Tunnel drilling rig long drill rod loading and unloading device and tunnel drilling rig

Abstract

The present invention discloses a long drill rod loading and unloading device for a tunnel drilling rig and a tunnel drilling rig. The provided drill rod loading and unloading device includes a retractable crank arm, a sleeve assembly, a clamp and a lifting device. The retractable crank arm, the sleeve assembly and the clamp are used to clamp the drill rod from the lifting device and transport the drill rod to the propulsion mechanism or move it in the opposite direction. The device has the function of adjusting the drill rod angle and axially moving the drill rod during the transport of the drill rod; the lifting device is used to lift the drill rod from a lower position to a position where the mechanical arm can clamp it or move it in the opposite direction. The provided tunnel drilling rig is equipped with the loading and unloading device and the retractable propulsion mechanism of the present invention. The retractable propulsion mechanism is used to clamp the drill rod for directional drilling. By adopting the device and method of the present invention, long drill rods can be loaded and unloaded by using the intermediate loading and unloading method. The loading and unloading of long drill rods is efficient and suitable for use under conditions where underground space is limited.

Description

Technical Field

[0001] The invention relates to a drilling rig drill rod loading and unloading technology, in particular to a long drill rod loading and unloading device and a related tunnel drilling rig. Background Art

[0002] During directional drilling, a 3m long drill pipe is commonly used. Long drill pipe offers excellent bending properties and is suitable for directional drilling trajectory adjustment. Short drill pipes of 1.5m in length have been used in place of long drill pipes for directional drilling. However, due to the greater overall rigidity of short drill pipes, stress concentration can easily occur at the short drill pipe joints in curved sections of the directional drilling trajectory, leading to fatigue fracture and resulting in drill breakage accidents. Long drill pipes offer significant advantages in directional drilling, but due to their length, they can only be added and removed at the rear end of the drill rig's power head, making them inefficient to load and remove.

[0003] For power-head tunnel drilling rigs, intermediate loading and unloading of drill rods involves loading and unloading drill rods between the power head and the gripper. This method eliminates the need for disassembly and assembly of the water feeder for each drill rod loaded or unloaded, significantly improving drill rod loading and unloading efficiency. Intermediate loading and unloading is also easier to automate and is a common method used by automated and intelligent drilling rigs. However, in tunnel drilling, intermediate loading and unloading is generally suitable for short drill rods up to 1.5 meters in length and is not suitable for long drill rods up to 3 meters in length. This is primarily due to two reasons: First, the propulsion mechanism of a tunnel drilling rig typically has travel lengths of 1, 1.2, and 1.5 meters. Using intermediate loading and unloading requires that the drill rod length cannot exceed the travel of the rig's propulsion mechanism; second, during normal drilling, the four columns installed on the rig, which maintain stability, can hinder the completion of intermediate loading and unloading. If the drill rod is moved horizontally through the space between the columns, the drill rod length must be less than the distance between the columns. Summary of the Invention

[0004] In view of the defects or shortcomings of the prior art, the present invention provides a long drill rod loading and unloading device for a tunnel drilling rig.

[0005] To this end, the drill rod loading and unloading device provided by the present invention includes: a retractable curved arm, a sleeve assembly that can rotate around the column and slide along the column, and a clamp that can be opened and tightened radially along the long drill rod to be loaded and unloaded and move axially along the long drill rod to be loaded and unloaded to transport the drill rod to be loaded and unloaded; one end of the retractable curved arm is movably connected to the side of the sleeve assembly through a first slewing bearing, and the other end of the retractable curved arm is connected to the clamp through a second slewing bearing.

[0006] Furthermore, the sleeve assembly that can rotate around the drilling rig column and slide along the drilling rig column includes an intermediate sleeve and an outer sleeve. The intermediate sleeve can be mounted on the drilling rig column, and the intermediate sleeve is connected to the column through a first oil cylinder. The first oil cylinder drives the intermediate sleeve to slide along the column; the outer sleeve is mounted on the intermediate sleeve, and the outer sleeve can rotate around the intermediate sleeve; the telescopic crank arm is connected to the outer sleeve through a first slewing bearing.

[0007] Furthermore, the outer sleeve and the middle sleeve are connected via gears, and the outer sleeve is driven to rotate around the middle sleeve via a motor and the gears.

[0008] Furthermore, the telescopic crank arm includes a sleeve, a crank arm and a second cylinder. The sleeve is connected to the first slewing bearing, the crank is movably installed in the sleeve, and the second cylinder is installed on the sleeve and the crank arm. The second cylinder drives the crank arm to slide in the sleeve.

[0009] Furthermore, the clamp that can be opened and tightened radially along the long drill rod being loaded and unloaded and can move axially along the long drill rod being loaded and unloaded to transport the long drill rod being loaded and unloaded comprises a main beam, on which are mounted at least two sets of clamping assemblies that can be opened and tightened radially along the long drill rod being loaded and unloaded and can move axially along the long drill rod being loaded and unloaded to transport the long drill rod being loaded and unloaded, and the at least two sets of clamping assemblies are distributed along the axial direction of the drill rod being loaded and unloaded;

[0010] The cam is connected to the main beam by a third oil cylinder, and the two bottom plates are connected to the main beam by a third oil cylinder. Under the driving of the third oil cylinder, the two bottom plates move away from or approach each other on the sliding rod along the radial direction of the long drill rod to be loaded and unloaded; the two rollers are respectively installed on the two bottom plates, and the two rollers are opposite to each other in the radial direction of the long drill rod to be loaded and unloaded. There is a space for accommodating the long drill rod to be loaded and unloaded between the two rollers, and the tangential direction of the rotation of the two rollers is along the axial direction of the long drill rod to be loaded and unloaded; the main beam is connected to the telescopic crank arm by a second slewing bearing.

[0011] Furthermore, the rollers are driven by two motors respectively, and the two motors are respectively arranged on the two bottom plates.

[0012] Furthermore, the bottom plates located on the same side of the main beam in at least two groups of supporting components are an integrated structure.

[0013] Furthermore, it also includes a lifting device, which is used to lift the drill pipe to the position of the clamp; the lifting device includes a fixed installation rod, a vertical sliding rod, a horizontal sliding rod and a quadrilateral frame, and the quadrilateral frame is composed of a translation link, a support beam and two lifting links with ends movably connected, and the translation link and the support beam are opposite and parallel;

[0014] The fixed mounting rod is fixedly installed relative to the drilling rig column, the vertical slide rod is installed on the fixed mounting rod along the height direction, the horizontal slide rod is installed on the fixed mounting rod along the horizontal direction, and the vertical slide rod is located above the horizontal slide rod, and the vertical slide rod and the horizontal slide rod are located in the same vertical plane; the quadrilateral frame is installed on the vertical slide rod and the horizontal slide rod, and the translation link is parallel to the horizontal slide rod and located in the same horizontal plane, and the translation link is connected to the fixed mounting rod through a fourth oil cylinder. Under the drive of the fourth oil cylinder, the translation link moves translationally along the horizontal slide rod, and at the same time, a connection point between a lifting link and the support beam slides up and down along the vertical slide rod.

[0015] Furthermore, the vertical sliding rod, the horizontal sliding rod and the remaining two rods form a rectangular frame, and the rectangular frame is installed on the drilling rig through two fixed connecting rods.

[0016] The present invention also provides a tunnel drilling rig, which includes a drilling rig body, multiple columns arranged on the drilling rig body, and a propulsion mechanism arranged between the multiple columns. It is characterized in that the above-mentioned loading and unloading device is installed on one of the multiple columns.

[0017] Furthermore, the propulsion mechanism includes a primary slide, a secondary slide and a power head, the primary slide is fixedly installed on the drilling rig body, the secondary slide is slidably installed in the primary slide, and the power head is slidably installed in the secondary slide.

[0018] Furthermore, a multi-stage oil cylinder is installed in the secondary slide, and the power head slides in the secondary slide under the drive of the multi-stage oil cylinder. A gear is provided in the primary slide, and a rack is provided at the bottom of the secondary slide, and the rack and the gear are engaged. Under the drive of the motor, the gear rotates, and the secondary slide is driven to slide in the primary slide through the rack.

[0019] The present invention solves the technical difficulty of loading and unloading long drill rods in the middle of the loading and unloading method. The column of the drilling rig is used as the rotating shaft of the long drill rod loading and unloading device, and there is no need to set up a rotating column separately. The device is stable and reliable. The two slewing bearings provided in the long drill rod loading and unloading device have the function of adjusting the drill rod angle, and the clamp assembly provided has the function of moving the drill rod along the drill rod axis. Both functions have a good underground obstacle avoidance effect and are suitable for use in conditions where underground space is limited. The propulsion mechanism has a telescopic function. In the retracted state, it is in the same length direction as the drilling rig, which is convenient for underground transportation and relocation. In the extended state, the function of loading and unloading long drill rods in the middle can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a diagram of the drilling rig platform drilling construction status;

[0021] Figure 2This is a structural schematic diagram of the drill rod loading and unloading device of the present invention;

[0022] Figure 3 This is a front view of the connection between the drill rod loading and unloading device, the propulsion mechanism and the drilling rig of the present invention;

[0023] Figure 4 This is a structural diagram of the drill rod loading and unloading device and the propulsion mechanism of the present invention;

[0024] Figure 5 This is a schematic structural diagram of the sleeve assembly of the present invention;

[0025] Figure 6 for Figure 5 Schematic diagram of different orientations;

[0026] Figure 7 for Figure 5 A top view of

[0027] Figure 8 This is a schematic diagram of the telescopic crank arm structure of the present invention;

[0028] Figure 9 Schematic diagram of the fixture structure of the present invention;

[0029] Figure 10 This is a structural schematic diagram of the lifting device of the present invention when it is in the highest position;

[0030] Figure 11 This is a structural schematic diagram of the lifting device of the present invention when it is in the lowest position;

[0031] Figure 12 for Figure 11 Front view of

[0032] Figure 13 This is a schematic diagram of the installation frame of the lifting device of the present invention;

[0033] Figure 14 This is a schematic diagram of the joist structure;

[0034] Figure 15 This is an axonometric view of the propulsion mechanism of the present invention in an extended state;

[0035] Figure 16 for Figure 15 Left view of;

[0036] Figure 17 This is an axonometric view of the propulsion mechanism of the present invention in a retracted state;

[0037] Figure 18 This is a schematic diagram of step a1 of the drill rod adding process according to an embodiment of the present invention;

[0038] Figure 19 This is a schematic diagram of step a2 of the drill rod adding process according to an embodiment of the present invention;

[0039] Figure 20 This is another schematic diagram of step a2 of the drill rod adding process according to an embodiment of the present invention;

[0040] Figure 21 Another state diagram of step a2 of the drill rod adding process according to the present invention

[0041] Figure 22 This is a schematic diagram of step a3 of the drill rod adding process according to an embodiment of the present invention;

[0042] Figure 23 This is a schematic diagram of step a4 of the drill rod adding process according to an embodiment of the present invention; DETAILED DESCRIPTION

[0043] Unless otherwise specified, the scientific and technical terms used herein are understood according to the knowledge of ordinary technicians in the relevant fields.

[0044] The direction or orientation terms such as above, below, axial, radial, horizontal, and vertical described in this article are consistent with the direction or orientation of the corresponding devices or components in the drawings of the specification; it should be noted that the specific direction or orientation in the drawings of the specification is a specific example of the present invention, which is intended to explain the clarity of the present invention. Those skilled in the art can make equivalent transformations such as replacement or rotation based on the content disclosed in this article.

[0045] During the construction of the drilling rig in the well, the reaction force generated during drilling is very large. In order to increase the overall stability of the drilling rig, columns 1 are usually set at the four corners of the drilling rig, such as Figure 1 As shown, the connection between the lower end of the column and the drilling rig is provided by two single-rod, double-acting cylinders. The barrel ends of the cylinders are connected together, allowing the cylinder rods to be independently controlled to extend and retract. Before drilling, the rods of the cylinders at the lower end of the column are first extended to lift the entire drilling rig off the ground, and then the rods of the cylinders at the upper end of the column are extended to tighten the tunnel roof. The column described in this invention can be attached to the drilling rig or installed separately according to the requirements of the construction site.

[0046] like Figure 2 As shown, the long drill rod loading and unloading device of the present invention includes a sleeve assembly 6, a telescopic crank arm 8, and a clamp 10. The sleeve assembly 6 can rotate around the column and slide along the column. The clamp can be opened and tightened in the radial direction of the drill rod being loaded and unloaded and move axially along the drill rod being loaded and unloaded to transport the drill rod being loaded and unloaded. In other words, the clamp 10 tightens the drill rod in the radial direction, and the drill rod can be transported forward or backward in the clamp along its axial direction. One end of the telescopic crank arm 8 is movably connected to the sleeve assembly 6 via a first slewing bearing 7, and the clamp is movably connected to the other end of the telescopic crank arm 8 via a second slewing bearing 9.

[0047] Controlling the rotation of the first slewing bearing 7 can cause the telescopic crank arm 8 to rotate around the axis of the first slewing bearing 7. Driven by the telescopic crank arm 8, the clamp and the drill rod in the clamp can rotate around the axis of the first slewing bearing 7 in a vertical plane; controlling the rotation of the second slewing bearing 9 can cause the clamp 10 to rotate around the axis of the second slewing bearing 9. Driven by the clamp 10, the drill rod can rotate along the axis of the second slewing bearing 9 in a horizontal plane; the clamp 10 is used to grab the drill rod and move the drill rod along its axis.

[0048] Since the distance between the drill rig columns is smaller than the length of the long drill rod, and the stroke of the drill rig propulsion mechanism is much smaller than the length of the long drill rod, the prior art uses the method of loading and unloading the drill rod at the rear of the drill rig power head. In contrast, the loading and unloading device of the present invention loads and unloads the drill rod from the side of the drill rig power head. Figure 3 and 4 As shown, the entire loading and unloading device 3 is installed on one side of the drilling rig, specifically, the sleeve assembly 6 is installed on a column 1 of the drilling rig, for example, it can be installed on the column at the right rear of the drilling rig, and the loading and unloading device places the drill rod to be loaded and unloaded on the propulsion mechanism 2 in the middle of the column through rotation, telescopic, clamping and other actions; taking the drill rod as an example, the clamp is moved to the top of the drill rod to be loaded by the sleeve assembly rotating around the column and sliding along the column and the telescopic crank arm extending and retracting, and the opening and tightening directions of the clamp are the same as the radial direction of the drill rod to be loaded; then the clamp opens and tightens the drill rod 5; then the clamp is sent to the propulsion mechanism again by the sleeve assembly rotating around the column and sliding along the column, the telescopic crank arm extending and retracting and the clamp moving along the axial direction of the drill rod; then the propulsion mechanism puts the drill rod onto the drilling rig.

[0049] Some specific plans, such as Figure 5 and 6 As shown, the sleeve assembly 6 includes an intermediate sleeve 18 that can be directly mounted on the column 1 and an outer sleeve 17 that can be mounted outside the outer intermediate sleeve. The intermediate sleeve 18 is connected to the column through the first oil cylinder 16. The first oil cylinder 16 drives the intermediate sleeve to slide up and down along the column. Specifically, the cylinder end of the first oil cylinder 16 is connected to the column 1, and the cylinder rod end is connected to the intermediate sleeve 18; the outer sleeve 17 can rotate around the intermediate sleeve, and the side wall of the outer sleeve is connected to the telescopic crank arm through the first slewing bearing 17.

[0050] In some specific solutions, the outer sleeve rotates around the middle sleeve under the drive of the motor and gear. Figure 5 and 7 As shown, a large gear 15 is installed at the upper end of the outer sleeve 17, and a small gear 14 is installed at the lower part of the intermediate sleeve 18, and the large gear 15 is engaged with the small gear 14; further, the small gear 14 can be installed on the support 13 on the intermediate sleeve, and a first motor 12 is installed on the upper part of the support 13. When the first motor 12 drives the small gear 14 to rotate, it can drive the large gear 15 and the outer sleeve 17 to rotate around the axis of the intermediate sleeve 18.

[0051] There are also some specific plans, such as Figure 8 As shown, the retractable crank arm 8 includes a sleeve 20, a crank arm 21 and a second oil cylinder 20, wherein the sleeve 20 is connected to the first slewing bearing 7, the crank arm 21 extends into the sleeve 29, the cylinder barrel end of the second oil cylinder 20 is connected to the sleeve 19, and the cylinder rod end is connected to the crank arm 21. The second oil cylinder 20 is telescopic to drive the crank arm 21 to slide in the sleeve 19.

[0052] In further or other solutions, such as Figure 9 As shown, the clamp 10 includes a main beam 23, on which are mounted at least two sets of clamping assemblies that can be opened and tightened along the radial direction of the long drill rod being loaded and unloaded and move axially along the long drill rod being loaded and unloaded to transport the long drill rod being loaded and unloaded, and at least two sets of clamping assemblies are distributed along the axial direction of the drill rod being loaded and unloaded;

[0053] The clamping assembly includes a sliding rod 27, two base plates 29 and two rollers 28 arranged on the main beam along the radial direction of the long drill rod to be loaded and unloaded. The two base plates are arranged on the sliding rod and are located on both sides of the main beam. In the specific scheme, the sliding rod and the base plate can be connected with auxiliary connecting parts, such as by a pressure block 26. At the same time, the two base plates are connected to the main beam respectively through a third oil cylinder 24. Under the drive of the third oil cylinder, the two base plates move away from or close to each other on the sliding rod along the radial direction of the long drill rod to be loaded and unloaded; the two rollers are respectively installed on the two base plates, and the two rollers are opposite to each other in the radial direction of the long drill rod to be loaded and unloaded. There is space for accommodating the long drill rod to be loaded and unloaded between the two rollers, and the tangential direction of rotation of the two rollers is along the axial direction of the long drill rod to be loaded and unloaded; the main beam is connected to the telescopic crank arm 8 through a second slewing bearing, and the specific main beam 23 can be connected to the second slewing bearing through a connecting plate 22 fixed thereon.

[0054] By controlling the extension and retraction of the cylinder rod of the third oil cylinder 24, the base plate 29 can be driven to slide along the sliding rod 27 in the direction away from or close to the main beam 23, thereby driving the roller 28 away from or close to the main beam 23; when the cylinder rod of the third oil cylinder 24 is retracted to the extreme position, the relative roller 28 can clamp the drill rod; the roller 28 is driven to rotate by a second motor 30 set at a reasonable position, such as the second motor 30 set on the base plate, and under the action of the friction between the surface of the roller 28 and the outer surface of the drill rod, the drill rod can move along the axis of the drill rod.

[0055] In a specific solution, the third oil cylinder used can be a double-rod oil cylinder, which is installed through the main beam 23, and the ends of the cylinder rods are hinged to the supports 25 on each base plate.

[0056] In a further specific solution, the bottom plates on the same side of the main beam in at least two groups of supporting components are an integrated structure, that is, multiple groups of supporting components share two bottom plates, such as Figure 9As shown, two groups of supporting components are installed on two base plates, and the two base plates are respectively arranged on both sides of the main beam, and the rollers and / or supports and the second motor of each group are installed on the base plates on the corresponding sides.

[0057] In further plans, such as Figure 3 and 4 As shown, the long drill rod loading and unloading device of the present invention further includes a lifting device 4, the function of the lifting device 4 is to lift the drill rod 5 at a lower position to a predetermined position for the clamp 10 to grasp.

[0058] Some specific plans, such as Figure 10-13 As shown, the lifting device includes a fixed mounting rod 32, a vertical slide rod 40, a horizontal slide rod 33 and a quadrilateral frame. The quadrilateral frame is composed of a translation link 35, a support beam 37 and two lifting links 39 that are movably connected at the ends. The translation link and the support beam are opposite and parallel.

[0059] The fixed mounting rod 32 is fixedly installed relative to the drilling rig column or specifically installed on the side of the drilling rig, the vertical slide bar 40 is installed on the fixed mounting rod in the height direction, and the horizontal slide bar 33 is installed on the fixed mounting rod in the horizontal direction, and the vertical slide bar is located above the horizontal slide bar, and the vertical slide bar and the horizontal slide bar are located in the same vertical plane; the quadrilateral frame is installed on the vertical slide bar and the horizontal slide bar, and the translation link is connected to the fixed mounting rod through the fourth oil cylinder 36 and is parallel to the horizontal slide bar and is located in the same horizontal plane. Under the drive of the fourth oil cylinder, the translation link moves translationally along the horizontal slide bar, and at the same time, the connection point between the lifting link and the support beam close to one side of the vertical slide bar slides up and down along the vertical slide bar.

[0060] Driven by the fourth oil cylinder 36, the translation link 35 moves horizontally and drives the joist 37 to move up and down. When the fourth oil cylinder 36 is fully retracted, the joist 37 is at the highest position. When the translation link moves to the limit position on the opposite side of the vertical slide bar, the joist is at the lowest position. Figure 12 shown.

[0061] In a further solution, in order to ensure the stability of the device structure, the vertical slide bar, the horizontal slide bar and the remaining two rods 31 form a rectangular frame, which is installed on the side of the drilling rig through two fixed connecting rods 32.

[0062] In the preferred embodiment, in order to ensure smooth lifting, translation rollers 34 are installed at both ends of the translation link, and a lifting roller 38 is provided at the top of the lifting link close to the vertical slide bar. Corresponding slide grooves are provided on the horizontal slide bar and the vertical slide bar. When lifting or lowering, the translation rollers and the lifting rollers move in the corresponding slide grooves.

[0063] In the preferred embodiment, Figure 14 As shown, V-shaped grooves 41 are provided at both ends of the joist for placing the drill rod to prevent the drill rod from slipping.

[0064] Example 2:

[0065] The tunnel drilling rig of the present invention includes a drilling rig body, and a plurality of columns, such as four, are provided on the platform of the drilling rig body. The drill rod loading and unloading device of embodiment 1 is installed on a column at the right rear of the drilling rig, and a propulsion mechanism 2 is provided between the columns. The propulsion mechanism is used to install the drill rod on the active drill rod of the power head.

[0066] In the preferred embodiment, Figure 15-16 As shown, the propulsion mechanism includes a primary slide 49, a secondary slide 43, and a power head 42. The primary slide is fixedly mounted on the drilling rig body, the secondary slide is slidably mounted in the primary slide, and the power head is slidably mounted in the secondary slide. When the power head 42 moves forward, the power head 42 first slides along the secondary slide 43, and after sliding to the extreme position, the second slide 43 slides inside the primary slide 49; similarly, when the power head 42 moves backward, the power head 42 first slides along the secondary slide 43, and after sliding to the extreme position, the secondary slide 43 slides inside the primary slide 49, as shown in FIG. Figure 17 shown.

[0067] In a further solution, a multi-stage oil cylinder 44 is installed in the secondary slide, and the power head slides in the secondary slide under the drive of the multi-stage oil cylinder; a gear 48 is provided in the primary slide, and a rack 45 is provided at the bottom of the secondary slide, and the rack and the gear are engaged. Driven by the motor 47, the gear rotates, and the secondary slide is driven to slide in the primary slide through the rack.

[0068] The rod adding process includes the following steps:

[0069] Step a1: Long drill pipe loading and unloading device and propulsion mechanism are in Figure 18 In the state shown (i.e., the longest state), a drill rod 5 is placed in the lifting device 4, and the male thread of the drill rod is located at the rear end of the drilling rig. The third oil cylinder is controlled to clamp the drill rod 5, and the first oil cylinder 16 is controlled to extend the cylinder rod, driving the drill rod 5 to a certain height.

[0070] Step a2: If Figure 19-21 As shown, the first motor 12 is controlled to drive the outer sleeve 17 to rotate, so that the drill rod loading and unloading device 3 drives the drill rod 5 to rotate until the axis of the drill rod 5 and the movement direction of the drilling rig power head 42 are the same;

[0071] Step a3: If Figure 22 As shown, the clamp 10 in the drill rod loading and unloading device 3 is controlled to move the drill rod 5 along its axis until it moves to a predetermined position at the upper end of the propulsion mechanism 2;

[0072] Step a4: If Figure 23As shown, the second oil cylinder 20 in the drill rod loading and unloading device 3 is controlled to move the drill rod 5 horizontally to a position just above the power head 42, and the first oil cylinder 16 is controlled to retract the drill rod so that the axis of the drill rod 5 coincides with the axis of the active drill rod in the power head 42. The clamper clamps the drill rod 5, and the active drill rod of the power head 42 is controlled to be threadedly connected to the drill rod 5, completing the rod adding process;

[0073] The unloading process includes the following steps:

[0074] Step b1: Control the drilling machine to remove the threads at the front and rear ends of the drill rod raised from the hole, and clamp the drill rod with a clamp;

[0075] Step b2: Control the fixture 10 to clamp the drill rod, open the clamp, extend the first oil cylinder 16 to lift the drill rod to a certain height, and control the fixture 10 to move the drill rod along the axis for a certain distance;

[0076] Step b3: Control the outer sleeve to rotate and the slewing bearing to rotate, transport the drill rod to the upper end position of the lifting device, retract the drill rod by the first oil cylinder 16, and place the drill rod on the lifting rod;

[0077] Step b4: Control the fourth oil cylinder 36 in the lifting device to extend the cylinder rod, transport the drill rod to the lowest position, and remove the drill rod;

[0078] Step b5: Repeat steps b1 to b4 to complete the rod unloading process.

[0079] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the scope of protection of the present invention.

Claims

1. A tunnel drilling rig, comprising a drilling rig body, a plurality of columns arranged on the drilling rig body, and a propulsion mechanism arranged between the plurality of columns, characterized in that: A loading and unloading device is installed on one of the multiple columns, and the loading and unloading device includes: a telescopic crank arm, a sleeve assembly that can rotate around the column and slide along the column, and a clamp that can be opened and tightened radially along the long drill rod to be loaded and unloaded and move axially along the long drill rod to be loaded and unloaded to transport the drill rod to be loaded and unloaded; One end of the telescopic crank arm is movably connected to the side of the sleeve assembly through a first slewing bearing, and the other end of the telescopic crank arm is connected to the clamp through a second slewing bearing; The clamp that can be opened and tightened along the radial direction of the long drill rod being loaded and unloaded and can move axially along the long drill rod being loaded and unloaded to transport the long drill rod being loaded and unloaded comprises a main beam, on which are mounted at least two sets of clamping assemblies that can be opened and tightened along the radial direction of the long drill rod being loaded and unloaded and can move axially along the long drill rod being loaded and unloaded to transport the long drill rod being loaded and unloaded, and the at least two sets of clamping assemblies are distributed along the axial direction of the drill rod being loaded and unloaded; The two rollers are mounted on the two bottom plates, and the two bottom plates are opposite in the radial direction of the long drill rod to be loaded and unloaded. There is a space between the two rollers for accommodating the long drill rod to be loaded and unloaded, and the tangential direction of the rotation of the two rollers is along the axial direction of the long drill rod to be loaded and unloaded. The main beam is connected to the telescopic crank arm via a second slewing bearing; The sleeve assembly capable of rotating around and sliding along the drilling rig column comprises an intermediate sleeve and an outer sleeve. The intermediate sleeve can be mounted on the drilling rig column and is connected to the column via a first oil cylinder, which drives the intermediate sleeve to slide along the column. The outer sleeve is mounted on the intermediate sleeve and can rotate around the intermediate sleeve. The telescopic crank arm is connected to the outer sleeve via a first slewing bearing. The outer sleeve and the intermediate sleeve are connected via a gear, and the outer sleeve is driven to rotate around the intermediate sleeve via a motor and the gear. The telescopic crank arm includes a sleeve, a crank arm and a second oil cylinder, the sleeve is connected to the first slewing bearing, the crank arm is movably installed in the sleeve, and the second oil cylinder is installed on the sleeve and the crank arm, and the second oil cylinder drives the crank arm to slide in the sleeve; The invention also includes a lifting device for lifting the drill pipe to the position of the clamp; the lifting device includes a fixed installation rod, a vertical sliding rod, a horizontal sliding rod and a quadrilateral frame, the quadrilateral frame is composed of a translation link, a joist and two lifting links with ends movably connected, and the translation link and the joist are opposite and parallel to each other; The fixed mounting rod is fixedly mounted relative to the drilling rig column, the vertical slide rod is mounted on the fixed mounting rod in the height direction, the horizontal slide rod is mounted on the fixed mounting rod in the horizontal direction, and the vertical slide rod is located above the horizontal slide rod, and the vertical slide rod and the horizontal slide rod are located in the same vertical plane; the quadrilateral frame is mounted on the vertical slide rod and the horizontal slide rod, and the translation link is parallel to the horizontal slide rod and located in the same horizontal plane, and the translation link is connected to the fixed mounting rod through a fourth oil cylinder. Under the drive of the fourth oil cylinder, the translation link moves translationally along the horizontal slide rod, and at the same time, a connection point between a lifting link and the joist slides up and down along the vertical slide rod; The vertical sliding rod, the horizontal sliding rod and the remaining two rods form a rectangular frame, and the rectangular frame is installed on the drilling rig through two fixed connecting rods.

2. The tunnel drilling machine according to claim 1, characterized in that The rollers are driven by two motors respectively, and the two motors are respectively arranged on two bottom plates.

3. The tunnel drilling machine according to claim 1, characterized in that The bottom plates located on the same side of the main beam in at least two groups of supporting components are an integrated structure.

4. The tunnel drilling machine according to claim 1, characterized in that: The propulsion mechanism includes a primary slide, a secondary slide and a power head. The primary slide is fixedly mounted on the drilling rig body, the secondary slide is slidably mounted in the primary slide, and the power head is slidably mounted in the secondary slide.

5. The tunnel drilling machine as claimed in claim 4, characterized in that: A multi-stage oil cylinder is installed in the secondary slide, and the power head slides in the secondary slide under the drive of the multi-stage oil cylinder. A gear is provided in the primary slide, and a rack is provided at the bottom of the secondary slide, and the rack and the gear are engaged. Under the drive of the motor, the gear rotates, and the secondary slide is driven to slide in the primary slide through the rack.

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