making mechanical arm are switched to the rod-making control mode. First, the first-level rotating arm of the rod-making mechanical arm is controlled to rotate at the same inclination angle as the feeding device, and the drill rod gripper moves to the center of the rotator to clamp the drill rod to be unloaded in the middle, and returns to the initial position along the original path to wait; at this time, the transfer tray of the rod-making device is extended, and the telescopic arm of the rod-making mechanical arm is partially extended under the action of the second-level telescopic cylinder, and the drill rod to be unloaded is placed in the transfer tray. After the jacking device clamps the drill rod in the tray, the drill rod gripper releases the drill rod, and the transfer tray retracts After reaching the initial position, the top device is released; the rod-replenishing robot arm starts to work. At this time, the automatic rod unloading is divided into two modes. One is to place the drill rods to be unloaded back to the vacant position in the rod bin. The placement order is determined according to the last position coordinates of the last drill rod installed, until the drill rods in the rod bin are full. After that, the drill rods are unloaded and sent point-to-point from the transfer pallet to the manual rod placement / retrieval position in the rod bin by the rod-replenishing robot arm. Each time a drill rod is placed down, the operator takes out a drill rod from the fixed low position and places it on the drill rod rack; the other is to place the drill rods to be unloaded directly at the manual rod placement / retrieval position each time, no matter how many drill rods are left in the rod bin or there are no drill rods, and then the drill rods are taken away manually.

[0097] Fast manual rod unloading mode: Since the automatic drilling rig adopts intermediate rod unloading, when the previous drill rod is unloaded and the next drill rod in the hole needs to be unloaded, the active drill rod assembly must be used to mate with the previous drill rod to be unloaded and drag it to the intermediate rod unloading position. Compared with manual rod unloading, the efficiency is low. Therefore, in some special working conditions, it is necessary to take out the drill rod nearly 100 meters or 1,000 meters long in the hole. The method of unloading the drill at the rear end of the rotator is often used. At this time, the front and rear chuck connecting bolts of the active drill rod assembly can be quickly opened to pull out the active drill rod. The through-hole structure of the rotator chuck is used to cooperate with the action of the clamping and unloading buckle assembly to quickly unload the drill from the rear end of the rotator.

[0098] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0099] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0100] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An integrated automatic directional drilling rig suitable for underground directional construction, characterized in that: The invention comprises a traveling mechanism (4), a drilling main machine (1) arranged on the traveling mechanism (4), a rod loading and unloading mechanical arm (2), a rod supplementing device (3), a boom (6), and a power pump station (5); the drilling main machine (1) and the rod supplementing device (3) are arranged in parallel and staggered along the length direction of the traveling mechanism (4), and the rod loading and unloading mechanical arm (2) is arranged at an upper position between the two. Automatic rod supplementing, rod loading and unloading are realized by the coordinated transmission of actions among the three. The drilling main machine (1) comprises a feeding device (1-2), a middle angle adjustment device (1-1) arranged at the rear lower part of the feeding device (1-2), a front angle adjustment device (1-7) arranged at the front end of the feeding device (1-2), a carriage device (1-3) arranged on the feeding device (1-2), a rotator (1-4) installed on the carriage device (1-3) and an active drill rod group (1-5) therein, and a clamping and shackle device (1-6) arranged on the feeding device (1-2); the carriage device (1-3) can drive the rotator (1-4) to move on the guide rail of the feeding device (1-2), and the rotator (1-4) and the active drill rod group (1-5) are coaxial with the clamping and shackle device (1-6); The loading and unloading rod mechanical arm (2) comprises an angle adjustment cylinder (7-1), a primary rotating arm (7-2), a secondary rotating arm (7-3), a rotating support beam (7-4), a translation support beam (7-10), a primary telescopic cylinder (7-9), a telescopic arm (7-6), a drill rod gripper (7-5) and a secondary telescopic cylinder (7-8) which are connected in sequence; the angle adjustment cylinder (7-1) can adjust the angle of the primary rotating arm (7-2), and the secondary rotating arm (7-3) can drive the rotating support beam (7-4 ), the translation support beam (7-10), the primary telescopic oil cylinder (7-9) and the telescopic arm (7-6) rotate as a whole along their rotation center within a range of 0-90 degrees; the translation support beam (7-10) is clamped on the outer side of the guide rail of the telescopic arm (7-6) so that the telescopic arm (7-6) can slide axially as a whole under the extension / retraction action of the primary telescopic oil cylinder (7-9); the drill rod gripper (7-5) can slide axially as a whole under the extension / retraction action of the secondary telescopic oil cylinder (7-8) in the telescopic arm (7-6); The rod replenishing device (3) comprises a rod storage bin (8-1), a rod replenishing manipulator (8-2), a horizontal position sensor (8-8), a rack guide rail (8-7), a sliding guide rail (8-3), a transfer tray (8-4), a top-up device (8-6), and a transfer cylinder (8-5); the side and front of the rod storage bin (8-1) are respectively fixed to the sliding guide rail (8-3) and the rack guide rail (8-7); the rod replenishing manipulator (8-2) is clamped on the rack guide rail (8-7) and can slide along the rack guide rail (8-7); one end of the horizontal position sensor (8-8) is connected to the rod replenishing machine The transfer tray (8-4) is clamped on the sliding guide rail (8-3), one end of the transfer cylinder (8-5) is fixed to the sliding guide rail (8-3), and the other end is fixed to the drill rod bin (8-1), so as to realize the positioning of the horizontal movement of the rod replenishing manipulator (8-2); the transfer tray (8-4) is clamped on the sliding guide rail (8-3), one end of the transfer cylinder (8-5) is fixed to the sliding guide rail (8-3), and the other end is fixed to the drill rod bin (8-1); under the action of the transfer cylinder (8-5), the transfer tray (8-4) slides along the sliding guide rail (8-3), and the top device (8-6) is symmetrically arranged at both ends of the transfer tray (8-4), so as to ensure that the position of the drill rod is relatively fixed each time, thereby improving the control accuracy; The power pump station (5) comprises a motor pump assembly (11-2), an oil tank assembly (11-3), and a controller assembly (11-1).

2. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The feeding device (1-2) comprises an upper guide rail (5-1), a body (5-2), a feeding oil cylinder (5-3), a lower guide rail (5-5), a displacement sensor assembly (5-4) and a limiting device (5-6); the upper guide rail (5-1) and the lower guide rail (5-5) are fixed to the body (5-2) by riveting; the feeding oil cylinder (5-3) is fixed between the upper guide rail (5-1) and the lower guide rail (5-5); the cylinder rod of the feeding oil cylinder (5-3) is fixed to both ends of the body (5-2); the cylinder barrel of the feeding oil cylinder (5-3) can slide along the body (5-2); the displacement sensor assembly (5-4) and the limiting device (5-6) are fixed to the side of the body (5-2) by riveting; the drag plate device (1-3) is clamped on the guide rail of the feeding device (1-2) and can slide along with the feeding oil cylinder (5-3).

3. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The central angle adjustment device (1-1) comprises a base (4-1), a depression angle limit block (4-4), an elevation angle limit block (4-5), a rear angle adjustment oil cylinder (4-2), a rotating shaft (4-3) and an inclination sensor assembly (4-6); the elevation angle limit block (4-5) is fixed to the rear of the base (4-1), the depression angle limit block (4-4) is fixed to the front of the base (4-1), one end of the rear angle adjustment oil cylinder (4-2) is hinged to the base (4-1), and the other end is hinged to the feeding device (1-2), the rotating shaft (4-3) is hinged to the base (4-1), and the inclination sensor assembly (4-6) is riveted and fixed to the side of the base (4-1).

4. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The front angle adjustment device (1-7) comprises a front angle adjustment oil cylinder (6-1), a column assembly (6-2), a crossbeam I (6-3), and a crossbeam II (6-4); the middle portion of the crossbeam I (6-3) is hingedly connected to the feeding device (1-2), and both ends are hingedly connected to the column assembly (6-2), and can slide axially along the column assembly (6-2); one end of the front angle adjustment oil cylinder (6-1) is hingedly connected to the crossbeam II (6-4), and the other end is hingedly connected to the walking mechanism (4), and both ends of the crossbeam II (6-4) are hingedly connected to the column assembly (6-2).

5. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The rotator (1-4) is fixed to the drag plate device (1-3) by riveting, the active drill rod assembly (1-5) is installed through the inner through hole of the rotator (1-4), and the front and rear limit clamps of the active drill rod assembly (1-5) are clamped at the front and rear ends of the rotator (1-4); the active drill rod assembly (1-5) comprises an active drill rod (2-2), a front chuck (2-3), and a rear chuck (2-1), the front chuck (2-3) is clamped on the shoulder of the active drill rod (2-2) and is axially fixed, and the rear chuck (2-1) is clamped on the groove of the active drill rod (2-2) and is axially fixed.

6. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The clamping and shackle device (1-6) is riveted and fixed to the front end of the feeding device (1-2). The clamping and shackle device (1-6) comprises a clamping support (3-1), a clamping cylinder (3-2), a pin shaft (3-8), a cover plate (3-7), a shackle support (3-3), a support plate assembly (3-6), a shackle cylinder (3-4) and a shackle cylinder connecting plate (3-5); the two groups of clamping cylinders (3-2) are respectively hinged to the clamping support (3-1) and the shackle support (3-3) through the pin shaft (3-8), and the cover plates (3-7) are respectively arranged on the clamping support (3-1) and the shackle support (3-3). The shackle bracket (3-3) is hinged to the clamp bracket (3-1) and the support plate assembly (3-6) respectively; one end of the shackle cylinder (3-4) is hinged to the side of the shackle bracket (3-3) and the other end is hinged to the shackle cylinder connecting plate (3-5); when the shackle cylinder (3-4) is fully retracted to the initial position, the shackle bracket (3-3) and the clamp bracket (3-1) are angularly offset; when the shackle cylinder (3-4) is extended, the shackle bracket (3-3) can be rotated along the axis, thereby increasing the entire shackle stroke.

7. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The primary rotating arm (7-2) is hinged to the angle adjustment cylinder (7-1), the secondary rotating arm (7-3) is riveted and fixed to the primary rotating arm (7-2), one end of the rotating support beam (7-4) is riveted and fixed to the secondary rotating arm (7-3), and the other end is riveted and fixed to the translation support beam (7-10), one end of the primary telescopic oil cylinder (7-9) is hinged to the translation support beam (7-10), and the other end is hinged to the telescopic arm (7-6); the front end of the inner tube of the telescopic arm (7-6) is riveted and fixed to the drill rod gripper (7-5), the outer tube is riveted and fixed to the probe rod sensor assembly, and the side of the telescopic arm (7-6) is riveted and fixed with a telescopic arm limit assembly (7-7).

8. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: The drill rod bin (8-1) comprises a bin body (10-2), a drill rod baffle (10-1), and a drill rod cushion block (10-3); the drill rod baffle (10-1) and the inner sides of both ends of the bin body (10-2) are riveted and fixed, and the drill rod cushion block (10-3) and the bottom of the bin body (10-2) are riveted and fixed; the drill rod baffle (10-1) divides the inside of the drill rod bin (8-1) into a plurality of rows, the number of drill rod baffles (10-1) is N, and the number of drill rod rows is arranged in N+1, where 1 indicates that only one drill rod is placed at the outermost bottom supplementary rod position of the drill rod bin (8-1).

9. The integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 8, characterized in that: The rod-replenishing manipulator (8-2) comprises a driving motor (9-1), a driving gear (9-5), a first-stage lifting cylinder (9-2), a first-stage lifting guide cylinder (9-3), a lifting position sensor (9-4), a crossbeam (9-6), a second-stage lifting cylinder (9-7), a second-stage lifting guide cylinder (9-8), a manipulator gripper (9-9), and a probe rod sensor assembly; the driving motor (9-1) is riveted and fixed to the first-stage lifting guide cylinder (9-3), the driving gear (9-5) is hinged and fixed to the driving motor (9-1), the first-stage lifting cylinder (9-2) is installed inside the first-stage lifting guide cylinder (9-3), one end of the first-stage lifting cylinder (9-2) is riveted and fixed to the outer tube of the first-stage lifting guide cylinder (9-3), and the other end is riveted and fixed to the crossbeam (9 -6) is hingedly connected, the inner tube of the first-level lifting guide cylinder (9-3) is riveted and fixed to one end of the crossbeam (9-6), the other end of the crossbeam (9-6) is riveted and fixed to the side of the outer tube of the second-level lifting guide cylinder (9-8), one end of the second-level lifting oil cylinder (9-7) is riveted and fixed to the upper surface of the outer tube of the second-level lifting guide cylinder (9-8), and the other end is hinged and fixed to the manipulator gripper (9-9), the manipulator gripper (9-9) is riveted and fixed to the inner tube of the second-level lifting guide cylinder (9-8), and the probe rod sensor assembly is riveted and fixed to the side of the manipulator gripper (9-9); the rod replenishing manipulator (8-2) realizes the vertical grabbing / placing of the drill rod in the drill rod bin (8-1) through the extension and retraction of the first-level lifting oil cylinder (9-2) and the second-level lifting oil cylinder (9-7) that are vertically lifted.

10. The control method for automatic rod replenishment of an integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 9, characterized in that: Before the drilling rig is constructed, a single drill rod is placed manually at the rod replenishment position in the drill rod bin. After receiving the command, the rod replenishment manipulator moves horizontally to the outermost row of rod replenishment in the drill rod bin. The first-level lifting cylinder and the second-level lifting cylinder work together to lift the rod replenishment manipulator. After the probe sensor assembly touches the drill rod, the robot arm lifting stop command is sent. At this time, the robot grip center coincides with the drill rod center. After the robot grabs the drill rod, it lifts it to the highest point and then moves horizontally to the first row of drill rods on the innermost side. The rod replenishment manipulator descends as a whole to release the drill rod. The lowering position is determined by the manually set initial position coordinate position (x, y) The coordinates of the drill rod column are determined, x represents the coordinates of the drill rod column, and y represents the height of the drill rod row. After the initial position coordinates are determined, each time a drill rod is manually loaded, the rod-replenishing manipulator receives a trigger instruction, executes the automatic rod-replenishing program, and places the drill rod to be loaded at the coordinate position (x, y+A), where A represents the diameter of the drill rod. When the drill rods are placed down to the number and height of drill rods that can be accommodated in a single row, the coordinates of the drill rod-replenishing manipulator for placing the drill rods automatically become (x+1, y). Similarly, when the horizontal column coordinates are full, it is prompted that the automatic rod-replenishing program can no longer be executed, and the rod-replenishing manipulator is fully retracted and docked at the rod-replenishing position, maintaining the lowest waiting posture.

11. The control method for automatic rod replenishment of an integrated automatic directional drilling rig suitable for underground directional construction according to claim 1, characterized in that: The walking mechanism (4) comprises a crawler vehicle body, and the drilling machine (1), the rod supplementing device (3) and the power pump station (5) are all riveted and fixed on the crawler vehicle body, and a crawler assembly is provided at the lower end of the crawler vehicle body.

12. The control method for automatically loading and unloading drill pipes of an integrated automatic directional drilling rig suitable for underground directional construction according to claim 1, characterized in that: In the automatic rod adding mode, the rod adding manipulator switches to the rod adding control mode, moves to the top of the outermost drill rod row, grabs the drill rods from top to bottom in sequence, and after grabbing the drill rods, moves horizontally and vertically to the top of the transfer pallet. The relative position of the transfer pallet and the drill rod bin is fixed, and the drill rod is lowered into the concave groove of the transfer pallet. The lowering position is relatively fixed with the position of the drill rod bin. The drill rod detection device on the side of the transfer pallet detects that there is a drill rod in the groove, and the rod adding manipulator stops the descending movement, opens the manipulator to complete the rod delivery; the top-up device fixed on the transfer pallet moves in opposite directions along the axial direction of the drill rod, clamps the two ends of the drill rod, and fixes the drill rod along the axial direction. Then the transfer cylinder extends to push the transfer pallet to move horizontally along the sliding guide rail to the position to be added with a rod, and the top-up device opens to complete the rod delivery; At this time, the loading and unloading rod mechanical arm is in the initial vertical state before each loading and unloading of the drill rod, wherein the secondary rotating arm is at the initial 0°, and the telescopic arm is in a fully retracted vertical state. The rotator of the drilling host can drill normally along the axis of the fuselage without affecting the loading and unloading rod mechanical arm. When a drill hole on the drilling host is sent into the hole, the rotator retreats to the rear end of the feeding device, and the rod adding and buckling procedure can be executed at this time.

13. The control method for automatically loading and unloading drill pipes of an integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 12, characterized in that: The process of adding rods when the drilling host is horizontal or at an elevation: first, the telescopic arm is partially extended in the vertical state, and the central axis of the drill rod gripper is aligned with the central axis of the drill rod to be added. After the drill rod gripper grabs the drill rod to be added, the telescopic arm is retracted to the initial position; during elevation construction, the first-level rotating arm is rotated under the action of the angle adjustment cylinder until the loading and unloading rod mechanical arm and the feeding device have the same inclination angle; the second-level rotating arm is controlled to move and rotate 90° clockwise along its rotation center. At this time, the telescopic arm is in a horizontal state, and the first-level telescopic cylinder is controlled to be fully retracted, and the second-level telescopic cylinder is fully extended, and the telescopic arm is fully extended horizontally to the longest state; the second-level rotating arm belt The drill rod to be added and the telescopic arm rotate counterclockwise, and the drill rod in the drill rod gripper rotates to the center of the rotator and is coaxial with the active drill rod assembly; at this time, the make-up procedure is executed, the clamp clamps the drill rod to be added, the rotator rotates and feeds simultaneously, and the drill rod gripper of the loading and unloading rod mechanical arm always clamps the drill rod, and when the active drill rod assembly and the drill rod to be added are successfully made up, the drill rod gripper releases the drill rod, the first-level telescopic cylinder is fully extended, the second-level telescopic cylinder is fully retracted, the telescopic arm is fully retracted along a straight line, and the second-level rotating arm continues to rotate counterclockwise to return to the initial rod adding position; the first-level rotating arm also rotates back to the initial position, and the single drill rod adding process is completed.

14. The control method for automatically loading and unloading drill pipes of an integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 13, characterized in that: The process of adding rods during depression-angle construction of the drilling main machine: the telescopic arm is partially extended in the vertical state, the central axis of the drill rod gripper is aligned with the central axis of the drill rod to be added, and after the drill rod gripper grabs the drill rod to be added, the telescopic arm is retracted to the initial position; during depression-angle construction, the movement of the secondary rotating arm is controlled to rotate 90° clockwise along its rotation center, and then the primary rotating arm is rotated by the angle adjustment cylinder until the loading and unloading rod mechanical arm is parallel to the feeding device; the subsequent process is the same as the process of adding rods during horizontal or elevation-angle construction.

15. The control method for automatically loading and unloading drill pipes of an integrated automatic directional drilling rig suitable for underground directional construction as claimed in claim 1, characterized in that: In the automatic rod unloading mode, the rod replenishing device and the rod loading and unloading mechanical arm are switched to the rod unloading control mode. First, the first-level rotating arm of the rod loading and unloading mechanical arm is controlled to rotate at the same inclination angle as the feeding device. The drill rod gripper moves to the center of the rotator, clamps the drill rod to be unloaded in the middle, and returns to the initial position along the original path to wait. At this time, the transfer tray of the rod replenishing device is extended, and the telescopic arm of the rod loading and unloading mechanical arm is partially extended under the action of the second-level telescopic cylinder, and the drill rod to be unloaded is placed in the transfer tray. After the jacking device clamps the drill rod in the tray, the drill rod gripper releases the drill rod, and the transfer tray retracts to the initial position and the jacking device is released. The arm starts to work. At this time, the automatic rod unloading is divided into two modes. One is to place the drill rods to be unloaded back to the vacant position in the rod bin. The placement order is determined by the last position coordinates of the last drill rod installed, until the rod bin is full of drill rods. After that, the drill rods are unloaded and sent point-to-point from the transfer tray to the manual rod placement / retrieval position in the rod bin by the rod replenishment robot arm. Each time a drill rod is placed, the operator takes out a drill rod from a fixed low position and places it on the drill rod rack. The other is to place the drill rods to be unloaded directly at the manual rod placement / retrieval position each time, no matter how many drill rods are left in the rod bin or there are no drill rods, and then the drill rods are taken away manually.

Images