An automatic upgrading device for a mine drilling machine and a working method

Abstract

The application discloses a kind of mine drilling rig automation upgrading device and working method, belong to mechanical equipment field, the device includes main support frame (1), mobile frame structure (2), drill pipe gripper (3), drill pipe holder (4), water braid (5), electromagnetic switch valve (6), drill pipe storehouse (7), control system (8), joystick executor (9), main support frame (1) is fixedly installed on the support frame of drilling rig propeller, mobile frame structure (2) is arranged in main support frame (1) upper portion with two degrees of freedom, drill pipe gripper (3) is placed on mobile frame structure (2), drill pipe holder (4) is fixedly connected with drilling rig main shaft, water braid (5) is arranged at the tail end of drilling rig main shaft, electromagnetic switch valve (6) is arranged between water braid (5) and water pipe, drill pipe storehouse (7) is placed on main support frame (1), for storing drill pipe, joystick executor (9) is used to drive joystick action, the device realizes the automation of drilling rig drilling, by installing such a set of drilling rig automation upgrading device on existing manual drilling rig, the automation, intelligent transformation to existing manual drilling rig can be realized.

Description

Technical Field

[0001] This invention discloses an automated upgrading device and working method for mining drilling rigs, belonging to the field of mechanical equipment. Background Technology

[0002] In tunnel excavation and coal mining, safety requirements necessitate operations such as water exploration and gas drainage, all of which require drilling. my country is a major coal producer and infrastructure developer, excavating thousands of kilometers of new tunnels annually. With the continuous advancement of mechanization in my country, drilling operations are now largely mechanized. However, with rising labor costs and the urgent need for reduced workloads, upgrading mechanization to automation and intelligent equipment is an inevitable trend. my country currently has over one million deep-hole drilling rigs, many of which are relatively new. Directly replacing them would be a significant waste and increase operating costs for manufacturers. Allowing them to age and become obsolete would slow down the automation and intelligentization of deep-hole drilling rigs. Therefore, automating and intelligentizing existing manually controlled drilling rigs is an effective solution to this problem.

[0003] Currently, there are several design schemes for automating drilling rigs in existing technologies. However, these schemes have drawbacks such as complex structures, high precision requirements for robotic arms, and unsuitability for retrofitting existing manual deep-hole drilling rigs. For example, on April 11, 2013, Chongqing Research Institute Co., Ltd. of China Coal Technology & Engineering Group disclosed a large-angle drill rod conveying device for coal mine drilling rigs, including a working platform, a gripping device and a conveying device set on the working platform. The gripping device includes a support column set on the working platform, a motor base connected to the support column, a steering motor on the motor base, a telescopic hydraulic cylinder connected to the output end of the steering motor, a gripping rod seat on the piston rod of the telescopic hydraulic cylinder, and a clamping slip for holding the drill rod and a clamping hydraulic cylinder for driving the slip to clamp. The conveying device includes a drill rod box that moves perpendicular to the direction of the telescopic hydraulic cylinder. This invention can realize the function of gripping drill rods by controlling the telescopic hydraulic cylinder and the slips. Combined with the angle adjustment hydraulic cylinder and the steering motor, it can realize the output and return of large-angle drill rods. Furthermore, on October 31, 2014, Chongqing Research Institute Co., Ltd. of China Coal Technology & Engineering Group applied for and disclosed an underground gas drainage drilling rig, including a drilling rig host and an electrical control system for controlling the operation of the drilling rig host; the drilling rig host includes a crawler walking unit, a propulsion unit, a power head, an automatic loading and unloading mechanism for large-angle drill rods, and a hydraulic pump station that provides power to each component; the electrical control system includes a remote control station set on the ground and a main control station set underground, and the remote control station and the main control station are connected by an optical fiber Ethernet ring network; this invention not only realizes unmanned fully automatic drilling operation of the drilling rig host, but also can complete automatic loading and unloading of drill rods at multiple azimuth angles and large angles, further reducing the labor intensity and danger of workers and improving the efficiency of gas drainage.

[0004] It's clear from the two patents that the first patent's main innovation lies in adding a robotic arm to the drilling rig platform, controlling its movements to load drill rods. The second patent's innovation is twofold: it applies the first patent's technology to the entire machine and discloses a whole-machine control approach. While the first patent's addition of a robotic arm to the platform theoretically enables drill rod transfer and loading, the unpredictable drilling direction and position during actual use make adapting the robotic arm to these variations extremely complex and demanding very high precision. The second patent describes a corresponding control scheme based on the specific structure and working process of the drilling rig.

[0005] This invention is specifically designed for the automation and intelligent transformation of existing manual drilling rigs. Its structural layout allows for direct installation and integration with most existing drilling rigs, facilitating installation and commissioning. In terms of operational control, it meets both the needs of automated drilling and the practical requirements of actual drilling operations. This invention discloses an automation upgrade device and operating method for mining drilling rigs, which boasts advantages such as strong versatility, simple structure, convenient modification, low cost, and high reliability in operation. Summary of the Invention

[0006] To automate and intelligently upgrade existing manual drilling rigs, and to ensure the upgrade process is versatile, simple in structure, convenient, low-cost, and highly reliable, this invention discloses an automated upgrade device for mining drilling rigs. The device includes a main support frame, a movable gantry structure, a drill rod gripper, a drill rod holder, a water braid, an electromagnetic switch valve, a drill rod magazine, a control system, and a joystick actuator. The main support frame is fixedly mounted on the support frame of the drilling rig's propeller, providing support and fixation for the main body of the automated upgrade device. The movable gantry structure, located on the upper part of the main support frame, has two degrees of freedom. The drill rod gripper is placed on the movable gantry structure to grasp drill rods and, driven by the movable gantry structure, move the drill rods in the drill rod magazine to the filling position. The drill rod holder is fixed to the drill rig spindle and can rotate with it. It holds the drill rod, allowing it to rotate synchronously with the spindle for drill rod relocation and disassembly. A water braid is located at the tail end of the drill rig spindle, which is hollow. An electromagnetic valve connects the water braid to the water pipe, controlling the flow of coolant (or gas) in the drill rod. The drill rod magazine is placed on the main support frame for storing drill rods and, in conjunction with the drill rod gripper, for loading and unloading. A joystick actuator drives the joystick, placing all drill rig actions under the control of the control system. The control system collects drill rig action information and controls the actions of various parts of the drill rig, enabling the drill rig to automatically perform drilling advance or retraction actions upon receiving control commands.

[0007] Preferably, the movable gantry structure mainly includes a first displacement driver, a second displacement driver, a crossbeam, a third displacement driver, and a fourth displacement driver. The first and fourth displacement drivers are arranged in parallel and are also arranged in parallel with respect to the support frame of the drilling rig thruster. The second and third displacement drivers are arranged in parallel and are arranged perpendicular to the support frame of the drilling rig thruster. The crossbeam connects the slides on the first and fourth displacement drivers. The second and third displacement drivers are distributed on the crossbeam and arranged perpendicular to the crossbeam.

[0008] Preferably, the first displacement driver, the second displacement driver, the third displacement driver, and the fourth displacement driver independently control the amount of movement of their upper slide.

[0009] Preferably, the drill pipe gripper includes a first drill pipe gripper and a second drill pipe gripper, which are respectively arranged on the slides of the second displacement driver and the third displacement driver. The second displacement driver and the third displacement driver can drive the first drill pipe gripper and the second drill pipe gripper to move up and down.

[0010] Preferably, the displacement driver has a motor lead screw structure.

[0011] Preferably, a first sensing sensor and a second sensing sensor are respectively provided on the first drill pipe gripper and the second drill pipe gripper. The first sensing sensor and the second sensing sensor are used to sense the positional relationship between the first drill pipe gripper and the second drill pipe gripper and the drill pipe, and to determine when to grasp and whether the grasp is successful.

[0012] Preferably, the drill pipe holder is mounted on the rotary drive disk, which is fixedly connected to the power drill pipe. After the rear holder clamps the power drill pipe, it can transmit the torque of the main drilling machine to the drill pipe holder. After the rear holder releases the power drill pipe, the power drill pipe can be removed.

[0013] Preferably, the power drill rod is a hollow tube, with its rear end connected to the water braid and its front end passing through the center of the drill rod holder. The threaded end of the front end can be matched and connected with the newly filled drill rod.

[0014] Preferably, the drill pipe magazine is placed on one or both sides of the drill rig propeller support frame, and each drill pipe magazine can be equipped with multiple drill pipe compartments.

[0015] Preferably, the drill pipe compartment includes a lifting drive, a drill pipe guard plate, and a bottom support plate. The lifting drive is located at both ends of the drill pipe compartment. The drill pipe guard plate is fixedly connected to the slide on the lifting drive. The bottom support plate is located at the bottom of the drill pipe guard plate and is fixedly connected to it. The lifting drive drives the slide on it to move up and down, thereby driving the drill pipe guard plate to move up and down. The drill pipe is placed on the bottom support plate, and the bottom support plate moves up and down with the drill pipe guard plate, so that the drill pipe moves up and down, thereby realizing the entry and exit of the drill pipe above the bottom support plate.

[0016] Preferably, in the drill pipe chamber, limiting strips are arranged on both sides of the drill pipe. The internal width of the drill pipe chamber is adjusted by adjusting the thickness of the limiting strips, so that there is an optimal gap between the drill pipe and the chamber wall.

[0017] Preferably, the limiting strip is made of nylon.

[0018] Preferably, a displacement sensor is provided between the drill pipe holder and the support frame of the drill rig pusher. The displacement sensor provides positional information for the control system to control the drill rig automation upgrade device and the drill rig to perform various actions.

[0019] Preferably, the joystick actuator is used to convert a manual joystick into an electronic joystick, so that each operation action is performed according to a set step under the control of the control system. The control system receives work instructions and controls the drilling rig automation upgrade device and the drilling rig to perform various actions.

[0020] An automated upgrading device and working method for a mining drilling rig includes:

[0021] The first step is to adjust the drilling rig to the preset drilling position and drill the drill rod that comes with the drilling rig into the preset position of the rock stratum.

[0022] The second step involves the front clamp of the drilling rig engaging to clamp the drill rod into the rock formation. The main drilling rig rotates counterclockwise, causing it to disengage from the drill rod. Afterward, the main drilling rig retracts along the support frame of the thruster to the preset position.

[0023] The third step involves the moving gantry structure driving the drill pipe gripper to move above the drill pipe magazine. The drill pipe magazine provides a drill pipe for the drill pipe gripper. After the drill pipe gripper grabs the drill pipe, it is transferred to the drill pipe docking position under the drive of the moving gantry structure.

[0024] The fourth step is for the main drilling rig to rotate clockwise and move forward along the support frame of the thruster, so that the newly added drill rod is connected with the main drilling rig and the drill rod drilled into the rock formation. After the connection is completed, the front clamp releases the drill rod, and the main drilling rig continues to drill the drill rod into the preset position.

[0025] Fifth, refer to steps two through four, and repeat this process continuously to enable the drilling rig to drill automatically.

[0026] Step 6: After the drilling operation reaches the preset depth, the front clamp clamps the drill rod, and the main drilling rig rotates counterclockwise to disengage the drill rod from the rock formation. Then, the drill rod clamp clamps the end of the drill rod, the front clamp releases the drill rod, and the main drilling rig retracts along the support frame of the pusher to the preset position. At this time, the drill rod is pulled out.

[0027] Step 7: The moving frame structure drives the drill pipe gripper to move above the extracted drill pipe. The drill pipe gripper grabs the extracted drill pipe, the front clamp clamps the drill pipe, and the drill pipe clamp rotates counterclockwise under the drive of the main drilling machine, thereby disassembling the extracted drill pipe. At the same time, the drill pipe clamp moves the disassembled drill pipe a certain distance away from the front clamp, so that the male end of the disassembled drill pipe is completely separated from the mating female end.

[0028] Step 8: The drill pipe holder releases the drill pipe, and the drill pipe holder continues to move back to the preset position along the support frame of the thruster with the main drilling rig, so that both ends of the drill pipe being disassembled are completely separated from the matching parts;

[0029] Step 9: The moving gantry structure drives the drill pipe gripper to transfer the drill pipe to the top of the drill pipe magazine, and the drill pipe magazine works with the drill pipe gripper to complete the drill pipe retrieval.

[0030] Step 10: The drill pipe holder is pushed forward along the support frame of the propeller to the preset position with the main drilling rig. The drill pipe holder clamps the end of the drill pipe that is being drilled into the rock formation again. The front holder releases the drill pipe, and the main drilling rig is retracted along the support frame of the propeller to the preset position. The drill pipe is pulled out again. Then, steps 7 to 9 are repeated. In this way, the drill pipe can be retrieved.

[0031] Through the above technical solution, the present invention realizes the automated drilling of drilling rigs. By adding such a set of drilling rig automation upgrade devices to existing manual drilling rigs, the existing manual drilling rigs can be automated and intelligently transformed. Moreover, the transformation and upgrade process has the advantages of strong versatility, simple structure, convenient transformation, low cost, and high reliability in operation.

[0032] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments. The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the following detailed description to explain the present invention, but do not constitute a limitation thereof. In the accompanying drawings:

[0034] Figure 1 Schematic diagram of the overall structural layout of the automation upgrade device;

[0035] Figure 2 : Schematic diagram of the layout of the moving truss structure;

[0036] Figure 3 Schematic diagram of the drill pipe clamp layout;

[0037] Figure 4 Schematic diagram of the drill pipe magazine layout;

[0038] Figure 5 Schematic diagram of displacement sensor arrangement.

[0039] Explanation of reference numerals in the attached figures

[0040] 1. Main support frame; 2. Moving gantry structure; 201. First displacement actuator; 202. Second displacement actuator; 203. Crossbeam; 204. Third displacement actuator; 205. Fourth displacement actuator; 3. Drill pipe gripper; 301. First drill pipe gripper; 302. First sensing sensor; 303. Second drill pipe gripper; 304. Second sensing sensor; 4. Drill pipe holder; 401. Rotary drive disk; 402. Rear holder; 403. Power drill pipe; 5. Water braid; 6. Electromagnetic switch valve; 7. Drill pipe magazine; 71. Drill pipe chamber; 711. Lifting actuator; 712. Limit bar; 713. Drill pipe guard plate; 714. Bottom support plate; 8. Control system; 9. Control lever actuator; 10. Displacement sensor. Detailed Implementation

[0041] To make the technical means, creative features, objectives, and effects of this invention readily understandable, the specific embodiments of this invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this invention.

[0042] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used to describe the relative positions of components in relation to the directions shown in the accompanying drawings or in relation to the vertical, perpendicular, or gravitational directions.

[0043] like Figure 1As shown, this invention discloses an automated upgrading device for a mining drilling rig. The device includes a main support frame 1, a movable gantry structure 2, a drill rod gripper 3, a drill rod holder 4, a water braid 5, an electromagnetic switch valve 6, a drill rod magazine 7, a control system 8, and a joystick actuator 9. The main support frame 1 is fixedly mounted on the support frame of the drilling rig's propeller, providing support and fixation for the main body of the automated upgrading device. The movable gantry structure 2 is arranged on the upper part of the main support frame 1 and has two degrees of freedom. The drill rod gripper 3 is placed on the movable gantry structure 2 and is used to grip the drill rod and, driven by the movable gantry structure 2, move the drill rod in the drill rod magazine 7 to the filling position. The drill rod holder 4 is fixedly connected to the drilling rig spindle and can rotate with the drilling rig spindle. 4. The drill rod can be clamped, allowing it to rotate synchronously with the drill rig spindle for drill rod displacement and disassembly. A water braid 5 is located at the tail end of the drill rig spindle, which is hollow. An electromagnetic switch valve 6 is installed between the water braid 5 and the water pipe, controlling the flow of coolant (or gas) in the drill rod. The drill rod magazine 7 is placed on the main support frame 1 for storing drill rods and, in conjunction with the drill rod gripper 3, for loading and retrieving them. A joystick actuator 9 drives the joystick, placing all drill rig actions under the control of the control system 8. The control system 8 collects drill rig action information and controls the actions of various parts of the drill rig, enabling the drill rig to automatically perform drilling forward or backward movements upon receiving control commands. The main support frame 1 is fixedly mounted on the support frame of the drill rig's thruster, allowing the main part of the automated drill rod loading to change with the angle of the drill rig thruster, thus minimizing the impact of thruster angle changes on drill rod loading.

[0044] like Figure 2As shown, the movable gantry structure 2 mainly includes a first displacement driver 201, a second displacement driver 202, a crossbeam 203, a third displacement driver 204, and a fourth displacement driver 205. The first displacement driver 201 and the fourth displacement driver 205 are arranged in parallel, and are also arranged in parallel with respect to the support frame of the drilling rig thruster. The second displacement driver 202 and the third displacement driver 204 are arranged in parallel, and are arranged perpendicular to the support frame of the drilling rig thruster. The crossbeam 203 connects the slides on the first displacement driver 201 and the fourth displacement driver 205. The second displacement driver 202 and the third displacement driver 204 are distributed on the crossbeam 203 and are arranged perpendicular to the crossbeam 203. The first displacement actuator 201, the second displacement actuator 202, the third displacement actuator 204, and the fourth displacement actuator 205 independently control the movement of their upper slides. Although the crossbeam 203 fixes these four parts together, considering the stress deformation of the connecting parts, independent control helps to fine-tune the position of the drill pipe gripper 3 when transferring drill pipes. The drill pipe gripper 3 includes a first drill pipe gripper 301 and a second drill pipe gripper 303. The first drill pipe gripper 301 and the second drill pipe gripper 303 are respectively arranged on the slides of the second displacement actuator 202 and the third displacement actuator 204. The second displacement actuator 202 and the third displacement actuator 204 can drive the first drill pipe gripper 301 and the second drill pipe gripper 303 to move up and down. The displacement actuators preferably have a motor screw structure. A first sensing sensor 302 and a second sensing sensor 304 are respectively provided on the first drill pipe gripper 301 and the second drill pipe gripper 303. The first sensing sensor 302 and the second sensing sensor 304 are used to sense the positional relationship between the first drill pipe gripper 301 and the second drill pipe gripper 303 and the drill pipe, and to determine when to grasp and whether the grasp is successful.

[0045] like Figure 3 As shown, the drill pipe holder 4 is mounted on the rotary drive disk 401, which is fixedly connected to the power drill pipe 403. After the rear holder 402 clamps the power drill pipe 403, it can transmit the torque of the main drilling rig to the drill pipe holder 4. After the rear holder 402 releases the power drill pipe 403, the power drill pipe 403 can be removed. This design achieves power output and the addition of the drill pipe holder 4 with only simple modifications to the drill pipe without changing the main power output structure of the drilling rig. The structure is simple and the modification is convenient. The power drill pipe 403 is a hollow tube, with its rear end connected to the water braid 5 and its front end passing through the center of the drill pipe holder 4. The threaded end of the front end can be matched and connected with the newly loaded drill pipe.

[0046] like Figure 4As shown, the drill pipe magazine 7 is placed on one or both sides of the drill rig propeller support frame. Each drill pipe magazine 7 can be equipped with multiple drill pipe compartments 71, and the number of drill pipes can be determined based on a comprehensive consideration of the drill rig body strength and drilling requirements. The drill pipe compartment 71 includes a lifting drive 711, a drill pipe guard plate 713, and a bottom support plate 714. The lifting drive 711 is placed at both ends of the drill pipe compartment 71. The drill pipe guard plate 713 is fixedly connected to the slide on the lifting drive 711. The bottom support plate 714 is located at the bottom of the drill pipe guard plate 713 and is fixedly connected to it. The lifting drive 711 drives the slide on it to move up and down, thereby driving the drill pipe guard plate 713 to move up and down. The drill pipe is placed on the bottom support plate 714, and the bottom support plate 714 follows the drill pipe guard plate 713 to move up and down, so that the drill pipe moves up and down, thereby realizing the entry and exit of the drill pipe above the bottom support plate 714. In the drill pipe chamber 71, limiting strips 712 are arranged on both sides of the drill pipe. The internal width of the drill pipe chamber 71 can be adjusted by adjusting the thickness of the limiting strips 712, so that the drill pipe and the chamber wall have the optimal clearance. The limiting strips 712 are preferably made of nylon. Compared with steel plates, nylon has the advantages of low frictional resistance and large elastic deformation, which helps to prevent the drill pipe from getting stuck in the drill pipe chamber 71.

[0047] like Figure 5 As shown, a displacement sensor 10 is provided between the drill pipe holder 4 and the support frame of the drill rig pusher. The displacement sensor 10 provides position information for the control system 8 to control the drill rig automation upgrade device and the drill rig to perform various actions.

[0048] The joystick actuator 9 is used to convert the manual joystick into an electronic joystick, so that each operation action is performed according to the set steps under the control of the control system 8. The control system 8 receives the work instructions and controls the drilling rig automation upgrade device and the drilling rig to perform various actions.

[0049] Based on the above figures, an automated upgrading device and working method for a mining drilling rig includes:

[0050] The first step is to adjust the drilling rig to the preset drilling position and drill the first drill rod that comes with the drilling rig into the preset position of the rock stratum.

[0051] The second step involves the front clamp of the drilling rig engaging to clamp the drill rod into the rock formation. The main drilling rig rotates counterclockwise, causing it to disengage from the drill rod. Afterward, the main drilling rig retracts along the support frame of the thruster to the preset position.

[0052] The third step is that the movable gantry structure 2 drives the drill pipe gripper 3 to move above the drill pipe magazine 7. The drill pipe magazine 7 provides a drill pipe for the drill pipe gripper 3. After the drill pipe gripper 3 grabs the drill pipe, it is transferred to the drill pipe docking position under the drive of the movable gantry structure 2.

[0053] The fourth step is for the main drilling rig to rotate clockwise and move forward along the support frame of the thruster, so that the newly added drill rod is connected with the main drilling rig and the drill rod drilled into the rock formation. After the connection is completed, the front clamp releases the drill rod, and the main drilling rig continues to drill the drill rod into the preset position.

[0054] Fifth, refer to steps two through four, and repeat this process continuously to enable the drilling rig to drill automatically.

[0055] Step 6: After the drilling operation reaches the preset depth, the front clamp clamps the drill rod, and the main drilling machine rotates counterclockwise to disengage the main drilling machine from the drill rod that has entered the rock layer. Then, the drill rod clamp 4 clamps the end of the drill rod that has entered the rock layer, the front clamp releases the drill rod, and the main drilling machine retracts along the support frame of the pusher to the preset position. At this time, the drill rod is pulled out.

[0056] Step 7: The moving frame structure 2 drives the drill pipe gripper 3 to move above the extracted drill pipe. The drill pipe gripper 3 grabs the extracted drill pipe, the front clamp clamps the drill pipe, and the drill pipe clamp 4 rotates counterclockwise under the drive of the main drilling machine, thereby disassembling the extracted drill pipe. At the same time, the drill pipe clamp 4 moves the disassembled drill pipe a certain distance away from the front clamp, so that the male end of the disassembled drill pipe is completely separated from the mating female end.

[0057] Step 8: Drill rod holder 4 releases the drill rod. Drill rod holder 4 continues to move back to the preset position along the support frame of the thruster with the main drilling rig, so that both ends of the drill rod being disassembled are completely separated from the matching parts.

[0058] Step 9: The movable gantry structure 2 drives the drill pipe gripper 3 to transfer the drill pipe to the top of the drill pipe magazine 7. The drill pipe magazine 7, in conjunction with the drill pipe gripper 3, completes the drill pipe retrieval.

[0059] Step 10: The drill pipe holder 4 is pushed forward along the support frame of the propeller to the preset position with the main drilling rig. The drill pipe holder 4 clamps the end of the drill pipe that is drilled into the rock formation again. The front holder releases the drill pipe, and the main drilling rig is retracted along the support frame of the propeller to the preset position. The drill pipe is pulled out again. Then, steps 7 to 9 are repeated. In this way, the drill pipe can be retrieved.

[0060] Understandably, when replacing drill pipes, the cooling water (air) can be disconnected when the drilling rig stops drilling by controlling the solenoid switch valve 6, so as to better complete the drill pipe replacement operation.

[0061] Through the above technical solution, the present invention realizes the automated drilling of drilling rigs. By adding such a set of drilling rig automation upgrade devices to existing manual drilling rigs, the existing manual drilling rigs can be automated and intelligently transformed. Moreover, the transformation and upgrade process has the advantages of strong versatility, simple structure, convenient transformation, low cost, and high reliability in operation.

[0062] Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automated upgrading device for mining drilling rigs, characterized in that, The device includes a main support frame (1), a movable gantry structure (2), a drill rod gripper (3), a drill rod holder (4), a water braid (5), an electromagnetic switch valve (6), a drill rod magazine (7), a control system (8), and a joystick actuator (9). The main support frame (1) is fixedly installed on the support frame of the drilling rig propeller to support and fix the main body of the drilling rig automation upgrade device. The movable gantry structure (2) is arranged on the upper part of the main support frame (1) and has two degrees of freedom. The drill rod gripper (3) is placed on the movable gantry structure (2) to grip the drill rod and move the drill rod in the drill rod magazine (7) to the filling position under the drive of the movable gantry structure (2). The drill rod holder (4) is fixedly connected to the drilling rig spindle and can rotate with the drilling rig spindle. The drill rod holder (4) clamps the drill rod so that the clamped drill rod is held in place. The drill rod rotates synchronously with the drill spindle and is used for drill rod displacement and disassembly. The newly loaded drill rod is matched and connected with the power drill rod (403). The water braid (5) is set at the tail end of the drill spindle. The drill spindle is hollow. An electromagnetic switch valve (6) is set between the water braid (5) and the water pipe. The electromagnetic switch valve (6) controls the flow of coolant or cooling gas in the drill rod. The drill rod magazine (7) is placed on the main support frame (1) for storing drill rods. At the same time, it is used in conjunction with the drill rod gripper (3) for loading and recycling drill rods. The joystick actuator (9) is used to drive the joystick to move, so that the various actions of the drill are under the control of the control system (8). The control system (8) collects the drilling action information and controls the various parts of the drill to move, so that the drill automatically performs drilling and retraction actions after receiving the control command.

2. The automated upgrading device for a mining drilling rig according to claim 1, characterized in that, The mobile gantry structure (2) mainly includes a first displacement driver (201), a second displacement driver (202), a crossbeam (203), a third displacement driver (204), and a fourth displacement driver (205). The first displacement driver (201) and the fourth displacement driver (205) are arranged in parallel. The first displacement driver (201) and the fourth displacement driver (205) are also arranged in parallel with respect to the support frame of the drilling rig thruster. The second displacement driver (202) and the third displacement driver (204) are arranged in parallel with respect to the support frame of the drilling rig thruster. The crossbeam (203) connects the slides on the first displacement driver (201) and the fourth displacement driver (205). The second displacement driver (202) and the third displacement driver (204) are distributed on the crossbeam (203) and arranged vertically with respect to the crossbeam (203).

3. The automated upgrading device for a mining drilling rig according to claim 1, characterized in that, The drill pipe gripper (3) includes a first drill pipe gripper (301) and a second drill pipe gripper (303). The first drill pipe gripper (301) and the second drill pipe gripper (303) are respectively arranged on the slides of the second displacement driver (202) and the third displacement driver (204). The second displacement driver (202) and the third displacement driver (204) drive the first drill pipe gripper (301) and the second drill pipe gripper (303) to move up and down.

4. The automated upgrading device for a mining drilling rig according to claim 3, characterized in that, A first sensing sensor (302) and a second sensing sensor (304) are respectively provided on the first drill pipe gripper (301) and the second drill pipe gripper (303). The first sensing sensor (302) and the second sensing sensor (304) are used to sense the positional relationship between the first drill pipe gripper (301) and the second drill pipe gripper (303) and the drill pipe, and to determine when to grab and whether the grab is successful.

5. The automated upgrading device for a mining drilling rig according to claim 1, characterized in that, The drill pipe holder (4) is installed on the rotary drive disk (401). The rotary drive disk (401) is fixedly connected to the power drill pipe (403). After the rear holder (402) clamps the power drill pipe (403), it can transmit the torque of the main drilling machine to the drill pipe holder (4). After the rear holder (402) releases the power drill pipe (403), the power drill pipe (403) can be removed. The power drill pipe (403) is a hollow tube. The rear end is connected to the water braid (5), and the front end passes through the center of the drill pipe holder (4). The front thread can be matched and connected with the newly filled drill pipe.

6. The automated upgrading device for a mining drilling rig according to claim 1, characterized in that, The drill pipe magazine (7) is placed on one or both sides of the drill rig propeller support frame, and each drill pipe magazine (7) is provided with multiple drill pipe compartments (71).

7. The automated upgrading device for a mining drilling rig according to claim 6, characterized in that, The drill pipe compartment (71) includes a lifting drive (711), a drill pipe guard plate (713), and a bottom support plate (714). The lifting drive (711) is placed at both ends of the drill pipe compartment (71). The drill pipe guard plate (713) is fixedly connected to the slide on the lifting drive (711). The bottom support plate (714) is located at the bottom of the drill pipe guard plate (713) and is fixedly connected to it. The lifting drive (711) drives the slide on it to move up and down, thereby driving the drill pipe guard plate (713) to move up and down. The drill pipe is placed on the bottom support plate (714). The bottom support plate (714) moves up and down with the drill pipe guard plate (713), so that the drill pipe moves up and down, thereby realizing the entry and exit of the drill pipe above the bottom support plate (714).

8. An automated upgrading device for mining drilling rigs according to claim 6 or 7, characterized in that, In the drill pipe chamber (71), limiting strips (712) are arranged on both sides of the drill pipe. The internal width of the drill pipe chamber (71) is adjusted by adjusting the thickness of the limiting strips (712) so that there is an optimal gap between the drill pipe and the chamber wall. The limiting strips (712) are made of nylon material.

9. The automated upgrading device for a mining drilling rig according to claim 1, characterized in that, A displacement sensor (10) is provided between the drill rod holder (4) and the support frame of the drill rig propeller. The displacement sensor (10) provides position information for the control system (8) to control the drill rig automation upgrade device and the drill rig to perform various actions.

10. A method for operating an automated upgrading device for a mining drilling rig, comprising the automated upgrading device for a drilling rig according to any one of claims 1-9, characterized in that, The working method of the drilling rig automation upgrade device includes: The first step is to adjust the drilling rig to the preset drilling position and drill the drill rod that comes with the drilling rig into the preset position of the rock stratum. The second step involves the front clamp of the drilling rig engaging to clamp the drill rod into the rock formation. The main drilling rig rotates counterclockwise, causing it to disengage from the drill rod. Afterward, the main drilling rig retracts along the support frame of the thruster to the preset position. The third step is to move the drill rod gripper (3) above the drill rod magazine (7) by the moving frame structure (2). The drill rod magazine (7) provides a drill rod for the drill rod gripper (3). After the drill rod gripper (3) grabs the drill rod, it is transferred to the drill rod docking position under the drive of the moving frame structure (2). The fourth step is for the main drilling rig to rotate clockwise and move forward along the support frame of the thruster, so that the newly added drill rod is connected with the main drilling rig and the drill rod drilled into the rock formation. After the connection is completed, the front clamp releases the drill rod, and the main drilling rig continues to drill the drill rod into the preset position. Fifth, refer to steps two through four, and repeat this process continuously to enable the drilling rig to drill automatically. Step 6: After the drilling operation reaches the preset depth, the front clamp clamps the drill rod, and the main drilling machine rotates counterclockwise so that the main drilling machine is separated from the drill rod drilled into the rock layer. Then, the drill rod clamp (4) clamps the end of the drill rod drilled into the rock layer, the front clamp releases the drill rod, and the main drilling machine moves back to the preset position along the support frame of the propeller. At this time, the drill rod is pulled out. Step 7: The moving frame structure (2) drives the drill rod gripper (3) to move above the extracted drill rod. The drill rod gripper (3) grabs the extracted drill rod, the front clamp clamps the drill rod, and the drill rod clamp (4) rotates counterclockwise under the drive of the main drilling machine, thereby disassembling the extracted drill rod. At the same time, the drill rod clamp (4) moves the disassembled drill rod a certain distance away from the front clamp, so that the male end of the disassembled drill rod is completely separated from the mating female end. Step 8: The drill rod holder (4) releases the drill rod, and the drill rod holder (4) continues to move back to the preset position along the support frame of the propeller with the main drilling machine, so that both ends of the drill rod being disassembled are completely separated from the matching parts; Step 9: The moving frame structure (2) drives the drill pipe gripper (3) to transfer the drill pipe to the top of the drill pipe magazine (7), and the drill pipe magazine (7) cooperates with the drill pipe gripper (3) to complete the drill pipe recovery; Step 10: The drill rod holder (4) is pushed forward along the support frame of the propeller to the preset position with the main drilling rig. The drill rod holder (4) clamps the end of the drill rod that is drilled into the rock layer again. The front holder releases the drill rod, and the main drilling rig is pulled back along the support frame of the propeller to the preset position. The drill rod is pulled out again. Then, steps 7 to 9 are repeated. In this way, the drill rod can be retrieved.

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