Raise drilling rig with automatic loading and unloading of drill pipe

Abstract

The invention discloses a raise boring machine for automatically loading and unloading drill rods, which relates to the technical field of raise boring machines. Two completely identical drill rods are connected end to end to lengthen the drilling depth of the drill rods. The two drill rods are respectively a first drill rod and a second drill rod, and include a power head, a transport device, and a drill frame. The power head and the transport device are both connected to the drill frame. The transport device replaces manual assistance to move the first drill rod or the second drill rod to the bottom of the power head, and cooperates with the power head to connect the first drill rod and the second drill rod end to end. Only one person is required to operate the transport device and the power head, and two people are not required to cooperate in the operation, which relatively improves work efficiency and saves manpower.

Description

Technical Field

[0001] The invention relates to the technical field of raise boring machines, and in particular to a raise boring machine capable of automatically loading and unloading a drill rod. Background Art

[0002] Raise boring machine drilling requires the use of drill rods. The drilling depth is deep, and general types of drill rods cannot reach the required depth. Therefore, the drill rods need to be connected end to end to lengthen the drill rod length, so as to achieve the required drilling depth. At present, the connection of drill rods requires the cooperation of two people. Taking 200-meter drilling and 1-meter effective length of drill rod as an example, the drill rod is installed 200 times when guiding the hole and 200 times when expanding the hole. The time for connecting the drill rod accounts for 40% of the entire construction period, and the work efficiency is extremely low. Summary of the invention

[0003] In view of this, it is necessary to provide a raise boring machine for automatically loading and unloading drill pipes with a mechanical device for assisting in connecting the drill pipes.

[0004] The utility model discloses a reverse drilling rig for automatically loading and unloading drill pipes, which connects two identical drill pipes end to end to extend the drilling depth of the drill pipes, wherein the two drill pipes are respectively a first drill pipe and a second drill pipe, and include a power head, a transport device, and a drill frame, wherein the power head and the transport device are both connected to the drill frame; the transport device is connected to the first drill pipe and transports the first drill pipe to the position directly below the power head, the power head descends and rotates to be connected to the first drill pipe, the transport device releases the first drill pipe, the power head descends and drives the first drill pipe to descend to be fixed on the drill frame, the power head rises and rotates to be separated from the first drill pipe, the transport device is then connected to the second drill pipe and transports the second drill pipe to the position directly below the power head, the power head descends and rotates to be connected to the second drill pipe, the transport device releases the second drill pipe, the power head descends and drives the second drill pipe to descend to contact with the first drill pipe, the power head descends and rotates, drives the head end of the second drill pipe to be reinforcedly connected to the power head, and drives the other end of the second drill pipe to be connected to the first drill pipe.

[0005] Preferably, the raise drilling rig for automatic loading and unloading of drill pipes also includes a main push cylinder, a power head is fixedly connected to the main push cylinder, so that the power head can be driven to rise or fall through the main push cylinder, and the main push cylinder is fixed on the drilling frame.

[0006] Preferably, the drilling rig includes a fixed seat, a guide rail, and an insert plate. The fixed seat is parallel to the horizontal plane. The guide rail and the main push cylinder are fixed on the fixed seat and are perpendicular to the fixed seat. The guide rail is parallel to the main push cylinder. The power head is slidably connected to the guide rail so that the power head is driven by the main push cylinder to rise or fall along the guide rail. The insert plate is slidably connected to the fixed seat, and one end point of the sliding stroke of the insert plate is located directly below the power head.

[0007] Preferably, the power head includes a housing, a rotary driver, a main shaft, and a connecting part. The housing is fixedly connected to the main push cylinder and slidably connected to the guide rail. One end of the main shaft is fixedly connected to the connecting part. The driving end of the rotary driver is fixedly connected to the other end of the main shaft to drive the main shaft to rotate, thereby driving the connecting part to rotate, and then driving the connecting part to be threadedly connected to the first drill rod or the second drill rod.

[0008] Preferably, the connection portion includes a load-bearing joint, a ratchet spline sleeve, a connecting sleeve, a load-bearing flange, and a floating sleeve. The load-bearing joint is connected to the spindle taper thread, the load-bearing joint is in contact with the ratchet spline sleeve, and the load-bearing joint supports the ratchet spline sleeve. The ratchet spline sleeve, the connecting sleeve, and the load-bearing flange are detachably connected from top to bottom in sequence. The floating sleeve is located inside the connecting sleeve and the load-bearing flange and is in contact with both the connecting sleeve and the load-bearing flange. The floating sleeve is threadedly connected to the first drill rod or the second drill rod. The rotation of the spindle drives the load-bearing joint, the ratchet spline sleeve, the connecting sleeve, and the floating sleeve to rotate in sequence.

[0009] A first threaded hole is provided at the edge of the ratchet spline sleeve, a second threaded hole is provided at the upper part of the edge of the connecting sleeve, the first threaded hole and the second threaded hole are coaxial and concentric and the two are adapted to each other, a third threaded hole is provided at the lower part of the edge of the connecting sleeve, a fourth threaded hole is provided at the edge of the bearing flange, the third threaded hole and the fourth threaded hole are coaxial and concentric and the two are adapted to each other; the main shaft of the raise drilling rig and the drill pipe connecting device also include a first threaded rod and a second threaded rod, the first threaded rod is adapted to the first threaded hole and the second threaded hole, the first threaded rod and the second first threaded rod are screwed into the first threaded hole and the second threaded hole in turn to connect the ratchet spline sleeve and the connecting sleeve, the second threaded rod is adapted to the third threaded hole and the fourth threaded hole, the second threaded rod is screwed into the third threaded hole and the fourth threaded hole in turn to connect the connecting sleeve and the bearing flange.

[0010] Preferably, the transport device comprises a clamping part and a flipping part connected to each other, the clamping part is used to clamp the first drill rod or the second drill rod, the flipping part comprises a connecting seat, a first telescopic rod, and a flipping beam, the connecting seat is fixedly connected to the fixed seat, and the connecting seat is located on one side of the power head, one end of the first telescopic rod is rotatably connected to the connecting seat, and the other end is rotatably connected to the flipping beam, and the connection between the first telescopic rod and the flipping beam is close to one end of the flipping beam, the first telescopic rod is located below the flipping beam, the flipping beam is located below the clamping part and the two are connected, the other end of the flipping beam is rotatably connected to the connecting seat, and the telescopic movement of the first telescopic rod drives the flipping beam to rotate relative to the connecting seat, thereby driving the clamping part to rotate; the connecting seat is L The invention relates to a type of turning device, comprising a long arm and a short arm, wherein the long arm is fixedly connected to a fixing seat and the two are perpendicular to each other, the short arm is parallel to the fixing seat, the turning beam is located above the short arm, and one end of the turning beam is connected to the long arm, one end of the first telescopic rod is connected to the end of the short arm of the connecting seat, and the length of the short arm is not less than the width of the turning beam; there is a predetermined angle between the first telescopic rod and the turning beam, when the first telescopic rod is shortened to a limit, the turning beam is perpendicular to the long arm, when the first telescopic rod is extended to a limit, the turning beam is parallel to the long arm, and the clamping part does not contact the connecting seat; the clamping part is rotatably connected to the turning beam through a swing cylinder, and the rotation axis of the clamping part relative to the turning beam is perpendicular to the rotation axis of the turning beam relative to the connecting seat;

[0011] The clamping part includes a clamping arm, a fixed box, a clamping block, a second telescopic rod, a third telescopic rod, and a swing cylinder. The clamping arm is perpendicular to the flip beam. The end of one end of the clamping arm and the clamping block are both arc-shaped. The concave surfaces of the two are arranged opposite to each other, and wear-resistant strips are arranged on the concave surfaces of the two opposite to each other. The other end of the clamping arm is inserted into the fixed box and the two are slidably connected. The fixed box and the clamping arm are located on the same straight line. One end of the clamping block is rotatably connected to the clamping arm to clamp the first drill rod or the second drill rod through the clamping block and the end of one end of the clamping arm. The second One end of the telescopic rod is rotatably connected to the clamping block, and the other end is rotatably connected to the clamping arm, so that the clamping block is driven to rotate in a direction close to or away from one end of the clamping arm through the extension and contraction of the second telescopic rod, thereby clamping or loosening the first drill rod or the second drill rod. One end of the third telescopic rod is connected to the clamping arm, and the other end is connected to the outer wall of the fixed box, so that the clamping arm is driven to slide relative to the fixed box through the extension and contraction of the third telescopic rod. The fixed box and the flip beam are rotatably connected through a swing cylinder, and the rotation axis of the fixed box relative to the flip beam is perpendicular to the rotation axis of the flip beam relative to the long arm.

[0012] Preferably, the plug plate is U-shaped, and when the plug plate slides in a direction close to the power head, the opening of the plug plate faces the sliding direction, and the opening of the plug plate is square and matched with the first drill rod, so that the power head drives the first drill rod to descend and can be inserted into the plug plate, so that when the power head rotates, the first drill rod is stuck at the plug plate and does not rotate, so that the power head can rotate and separate from the first drill rod thread; an overlapping protrusion is provided on the upper part of the first drill rod, and the length or width of the overlapping protrusion is greater than the length or width of the opening of the plug plate, so that the first drill rod is inserted into the plug plate and slides down until the overlapping protrusion contacts the plug plate, and the overlapping protrusion overlaps the plug plate to fix the first drill rod, thereby facilitating the threaded connection between the bottom of the second drill rod and the top of the first drill rod.

[0013] Preferably, the reverse drilling rig for automatic loading and unloading of drill rods also includes a control unit, which includes an up and down stroke control module and a rotation stroke control module, the up and down stroke control module is electrically connected to the main push cylinder, and the rotation stroke control module is electrically connected to the rotation driver; the up and down stroke control module is preset with upper and lower starting point coordinates, thread contact stroke, thread buffer stroke, upper and lower single screwing stroke, plug-in descending stroke, upper and lower unscrewing stroke, connection descending stroke, and upper and lower double screwing stroke; the rotation stroke control module is preset with rotation starting point coordinates, rotation single screwing stroke, rotation unscrewing stroke, and rotation double screwing stroke.

[0014] Preferably, the control unit also includes a first telescopic stroke control module, a second telescopic stroke control module, an angular displacement stroke control module, and a third telescopic stroke control module. The output end of the first telescopic stroke control module is electrically connected to the first telescopic rod, the output end of the second telescopic stroke control module is electrically connected to the second telescopic rod, the output end of the angular displacement stroke control module is electrically connected to the swing cylinder, and the output end of the third telescopic stroke control module is electrically connected to the third telescopic rod; the first telescopic stroke control module pre-stores the clamping point coordinates and the loading and unloading point coordinates; the second telescopic stroke control module pre-stores the opening stroke and the clamping stroke; the angular displacement stroke control module pre-stores the swing clamping stroke and the swing loading and unloading stroke; the third telescopic stroke control module pre-stores the telescopic clamping stroke, the telescopic loading and unloading stroke, and the shortening stroke.

[0015] Preferably, the up and down stroke control module, the rotation stroke control module, and the first telescopic stroke control module are all preset with the same origin coordinates, and the up and down starting point coordinates, the rotation starting point coordinates, the clamping point coordinates, and the loading and unloading point coordinates are all coordinates relative to the origin coordinates.

[0016] The present invention adopts the above-mentioned technical solution, and its beneficial effect is that the setting of the transportation device replaces manual assistance to move the first drill rod or the second drill rod to just below the power head, and cooperates with the power head to connect the first drill rod and the second drill rod end to end. Only one person is needed to operate the transportation device and the power head, and no two people are required to cooperate in operation, which relatively improves work efficiency and saves manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The front view of the raise boring rig with automatic loading and unloading of drill pipes.

[0018] Figure 2 The right side view of the raise boring machine with automatic loading and unloading of drill pipes.

[0019] Figure 3 This is a half-section right view of the power head.

[0020] Figure 4 It is a half-section right view of the connecting part.

[0021] Figure 5 This is a front view of the transport device when the first telescopic rod is shortened to the limit.

[0022] Figure 6 It is a front view of the transport device when the first telescopic rod is extended to the limit.

[0023] Figure 7 It is a right side view of the clamping part when the third telescopic rod is shortened.

[0024] Figure 8 It is a right side view of the clamping part when the third telescopic rod is extended.

[0025] Fig. 9 This is the right view of the clamping part when the swing cylinder is swinging.

[0026] Fig.10 It is the front view of the flip part.

[0027] Fig.11 A top view of the plug board.

[0028] Fig.12 This is the schematic diagram of the control unit.

[0029] In the figure: a raise boring machine 10 for automatically loading and unloading drill rods, a first drill rod 20, a lap protrusion 21, a second drill rod 30, a power head 40, a box 41, a rotary driver 42, a main shaft 43, a connecting portion 44, a load-bearing joint 441, a ratchet spline sleeve 442, a connecting sleeve 443, a load-bearing flange 444, a floating sleeve 445, a first threaded rod 446, a second threaded rod 447, a transport device 50, a clamping portion 51, a clamping arm 511, a fixing box 512, a clamping block 513, a second telescopic rod 514, and a third telescopic rod 515. Retractable rod 515, swing cylinder 516, wear-resistant strip 517, flip part 52, connecting seat 521, long arm 5211, short arm 5212, first telescopic rod 522, flip beam 523, drilling rig 60, fixed seat 61, guide rail 62, plug plate 63, main push cylinder 70, control unit 80, up and down stroke control module 81, rotation stroke control module 82, first telescopic stroke control module 83, second telescopic stroke control module 84, angular displacement stroke control module 85, third telescopic stroke control module 86. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Please see Figure 1 to Figure 2 The embodiment of the present invention provides a raise boring machine 10 for automatically loading and unloading drill pipes, which connects two identical drill pipes end to end to extend the drilling depth of the drill pipes. The two drill pipes are respectively a first drill pipe 20 and a second drill pipe 30, and include a power head 40, a transport device 50, and a drilling frame 60. The power head 40 and the transport device 50 are both connected to the drilling frame 60; the transport device 50 is connected to the first drill pipe 20 and transports the first drill pipe 20 to the bottom of the power head 40, the power head 40 descends and rotates to connect with the first drill pipe 20, the transport device 50 releases the first drill pipe 20, and the power head 40 descends to drive the second drill pipe 20 to rotate. A drill rod 20 is lowered to be fixed on the drilling rig 60, the power head 40 rises and rotates to separate from the first drill rod 20, the transport device 50 is then connected to the second drill rod 30 and transports the second drill rod 30 to directly below the power head 40, the power head 40 is lowered and rotated to be connected to the second drill rod 30, the transport device 50 releases the second drill rod 30, the power head 40 descends to drive the second drill rod 30 to descend to contact with the first drill rod 20, the power head 40 descends and rotates, driving the head end of the second drill rod 30 to be reinforced with the power head 40, and driving the other end of the second drill rod 30 to be connected to the first drill rod 20.

[0032] Please see Figure 1 to Figure 2Furthermore, the reverse drilling rig 10 for automatically loading and unloading drill pipes also includes a main push cylinder 70, and the power head 40 is fixedly connected to the main push cylinder 70 so as to drive the power head 40 to rise or fall through the main push cylinder 70, and the main push cylinder 70 is fixed on the drilling frame 60.

[0033] Please see Figure 1 , Figure 2 , Fig.11 Furthermore, the drilling rig 60 includes a fixed seat 61, a guide rail 62, and a plug plate 63. The fixed seat 61 is parallel to the horizontal plane. The guide rail 62 and the main push cylinder 70 are both fixed on the fixed seat 61 and the guide rail 62 and the main push cylinder 70 are both perpendicular to the fixed seat 61. The guide rail 62 is parallel to the main push cylinder 70. The power head 40 is slidably connected to the guide rail 62 so that the power head 40 is driven by the main push cylinder 70 to rise or fall along the guide rail 62. The plug plate 63 is slidably connected to the fixed seat 61, and one end point of the sliding stroke of the plug plate 63 is located directly below the power head 40.

[0034] Please see Figure 3 Furthermore, the power head 40 includes a box body 41, a rotary driver 42, a main shaft 43, and a connecting part 44. The box body 41 is fixedly connected to the main push cylinder 70 and is slidably connected to the guide rail 62. One end of the main shaft of the main shaft 43 is fixedly connected to the connecting part 44. The driving end of the rotary driver 42 is fixedly connected to the other end of the main shaft 43 to drive the main shaft 43 to rotate, thereby driving the connecting part 44 to rotate, and then driving the connecting part 44 to be threadedly connected to the first drill rod 20 or the second drill rod 30.

[0035] Please see Figure 3 , Figure 4 Further, the connecting portion 44 includes a load-bearing joint 441, a ratchet spline sleeve 442, a connecting sleeve 443, a load-bearing flange 444, and a floating sleeve 445. The load-bearing joint 441 is connected to the main shaft 43 by a taper thread, the load-bearing joint 441 contacts the ratchet spline sleeve 442, and the load-bearing joint 441 supports the ratchet spline sleeve 442. The ratchet spline sleeve 442, the connecting sleeve 443, and the load-bearing flange 444 are detachably connected from top to bottom in sequence. The floating sleeve 445 is located inside the connecting sleeve 443 and the load-bearing flange 444 and contacts both the connecting sleeve 443 and the load-bearing flange 444. The floating sleeve 445 is threadedly connected to the first drill rod 20 or the second drill rod 30. The rotation of the main shaft 43 drives the load-bearing joint 441, the ratchet spline sleeve 442, the connecting sleeve 443, and the floating sleeve 445 to rotate in sequence.

[0036] A first threaded hole is provided at the edge of the ratchet spline sleeve 442, a second threaded hole is provided at the upper part of the edge of the connecting sleeve 443, the first threaded hole and the second threaded hole are coaxial and concentric and the two are adapted to each other, a third threaded hole is provided at the lower part of the edge of the connecting sleeve 443, a fourth threaded hole is provided at the edge of the bearing flange 444, the third threaded hole and the fourth threaded hole are coaxial and concentric and the two are adapted to each other; the raise drilling rig main shaft 43 and the drill pipe connecting device also include a first threaded rod 446 and a second threaded rod 447, the first threaded rod 446 is adapted to the first threaded hole and the second threaded hole, the first threaded rod 446 and the second first threaded rod 446 are screwed into the first threaded hole and the second threaded hole in turn to connect the ratchet spline sleeve 442 and the connecting sleeve 443, the second threaded rod 447 is adapted to the third threaded hole and the fourth threaded hole, the second threaded rod 447 is screwed into the third threaded hole and the fourth threaded hole in turn to connect the connecting sleeve 443 and the bearing flange 444.

[0037] Please see Figures 5 to 10 Furthermore, the transport device 50 includes a clamping portion 51 and a flipping portion 52 that are connected to each other. The clamping portion 51 is used to clamp the first drill rod 20 or the second drill rod 30. The flipping portion 52 includes a connecting seat 521, a first telescopic rod 522, and a flipping beam 523. The connecting seat 521 is fixedly connected to the fixed seat 61, and the connecting seat 521 is located on one side of the power head 40. One end of the first telescopic rod 522 is rotatably connected to the connecting seat 521, and the other end is rotatably connected to the flipping beam 523. The connection between the first telescopic rod 522 and the flipping beam 523 is close to one end of the flipping beam 523. The first telescopic rod 522 is located below the flipping beam 523. The flipping beam 523 is located below the clamping portion 51 and the two are connected. The other end of the flipping beam 523 is rotatably connected to the connecting seat 521. The telescopic movement of the first telescopic rod 522 drives the flipping beam 523 relative to the connecting seat 521 rotates, thereby driving the clamping part 51 to rotate; the connecting seat 521 is L-shaped, including a long arm 5211 and a short arm 5212, the long arm 5211 is fixedly connected to the fixing seat 61 and the two are perpendicular to each other, the short arm 5212 is parallel to the fixing seat 61, the flip beam 523 is located above the short arm 5212, and one end of the flip beam 523 is connected to the long arm 5211, one end of the first telescopic rod 522 is connected to the end of the short arm 5212 of the connecting seat 521, and the length of the short arm 5212 is not less than the width of the flip beam 523; there is a predetermined angle between the first telescopic rod 522 and the flip beam 523, when the first telescopic rod 522 is shortened to the limit, the flip beam 523 is perpendicular to the long arm 5211, when the first telescopic rod 522 is extended to the limit, the flip beam 523 is parallel to the long arm 5211, and the clamping part 51 is not in contact with the connecting seat 521;

[0038] The clamping part 51 includes a clamping arm 511, a fixed box 512, a clamping block 513, a second telescopic rod 514, a third telescopic rod 515, and a swing cylinder 516. The clamping arm 511 is perpendicular to the flip beam 523. The end of one end of the clamping arm 511 and the clamping block 513 are both arc-shaped, and the concave surfaces of the two are arranged opposite to each other. Wear-resistant strips 517 are arranged on the opposite concave surfaces of the two. The other end of the clamping arm 511 is inserted into the fixed box 512 and the two are slidably connected. The fixed box 512 and the clamping arm 511 are located on the same straight line. One end of the clamping block 513 is rotatably connected to the clamping arm 511, so as to cooperate with the end of one end of the clamping arm 511 to clamp the first drill rod 20 or the second drill rod 30 through the clamping block 513. One end of the second telescopic rod 514 is rotatably connected to the clamping block 513, and the other end is rotatably connected to the clamping arm 511, so that the clamping block 513 is driven to rotate in a direction close to or away from one end of the clamping arm 511 through the extension and retraction of the second telescopic rod 514, thereby clamping or releasing the first drill rod 20 or the second drill rod 30. One end of the third telescopic rod 515 is connected to the clamping arm 511, and the other end is connected to the outer wall of the fixed box 512, so that the clamping arm 511 is driven to slide relative to the fixed box 512 through the extension and retraction of the third telescopic rod 515. The fixed box 512 is rotatably connected to the flip beam 523 through the swing cylinder 516, and the rotation axis of the fixed box 512 relative to the flip beam 523 is perpendicular to the rotation axis of the flip beam 523 relative to the long arm 5211.

[0039] Please see Fig.11 , further, the plug plate 63 is U-shaped, and when the plug plate 63 slides in the direction close to the power head 40, the opening of the plug plate 63 faces the sliding direction, and the opening of the plug plate 63 is square and adapted to the first drill rod 20, so that the power head 40 drives the first drill rod 20 to descend and can be inserted into the plug plate 63, so that when the power head 40 rotates, the first drill rod 20 is stuck at the plug plate 63 and does not rotate, thereby enabling the power head 40 to rotate and separate from the first drill rod 20 thread; the upper part of the first drill rod 20 is provided with an overlapping protrusion 21, and the length or width of the overlapping protrusion 21 is greater than the length or width of the opening of the plug plate 63, so that the first drill rod 20 is inserted into the plug plate 63 and slides down until the overlapping protrusion 21 contacts the plug plate 63, and the overlapping protrusion 21 overlaps the plug plate 63 to fix the first drill rod 20, thereby facilitating the bottom of the second drill rod 30 to be threadedly connected with the top of the first drill rod 20.

[0040] Furthermore, the rotary driver 42 is a combination of a motor and a reducer, and can be remotely controlled by remote control; the main push cylinder 70, the first telescopic rod 522, the second telescopic rod 514, and the third telescopic rod 515 are all oil cylinders, and can be remotely controlled by remote control; the floating amount of the floating sleeve 445 is greater than 30 mm.

[0041] Please see Fig.12Further, the raise boring machine 10 for automatically loading and unloading drill pipes further includes a control unit 80, the control unit 80 includes an up-and-down stroke control module 81 and a rotation stroke control module 82, the up-and-down stroke control module 81 is electrically connected to the main push cylinder 70, and the rotation stroke control module 82 is electrically connected to the rotation driver 42;

[0042] The up and down stroke control module 81 is preset with the up and down starting point coordinates, thread contact stroke, thread buffer stroke, up and down single screwing stroke, plug-in descending stroke, up and down unscrewing stroke, connection descending stroke, up and down double screwing stroke. The up and down starting point coordinates are the preparatory position coordinate points before the main push cylinder 70 works. The thread contact stroke is the stroke when the main push cylinder 70 descends to make the thread of the floating sleeve 445 contact with the thread of the first drill rod 20 or the second drill rod 30. The thread buffer stroke is the stroke when the main push cylinder 70 descends to make the floating sleeve 445 rise a predetermined distance, which is 20 mm. The up and down single screwing stroke is when the main push cylinder 70 descends to make the floating sleeve 445 contact with the first drill rod 20 or the second drill rod 30. The stroke for threaded connection of the first drill rod 20 or the second drill rod 30, the plug-in descending stroke is the stroke for the main push cylinder 70 to descend and drive the first drill rod 20 or the second drill rod 30 to be plugged with the plug plate 63, the up and down unscrewing stroke is the stroke for the main push cylinder 70 to rise to separate the floating sleeve 445 from the first drill rod 20 or the second drill rod 30 threads, the connecting descending stroke is the stroke for the main push cylinder 70 to descend and drive the thread at the end of the second drill rod 30 to contact the thread at the head end of the first drill rod 20, and the up and down double screwing stroke is the stroke for the main push cylinder 70 to descend to reinforce the threaded connection between the floating sleeve 445 and the head end of the second drill rod 30 and the second drill rod 30 and the first drill rod 20.

[0043] The rotation stroke control module 82 is preset with a rotation starting point coordinate, a rotation single screwing stroke, a rotation unscrewing stroke, and a rotation double screwing stroke. The rotation starting point coordinate is the coordinate point of the preparatory position before the rotation driver 42 works. The rotation single screwing stroke is the stroke when the rotation driver 42 rotates to make the floating sleeve 445 threadedly connected to the first drill rod 20 or the second drill rod 30. The rotation unscrewing stroke is the stroke when the rotation driver 42 rotates to make the floating sleeve 445 threadedly separated from the first drill rod 20 or the second drill rod 30. The rotation double screwing stroke is the stroke when the rotation driver 42 rotates to make the floating sleeve 445 threadedly connected to the head end of the second drill rod 30 reinforced and the second drill rod 30 threadedly connected to the first drill rod 20.

[0044] The upper and lower single screwing strokes correspond to the rotary single screwing strokes, so that the floating sleeve 445 can be rotated while descending to be threadedly connected to the first drill rod 20 or the second drill rod 30. The upper and lower unscrewing strokes correspond to the rotary unscrewing strokes, so that the floating sleeve 445 can be rotated while ascending to be threadedly separated from the first drill rod 20 or the second drill rod 30. The upper and lower double screwing strokes correspond to the rotary double screwing strokes, so that the floating sleeve 445 can be rotated while descending to be threadedly connected to the second drill rod 30 for reinforcement. At the same time, the second drill rod 30 can be driven to rotate while descending to be threadedly connected to the first drill rod 20.

[0045] Please see Fig.12 Further, the control unit 80 also includes a first telescopic stroke control module 83, a second telescopic stroke control module 84, an angular displacement stroke control module 85, and a third telescopic stroke control module 86. The output end of the first telescopic stroke control module 83 is electrically connected to the first telescopic rod 522, the output end of the second telescopic stroke control module 84 is electrically connected to the second telescopic rod 514, the output end of the angular displacement stroke control module 85 is electrically connected to the swing cylinder 516, and the output end of the third telescopic stroke control module 86 is electrically connected to the third telescopic rod 515;

[0046] The first telescopic stroke control module 83 pre-stores the clamping point coordinates and the loading and unloading point coordinates. The clamping point coordinates are the coordinates of the placement position of the first telescopic rod 522 when it is telescoped to be close to the first drill rod 20 or the second drill rod 30. The loading and unloading point coordinates are the coordinates of the position where the first telescopic rod 522 is telescoped to make the first drill rod 20 or the second drill rod 30 close to the floating sleeve 445.

[0047] The second telescopic stroke control module 84 pre-stores an opening stroke and a clamping stroke. The opening stroke is when the second telescopic rod 514 is shortened to the end of the clamping block 513 away from the clamping arm 511, and the clamping stroke is when the second telescopic rod 514 is extended to the end close to the clamping arm 511.

[0048] The angular displacement stroke control module 85 pre-stores a swing clamping stroke and a swing loading and unloading stroke. The swing clamping stroke is a stroke in which the swing cylinder 516 swings to clamp the first drill rod 20 or the second drill rod 30. The swing loading and unloading stroke is a stroke in which the swing cylinder 516 swings to make the first drill rod 20 or the second drill rod 30 close to the bottom of the floating sleeve 445.

[0049] The third telescopic stroke control module 86 pre-stores a telescopic clamping stroke, a telescopic loading and unloading stroke, and a shortening stroke. The telescopic clamping stroke is a stroke in which the third telescopic rod 515 is extended to clamp the first drill rod 20 or the second drill rod 30. The telescopic loading and unloading stroke is a stroke in which the third telescopic rod 515 is extended to make the first drill rod 20 or the second drill rod 30 located directly below the floating sleeve 445. The shortening stroke is a shortening stroke of the third telescopic rod 515 arranged to prevent the transportation device 50 from touching the power head 40.

[0050] Furthermore, the up and down stroke control module 81, the rotation stroke control module 82, and the first telescopic stroke control module 83 are all preset with the same origin coordinates, and the up and down starting point coordinates, the rotation starting point coordinates, the clamping point coordinates, and the loading and unloading point coordinates are all coordinates relative to the origin coordinates.

[0051] When the device without the control unit 80 is used, the steps are as follows:

[0052] Preparation: The operator slides the insert plate 63 to the bottom of the power head 40 and raises the main push cylinder 70 to the highest point;

[0053] Grab the first drill rod 20: shorten the second telescopic rod 514 to the shortest, so that the clamping block 513 is as far away from the end of one end of the clamping arm 511 as possible, and then operate the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 to transport the transport device 50 to the predetermined grabbing point aligned with the first drill rod 20, and then extend the second telescopic rod 514 to clamp the first drill rod 20;

[0054] Transporting the first drill rod 20: Operate the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 to transport the first drill rod 20 to the bottom of the power head 40, so that the head end of the first drill rod 20 is aligned with the floating sleeve 445, and the tail end is aligned with the plug plate 63;

[0055] The floating sleeve 445 is connected to the first drill rod 20: the main push cylinder 70 is lowered until the thread of the floating sleeve 445 contacts the thread of the first end of the first drill rod 20, and whether it contacts or not is judged by manual experience, and then the main push cylinder 70 is lowered by 20 mm, and the first drill rod 20 lifts the floating sleeve 445 by 20 mm, and the rotary drive 42 is rotated forward and the main push cylinder 70 is lowered at the same time, and it is judged and operated by manual experience until the floating sleeve 445 and the first drill rod 20 can be relatively fixed; the second telescopic rod 514 is shortened to the shortest, so that the clamping block 513 is as far away from the end of one end of the clamping arm 511 as possible, and the first drill rod 20 is released, and the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 are operated to cooperate to transport the transport device 50 to a position away from the power head 40;

[0056] Insert the first drill rod 20 into the plug plate 63: lower the main push cylinder 70 until the first drill rod 20 is inserted into the plug plate 63, reverse the rotary drive 42, and raise the main push cylinder 70 at the same time, and judge and operate it manually through experience until the floating sleeve 445 is separated from the first drill rod 20, and raise the main push cylinder 70 to the highest point;

[0057] Grab the second drill rod 30: shorten the second telescopic rod 514 to the shortest, so that the clamping block 513 is as far away from the end of one end of the clamping arm 511 as possible, and then operate the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 to transport the transport device 50 to the predetermined grabbing point aligned with the second drill rod 30, and then extend the second telescopic rod 514 to clamp the second drill rod 30;

[0058] Transport the second drill rod 30: operate the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 to transport the second drill rod 30 to the bottom of the power head 40, so that the head end of the second drill rod 30 is aligned with the floating sleeve 445, and the tail end is aligned with the head end of the first drill rod 20;

[0059] The floating sleeve 445 is connected to the second drill rod 30: the main push cylinder 70 is lowered until the thread of the floating sleeve 445 contacts the thread of the first end of the second drill rod 30, and whether it contacts or not is judged by manual experience, and then the main push cylinder 70 is lowered by 20 mm, and the second drill rod 30 lifts the floating sleeve 445 by 20 mm, and the rotary drive 42 is rotated forward and the main push cylinder 70 is lowered at the same time, and it is judged and operated by manual experience until the floating sleeve 445 and the first drill rod 20 can be relatively fixed; the second telescopic rod 514 is shortened to the shortest, so that the clamping block 513 is as far away from the end of one end of the clamping arm 511 as possible, and the second drill rod 30 is released. The second drill rod 30 pulls the floating sleeve 445 down by 20 mm due to its own gravity, and the first telescopic rod 522, the third telescopic rod 515, and the swing cylinder 516 are operated to cooperate to transport the transport device 50 to a position away from the power head 40;

[0060] Fix the second drill rod 30: lower the main push cylinder 70 until the thread at the end of the second drill rod 30 contacts the thread at the head end of the first drill rod 20. Whether it contacts or not is determined by manual experience. Then lower the main push cylinder 70 by 20 mm. The second drill rod 30 lifts the floating sleeve 445 by 20 mm. The rotary drive 42 rotates forward and the main push cylinder 70 is lowered at the same time. It is determined and operated by manual experience until the floating sleeve 445 is completely threadedly connected to the head end of the second drill rod 30. At the same time, the end of the second drill rod 30 is threadedly connected to the head end of the first drill rod 20. The head-to-tail connection between the first drill rod 20 and the second drill rod 30 is completed. Slide the plug plate 63 away from the first drill rod 20 to carry out subsequent drilling work.

[0061] The above steps are the process of installing the drill rod, and the process of unloading the drill rod is the opposite of the process of installing the drill rod.

[0062] A single drill rod is 1 to 2 meters long, and the number of drill rods is determined according to the drilling depth. The installation steps and methods are the same as the installation method of the first drill rod 20 and the second drill rod 30 described above.

[0063] When the device including the control unit 80 is used, the steps are as follows:

[0064] Preparation: Manually slide the plug plate 63 to the bottom of the power head 40, place the first drill rod 20 at the predetermined position, and the upper and lower stroke control module 81 and the rotation stroke control module 82 respectively call the preset upper and lower starting point coordinates and the rotation starting point coordinates, and transmit them to the main push cylinder 70 and the rotation driver 42 respectively. The main push cylinder 70 receives the upper and lower starting point coordinates and moves to the corresponding coordinate positions, and the rotation driver 42 receives the rotation starting point coordinates and rotates to the corresponding coordinate position;

[0065] Grab the first drill rod 20: the first telescopic stroke control module 83 calls the clamping point coordinates and transmits them to the first telescopic rod 522, the first telescopic rod 522 receives the clamping point coordinates and telescopes to the corresponding coordinate position, the second telescopic stroke control module 84 calls the opening stroke and transmits it to the second telescopic rod 514, the second telescopic rod 514 receives the opening stroke and shortens the corresponding stroke, the angular displacement stroke control module 85 calls the swing clamping stroke and transmits it to the swing cylinder 516, the swing cylinder 516 receives the swing clamping stroke and swings the corresponding stroke, the third telescopic stroke control module 86 calls the telescopic clamping stroke and transmits it to the third telescopic rod 515, the third telescopic rod 515 receives the telescopic clamping stroke and telescopes the corresponding stroke, the second telescopic stroke control module 84 calls the clamping stroke and transmits it to the second telescopic rod 514, the second telescopic rod 514 receives the clamping stroke and extends the corresponding stroke, and the corresponding position of the first drill rod 20 is clamped by the transportation device 50;

[0066] Transporting the first drill rod 20: the first telescopic stroke control module 83 calls the loading and unloading point coordinates and transmits them to the first telescopic rod 522, the first telescopic rod 522 receives the loading and unloading point coordinates and telescopes to the corresponding coordinate position, the angular displacement stroke control module 85 calls the swing loading and unloading stroke and transmits it to the swing cylinder 516, the swing cylinder 516 receives the swing loading and unloading stroke and swings the corresponding stroke, the third telescopic stroke control module 86 calls the telescopic loading and unloading stroke and transmits it to the third telescopic rod 515, the third telescopic rod 515 receives the telescopic loading and unloading stroke and telescopes the corresponding stroke, and the first drill rod 20 is transported by the transport device 50 to a position directly below the connecting portion 44 and directly above the plug plate 63;

[0067] The floating sleeve 445 is connected to the first drill rod 20: the up and down stroke control module 81 calls the thread contact stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the thread contact stroke and drops the corresponding stroke, the thread of the floating sleeve 445 contacts the thread of the drill rod, the up and down stroke control module 81 calls the thread buffer stroke again and transmits it to the main push cylinder 70, the main push cylinder 70 receives the thread buffer stroke and drops the corresponding stroke, the rotation stroke control module 82 and the up and down stroke control module 81 respectively call the rotation single screwing stroke and the up and down single screwing stroke, and transmit them to the rotation driver 42 and the main push cylinder 70 respectively, the rotation driver 42 receives the rotation single screwing stroke and rotates the corresponding stroke, the main The push cylinder 70 receives the up and down screwing stroke and descends the corresponding stroke, so that the floating sleeve 445 is threadedly connected to the first drill rod 20. The second telescopic stroke control module 84 calls the opening stroke and transmits it to the second telescopic rod 514. The second telescopic rod 514 receives the opening stroke and shortens the corresponding stroke. The transportation device 50 releases the first drill rod 20. The third telescopic stroke control module 86 calls the shortening stroke and transmits it to the third telescopic rod 515. The third telescopic rod 515 receives the shortening stroke and shortens the corresponding stroke. The first telescopic stroke control module 83 calls the clamping point coordinates and transmits them to the first telescopic rod 522. The first telescopic rod 522 receives the clamping point coordinates and telescopes to the corresponding coordinate position.

[0068] The first drill rod 20 is plugged into the plug plate 63: the up and down stroke control module 81 calls the plug-in descending stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the plug-in descending stroke and descends the corresponding stroke, driving the first drill rod 20 to be plugged into the plug plate 63, the up and down stroke control module 81 and the rotation stroke control module 82 respectively call the up and down unscrewing stroke and the rotation unscrewing stroke, and transmit them to the main push cylinder 70 and the rotation driver 42 respectively, the main push cylinder 70 receives the up and down unscrewing stroke and ascends the corresponding stroke, the rotation driver 42 receives the rotation unscrewing stroke and rotates the corresponding stroke, the floating sleeve 445 is separated from the first drill rod 20, and the first drill rod 20 slides down along the plug plate 63 under gravity to the overlapping protrusion 21 and overlaps and fixes with the plug plate 63;

[0069] Grab the second drill rod 30: place the second drill rod 30 at the same predetermined position as the first drill rod 20, the first telescopic stroke control module 83 calls the clamping point coordinates and transmits them to the first telescopic rod 522, the first telescopic rod 522 receives the clamping point coordinates and telescopes to the corresponding coordinate position, the second telescopic stroke control module 84 calls the opening stroke and transmits it to the second telescopic rod 514, the second telescopic rod 514 receives the opening stroke and shortens the corresponding stroke, the angular displacement stroke control module 85 calls the swing clamping stroke and transmits it to the swing cylinder 516, the swing cylinder 516 receives the swing clamping stroke and swings the corresponding stroke, the third telescopic stroke control module 86 calls the telescopic clamping stroke and transmits it to the third telescopic rod 515, the third telescopic rod 515 receives the telescopic clamping stroke and telescopes the corresponding stroke, the second telescopic stroke control module 84 calls the clamping stroke and transmits it to the second telescopic rod 514, the second telescopic rod 514 receives the clamping stroke and extends the corresponding stroke, and the corresponding position of the second drill rod 30 is clamped by the transportation device 50;

[0070] Transporting the second drill rod 30: the first telescopic stroke control module 83 calls the loading and unloading point coordinates and transmits them to the first telescopic rod 522, the first telescopic rod 522 receives the loading and unloading point coordinates and telescopes to the corresponding coordinate position, the angular displacement stroke control module 85 calls the swing loading and unloading stroke and transmits it to the swing cylinder 516, the swing cylinder 516 receives the swing loading and unloading stroke and swings the corresponding stroke, the third telescopic stroke control module 86 calls the telescopic loading and unloading stroke and transmits it to the third telescopic rod 515, the third telescopic rod 515 receives the telescopic loading and unloading stroke and telescopes the corresponding stroke, the second drill rod 30 is located directly below the connecting portion 44 and directly above the first drill rod 20;

[0071] The floating sleeve 445 is connected to the second drill rod 30: the up and down stroke control module 81 calls the thread contact stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the thread contact stroke and drops the corresponding stroke, the up and down stroke control module 81 then calls the thread buffer stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the thread buffer stroke and drops the corresponding stroke, the rotation stroke control module 82 and the up and down stroke control module 81 respectively call the rotation single screwing stroke and the up and down single screwing stroke, and transmit them to the rotation driver 42 and the main push cylinder 70 respectively, the rotation driver 42 receives the rotation single screwing stroke and rotates the corresponding stroke, the main push cylinder 70 receives the up and down single The screw stroke is screwed and the corresponding stroke is lowered to realize the threaded connection between the floating sleeve 445 and the second drill rod 30. The second telescopic stroke control module 84 calls the opening stroke and transmits it to the second telescopic rod 514. The second telescopic rod 514 receives the opening stroke and shortens the corresponding stroke. The transportation device 50 releases the second drill rod 30. The third telescopic stroke control module 86 calls the shortening stroke and transmits it to the third telescopic rod 515. The third telescopic rod 515 receives the shortening stroke and retracts the corresponding stroke. The first telescopic stroke control module 83 calls the clamping point coordinates and transmits them to the first telescopic rod 522. The first telescopic rod 522 receives the clamping point coordinates and retracts to the corresponding coordinate position.

[0072] Fix the second drill rod 30: the up and down stroke control module 81 calls the connection descending stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the connection descending stroke and descends the corresponding stroke, the up and down stroke control module 81 then calls the thread buffer stroke and transmits it to the main push cylinder 70, the main push cylinder 70 receives the thread buffer stroke and descends the corresponding stroke, the rotation stroke control module 82 and the up and down stroke control module 81 respectively call the rotation double screwing stroke and the up and down double screwing stroke, and transmit them to the rotation driver 42 and the main push cylinder 70 respectively, the rotation driver 42 receives the rotation double screwing stroke and rotates the corresponding stroke, the main push cylinder 70 receives the up and down double screwing stroke and descends the corresponding stroke, the head end of the second drill rod 30 is threadedly connected and reinforced with the floating sleeve 445, and the end of the second drill rod 30 is threadedly connected to the head end of the first drill rod 20.

[0073] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A raise boring machine for automatically loading and unloading drill pipes, which connects two identical drill pipes end to end to extend the drilling depth of the drill pipes, wherein the two drill pipes are respectively a first drill pipe and a second drill pipe, and is characterized in that: The invention comprises a power head, a transport device and a drill rack, wherein the power head and the transport device are connected to the drill rack; the transport device is connected to the first drill rod and transports the first drill rod to the position directly below the power head, the power head descends and rotates to be connected to the first drill rod, the transport device releases the first drill rod, the power head descends and drives the first drill rod to descend to be fixed on the drill rack, the power head rises and rotates to be separated from the first drill rod, the transport device is then connected to the second drill rod and transports the second drill rod to the position directly below the power head, the power head descends and rotates to be connected to the second drill rod, the transport device releases the second drill rod, the power head descends and drives the second drill rod to descend to contact with the first drill rod, the power head descends and rotates, drives the first end of the second drill rod to be reinforcedly connected to the power head, and drives the other end of the second drill rod to The first drill rod is connected; the power head includes a box body, a rotary driver, a main shaft, and a connecting part. The box body is fixedly connected to the main push cylinder and slidably connected to the guide rail. One end of the main shaft is fixedly connected to the connecting part, and the driving end of the rotary driver is fixedly connected to the other end of the main shaft to drive the main shaft to rotate, thereby driving the connecting part to rotate, and then driving the connecting part to be threadedly connected to the first drill rod or the second drill rod; the connecting part includes a load-bearing joint, a ratchet spline sleeve, a connecting sleeve, a load-bearing flange, and a floating sleeve. The load-bearing joint is connected to the main shaft tapered thread, the load-bearing joint is in contact with the ratchet spline sleeve, and the load-bearing joint supports the ratchet spline sleeve. The ratchet spline sleeve, the connecting sleeve, and the load-bearing flange are detachably connected from top to bottom in sequence. The floating sleeve is located inside the connecting sleeve and the load-bearing flange and is connected to the connecting sleeve and the load-bearing flange. The flanges are all in contact, the floating sleeve is threadedly connected to the first drill pipe or the second drill pipe, and the rotation of the main shaft drives the load-bearing joint, the ratchet spline sleeve, the connecting sleeve, and the floating sleeve to rotate in turn; a first threaded hole is opened on the edge of the ratchet spline sleeve, and a second threaded hole is opened on the upper part of the edge of the connecting sleeve. The first threaded hole and the second threaded hole are coaxial and concentric and the two are adapted to each other. A third threaded hole is opened on the lower part of the edge of the connecting sleeve, and a fourth threaded hole is opened on the edge of the load-bearing flange. The third threaded hole and the fourth threaded hole are coaxial and concentric and the two are adapted to each other; the main shaft and drill pipe connection device of the raise drilling rig also includes a first threaded rod and a second threaded rod. The first threaded rod is adapted to the first threaded hole and the second threaded hole. The first threaded rod and the second first threaded rod are screwed into the first threaded hole and the second threaded hole in turn. The ratchet spline sleeve is connected to the connecting sleeve, the second threaded rod is adapted to the third threaded hole and the fourth threaded hole, and the second threaded rod is screwed into the third threaded hole and the fourth threaded hole in sequence to connect the connecting sleeve to the load-bearing flange; it also includes a control unit, the control unit includes an up and down stroke control module and a rotation stroke control module, the up and down stroke control module is electrically connected to the main push cylinder, and the rotation stroke control module is electrically connected to the rotation driver; the up and down stroke control module is preset with upper and lower starting point coordinates, thread contact stroke, thread buffer stroke, upper and lower single screwing stroke, plug-in descending stroke, upper and lower unscrewing stroke, connection descending stroke, and upper and lower double screwing stroke; the rotation stroke control module is preset with rotation starting point coordinates, rotation single screwing stroke, rotation unscrewing stroke, and rotation double screwing stroke.

2. The raise boring machine for automatically loading and unloading drill pipes according to claim 1, characterized in that: It also includes a main push cylinder, a power head is fixedly connected to the main push cylinder, so that the power head is driven to rise or fall through the main push cylinder, and the main push cylinder is fixed on the drilling frame.

3. The raise boring machine for automatically loading and unloading drill pipes as claimed in claim 2, characterized in that: The drilling rig includes a fixed seat, a guide rail, and a plug plate. The fixed seat is parallel to the horizontal plane. The guide rail and the main push cylinder are fixed on the fixed seat and are perpendicular to the fixed seat. The guide rail is parallel to the main push cylinder. The power head is slidably connected to the guide rail so that the power head is driven by the main push cylinder to rise or fall along the guide rail. The plug plate is slidably connected to the fixed seat, and one end point of the sliding stroke of the plug plate is located directly below the power head.

4. The raise boring machine for automatically loading and unloading drill pipes as claimed in claim 3, characterized in that: The transport device comprises a clamping part and a flipping part which are connected to each other. The clamping part is used to clamp the first drill rod or the second drill rod. The flipping part comprises a connecting seat, a first telescopic rod and a flipping beam. The connecting seat is fixedly connected to the fixed seat, and the connecting seat is located on one side of the power head. One end of the first telescopic rod is rotatably connected to the connecting seat, and the other end is rotatably connected to the flipping beam. The connection between the first telescopic rod and the flipping beam is close to one end of the flipping beam. The first telescopic rod is located below the flipping beam. The flipping beam is located below the clamping part and the two are connected. The other end of the flipping beam is rotatably connected to the connecting seat. The telescopic rod is extended to drive the flipping beam. The beam rotates relative to the connecting seat, thereby driving the clamping part to rotate; the connecting seat is L-shaped, including a long arm and a short arm, the long arm is fixedly connected to the fixed seat and the two are perpendicular to each other, the short arm is parallel to the fixed seat, the flip beam is located above the short arm, and one end of the flip beam is connected to the long arm, one end of the first telescopic rod is connected to the end of the short arm of the connecting seat, and the length of the short arm is not less than the width of the flip beam; there is a predetermined angle between the first telescopic rod and the flip beam, when the first telescopic rod is shortened to the limit, the flip beam is perpendicular to the long arm, when the first telescopic rod is extended to the limit, the flip beam is parallel to the long arm, and the clamping part does not contact the connecting seat; The clamping part is rotatably connected to the flip beam through a swing cylinder, and the rotation axis of the clamping part relative to the flip beam is perpendicular to the rotation axis of the flip beam relative to the connecting seat; The clamping part includes a clamping arm, a fixed box, a clamping block, a second telescopic rod, a third telescopic rod, and a swing cylinder. The clamping arm is perpendicular to the flip beam. The end of one end of the clamping arm and the clamping block are both arc-shaped. The concave surfaces of the two are arranged opposite to each other, and wear-resistant strips are arranged on the concave surfaces of the two opposite to each other. The other end of the clamping arm is inserted into the fixed box and the two are slidably connected. The fixed box and the clamping arm are located on the same straight line. One end of the clamping block is rotatably connected to the clamping arm to clamp the first drill rod or the second drill rod through the clamping block and the end of one end of the clamping arm. The second One end of the telescopic rod is rotatably connected to the clamping block, and the other end is rotatably connected to the clamping arm, so that the clamping block is driven to rotate in a direction close to or away from one end of the clamping arm through the extension and contraction of the second telescopic rod, thereby clamping or loosening the first drill rod or the second drill rod. One end of the third telescopic rod is connected to the clamping arm, and the other end is connected to the outer wall of the fixed box, so that the clamping arm is driven to slide relative to the fixed box through the extension and contraction of the third telescopic rod. The fixed box and the flip beam are rotatably connected through a swing cylinder, and the rotation axis of the fixed box relative to the flip beam is perpendicular to the rotation axis of the flip beam relative to the long arm.

5. The raise boring machine for automatically loading and unloading drill pipes as claimed in claim 4, characterized in that: The plug plate is U-shaped. When the plug plate slides in a direction close to the power head, the opening of the plug plate faces the sliding direction. The opening of the plug plate is square and matched with the first drill rod, so that the power head drives the first drill rod to descend and can be inserted into the plug plate, so that when the power head rotates, the first drill rod is stuck at the plug plate and does not rotate, so that the power head can rotate and separate from the first drill rod thread; an overlapping protrusion is provided on the upper part of the first drill rod, and the length or width of the overlapping protrusion is greater than the length or width of the opening of the plug plate, so that the first drill rod is inserted into the plug plate and slides down until the overlapping protrusion contacts the plug plate, and the overlapping protrusion overlaps the plug plate to fix the first drill rod, so as to facilitate the bottom of the second drill rod to be threadedly connected with the top of the first drill rod.

6. The raise boring machine for automatically loading and unloading drill pipes as claimed in claim 5, characterized in that: The control unit also includes a first telescopic stroke control module, a second telescopic stroke control module, an angular displacement stroke control module, and a third telescopic stroke control module. The output end of the first telescopic stroke control module is electrically connected to the first telescopic rod, the output end of the second telescopic stroke control module is electrically connected to the second telescopic rod, the output end of the angular displacement stroke control module is electrically connected to the swing cylinder, and the output end of the third telescopic stroke control module is electrically connected to the third telescopic rod; the first telescopic stroke control module pre-stores the clamping point coordinates and the loading and unloading point coordinates; the second telescopic stroke control module pre-stores the opening stroke and the clamping stroke; the angular displacement stroke control module pre-stores the swing clamping stroke and the swing loading and unloading stroke; the third telescopic stroke control module pre-stores the telescopic clamping stroke, the telescopic loading and unloading stroke, and the shortening stroke.

7. The raise boring machine for automatically loading and unloading drill pipes as claimed in claim 6, characterized in that: The up and down stroke control module, the rotation stroke control module, and the first telescopic stroke control module are all preset with the same origin coordinates, and the up and down starting point coordinates, the rotation starting point coordinates, the clamping point coordinates, and the loading and unloading point coordinates are all coordinates relative to the origin coordinates.

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