A mining drilling system

Abstract

The invention relates to the technical field of coal mine drilling, and discloses a mining drilling system, wherein an active drill rod comprises a limit section and a rotation-stop section, a chuck is arranged at one end of a main shaft, a front end cover is arranged at one end of the chuck, the chuck is clamped on the limit section, the front end cover is slidably connected to the rotation-stop section, the front end cover drives the active drill rod to rotate, and a graded hydraulic system controls the clamping pressure of the chuck on the limit section; a front clamp comprises a front support plate and a rear support plate arranged at intervals, both the front support plate and the rear support plate are provided with through holes, both the through holes are provided with openings, and the opening widths are both greater than or equal to the diameter of a large drilling tool; a swing body is arranged in the front support plate and the rear support plate, and the swing body can swing outside the front support plate and the rear support plate; a flip sensor and a flip sensing plate in a positioning system determine whether the main manipulator arm drives the hand claw to flip toward a frame; a horizontal sensor and a horizontal sensing block determine whether the main manipulator is in a set inclination angle position. The problem of complex operation in the construction of existing drilling equipment is solved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine drilling, and in particular to a mining drilling system. Background Art

[0002] At present, in order to improve productivity, the coal mining industry has developed automated and intelligent drilling systems such as automatic rotary drills and automatic directional drills. Compared with traditional drills, automated drilling systems have functions such as automatic upper and lower drill rods and automatic drilling, and have significant advantages in terms of automation and safety. However, the existing automated drilling systems also have certain problems in actual construction operations. For example, it is difficult for components such as power heads and clamps to quickly switch drilling tool specifications during construction, and they are not suitable for automated drilling systems, especially automated directional drills.

[0003] The existing automated directional drilling rigs integrate the requirements for two drill rod connection methods: the chuck and the active drill rod: during normal automatic drilling, the active drill rod is used to load and unload the ordinary drill rod from the front end of the power head; when using the salvage drill, the active drill rod is removed, and the salvage drill rod is loaded and unloaded from the rear end of the power head using the chuck. However, the existing technology is insufficient in the speed of disassembly and assembly: the existing active drill rods are all integral structures. As recorded in the patent with application number 202010733745.4, the active drill rod is an integral structure. If it is damaged during the construction process, it is necessary to remove the active drill rod fixing parts and then remove and replace the active drill rod as a whole. The workload is large, the efficiency is low, and the cost of the accessories used for maintenance is also high. For another example, in the patent with application number 202011156490.6, although the active drill rod is split into two parts, the drill rod joint and the main body, they are connected by welding, which actually forms an inseparable whole, but only reduces the processing difficulty and processing volume in the processing stage. In addition to structural deficiencies, the existing power head hydraulic system is also difficult to adapt to the needs of switching between the chuck and the active drill rod. The existing chuck hydraulic system generally has only two states: loosening and clamping, and does not have a graded control function. Long-term high-pressure clamping can easily damage the active drill rod and generate unnecessary energy consumption. It is not suitable for power heads with two drill rod connection methods: chuck and active drill rod.

[0004] As for the clamp, since the drill pipe loading and unloading technology of the directional drilling rig is particularly complicated, it is necessary to load and unload not only ordinary drill pipes, but also large drill tools (such as special drill tools such as bottom hole motors) whose length and outer diameter are larger than ordinary drill pipes. Therefore, there are the following deficiencies: First, the core drill tool of directional drilling, that is, the length and outer diameter of the bottom hole motor are larger than ordinary drill pipes, and it is impossible to disassemble and assemble the drill pipe by the common method of loading and unloading the drill pipe from the rear end or the middle of the frame. The distance from the front end of the clamp to the hole wall is very limited, and it is difficult to directly install the bottom hole motor into the clamp; secondly, the clamp generally adopts a structure in which the slips are installed on the surface of the slip seat. After assembly, it can only be used to clamp drill pipes with one outer diameter. If drill tools with other outer diameters need to be replaced, complex slip removal and slip replacement operations must be performed, which consumes a lot of time and energy; finally, during the operation of the clamp, the drill pipe needs to continuously enter and exit the clamp. Since the slips on both sides of the clamp need to be frequently opened and closed, and the spacing often changes, it generally does not have a guiding function. Similarly, in addition to the structural deficiencies of the clamp, the hydraulic system of the clamp also has certain defects, which leads to slippage when the drill pipe is shackled.

[0005] In addition, the construction of automated directional drilling rigs requires a drill rod delivery system that can take into account the storage of large diameter, large length, and large capacity drill rods as well as the need to save fuselage space. The existing automatic drill rod loading and unloading system is also difficult to meet on-site needs. Summary of the invention

[0006] The present invention is intended to provide a mining drilling system to solve the problem of complex operation of existing automated mining drilling equipment during construction.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a mining drilling system, including a frame, a power head, a clamp and a main manipulator, the power head includes a main shaft, a water braid and an active drill rod, a connecting shaft is arranged inside the main shaft, the water braid and the active drill rod are respectively connected to the two ends of the connecting shaft, the active drill rod includes a limit section and a rotation-stop section, a chuck is arranged at one end of the main shaft, a front end cover is arranged at one end of the chuck, the chuck is clamped on the limit section, the front end cover is slidably connected to the rotation-stop section, and the front end cover can drive the active drill rod to rotate, the chuck is connected to a graded hydraulic system, and the graded hydraulic system can control the clamping pressure of the chuck on the limit section;

[0008] The clamp includes a front clamp and a rear clamp, the front clamp includes a front support plate and a rear support plate which are spaced apart, both the front support plate and the rear support plate are provided with through holes, both through holes are provided with openings, and the widths of the openings are greater than or equal to the diameter of the large drilling tool; a swinging body is provided in the front support plate and the rear support plate, and the swinging body can swing outside the front support plate and the rear support plate;

[0009] The main manipulator includes a positioning system and a rotating arm and a gripper that are interconnected. The positioning system includes a horizontal sensor, a horizontal sensing block, a flip sensor and a flip sensing plate. The flip sensor and the flip sensing plate are used together to determine whether the rotating arm of the main manipulator has driven the gripper to flip toward the frame. The horizontal sensor and the horizontal sensing block are used together to determine whether the main manipulator is in the set inclination position.

[0010] The beneficial effects of this solution are: 1. By improving the power head structure, the clamp structure and the control hydraulic system of the chuck, the convenience of installation, disassembly and replacement of drill rods is achieved in the limited space structure of the original drilling equipment; different controls are implemented according to different construction needs during the construction process, which is suitable for mining drilling systems that need to change the specifications of drill tools during underground construction, especially for directional drilling rigs that use special drilling tools such as ordinary drill rods, salvage drill rods and bottom hole motors at the same time, thereby solving the shortcomings of the existing drilling system in terms of installation and maintenance efficiency, reducing the complexity of operations, and improving on-site construction efficiency.

[0011] 2. On the basis of the original incremental sensor and isotropic sensor of the main manipulator, the horizontal sensor and horizontal sensor block sensor group and the flip sensor and flip sensor plate sensor group are further added to ensure that the actuator in the drilling system can work within the designed inclination range; when the arm rotates, a signal is sent to the automatic control system to promptly handle unexpected situations such as interference between the main manipulator and the power head. The flip controller can monitor whether the arm is rotating, which increases the reliability of the manipulator positioning system.

[0012] 3. The added level sensor also enables the inclination sensor to use a simpler single-head cylinder, thereby making inclination control simpler and further simplifying the drilling system structure.

[0013] 4. The use of a quick-detachable active drill rod and chuck combination can quickly replace the power head drill rod connection device, making it easy to change the drill tool specifications at the construction site. The torque is transmitted through the cooperation of the front cover, and the two states of clamping and loosening of the active drill rod and the chuck are combined to achieve the overall disassembly and assembly of the active drill rod and the connecting shaft from the rear end of the power head, which greatly simplifies the disassembly and assembly process and improves the disassembly and assembly efficiency.

[0014] 5. The graded hydraulic system with graded pressure control function controls the clamping pressure of the chuck, which not only improves the stress condition of the active drill rod, but also avoids energy waste caused by long-term pressure holding of the chuck, and also improves the adaptability of the power head to various working conditions such as normal drilling and salvage drilling.

[0015] 6. The swinging body in the clamp can swing out of the base, and combined with the upwardly open through holes on the front support plate and the rear support plate, a large amount of space inside and above the clamp can be freed up, so that the clamp can meet the installation requirements of special drilling tools such as bottom hole motors.

[0016] Preferably, it also includes a drill rod storage box, which includes a drill rod frame, a rod placement slot and a grabbing manipulator. The axial direction of the drill rod storage is consistent with the length direction of the frame, and the grabbing manipulator is installed on the side of the drill rod frame; the rod placement slot is installed on the side of the drill rod frame facing the frame, and a drill rod slot and a driving device are provided in the rod placement slot. The drill rod slot is provided on the side of the drill rod frame, and movable baffles are provided at both ends along the axial direction of the drill rod, and the movable baffles are connected to the driving device.

[0017] Preferably, the main manipulator further comprises a pitch cylinder, a slewing drive, a pitch arm and a slewing shaft, the pitch arm comprises an axle seat and a support body connected to each other, the slewing drive, the axle seat, the slewing arm and the gripper are connected in sequence, an end cover is provided at one end of the axle seat away from the slewing drive, the piston rod of the pitch cylinder is rotatably connected to the side wall of the support body, and the slewing shaft is provided between the axle seat and the slewing arm;

[0018] The flip sensor is installed on the lower side of the shaft seat or the end cover near one end of the swing arm, and the flip sensing plate is installed on the slewing shaft or the end of the swing arm near the pitch arm; the horizontal sensing block is installed on the swing arm, the horizontal sensor is installed on the drill rod frame or the rod placement slot, and the horizontal sensor faces the manipulator swing arm.

[0019] Preferably, the power head also includes a hydraulic motor, which is connected to a gearbox. The gearbox includes a gear shaft and multi-stage gears, which transmit the power of the hydraulic motor to the active drill rod after speed change and torque increase, and the main shaft is arranged inside the gearbox.

[0020] Preferably, the active drill rod includes a rod body and a double-headed joint arranged at one end of the rod body, the limiting section and the anti-rotation section are both arranged on the rod body, the outer periphery of the anti-rotation section is provided with a hexagonal shape, the interior of the front end cover is provided with a hexagonal through hole, the diagonal distance of the six squares outside the anti-rotation section is smaller than the diameter of the chuck after loosening, the outer diameters of the shaft sections on both sides of the limiting section are larger than the minimum diameter after the chuck is clamped, and the width of the limiting section is slightly larger than the clamping width of the chuck.

[0021] Preferably, the water braid includes a core shaft and a water inlet assembly, the core shaft is fixedly connected and communicated with the connecting shaft, and the core shaft is communicated and rotatably connected with the water inlet assembly; the water inlet assembly includes a shell and a water inlet hole, and a water supply chamber connected to the water inlet hole is provided inside the shell; it also includes a bearing seat, the bearing seat supports the core shaft, the bearing seat is provided with a grease nipple, and the grease nipple is communicated with the inside of the bearing seat; it also includes a connecting sleeve, the connecting sleeve connects the water braid to the end of the gearbox away from the hydraulic motor; the connecting sleeve includes a connecting flange, the connecting flange is provided with a waist-shaped hole for the bolt to pass through, and a gap is left between the end face of the connecting sleeve facing the active drill rod and the end face of the connecting shaft.

[0022] Preferably, the brake assembly includes a brake cover, a clamping piston and a releasing piston. The brake cover is provided with a sliding shaft. One end of the transmission shaft extends into the center of the clamping piston. A plurality of brake slips are distributed circumferentially of the transmission shaft. The clamping piston is sleeved on the brake slip and can move axially. The surface of the brake slip away from the transmission shaft is an inclined surface. The surface of the clamping piston opposite to the brake slip is a slope surface matching the inclined surface of the brake slip. The clamping piston can slide through the brake slip to clamp the transmission shaft. The releasing piston is slidingly sleeved on the sliding shaft and can push the clamping piston to release the clamping.

[0023] Preferably, the graded hydraulic control system includes a pressure reducing valve, an electromagnetic reversing valve, a hydraulically controlled reversing valve, a main pump and an auxiliary pump; the electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve with an A port, a B port, a P port and a T port, and the electromagnetic reversing valve has a Y1 position and a Y2 position; the hydraulically controlled reversing valve is a hydraulically controlled reversing valve with a P port, a T port, an A port and a hydraulically controlled port, the chuck has a control oil port, the A port of the hydraulically controlled reversing valve is connected to the control oil port of the chuck, and the main pump is connected to the P port of the hydraulically controlled reversing valve; the oil circuit of the auxiliary pump is divided into two streams, one is connected to the P port of the hydraulically controlled reversing valve, and the other is connected to the P port of the electromagnetic reversing valve through the pressure reducing valve; the oil drain port of the pressure reducing valve is connected to the T port of the electromagnetic reversing valve and drains oil; the oil output from the A port of the electromagnetic reversing valve is divided into two streams, one is connected to the P port of the hydraulically controlled reversing valve, and the other is connected to the hydraulic control port of the hydraulically controlled reversing valve, and the B port of the electromagnetic reversing valve is connected to the T port of the hydraulically controlled reversing valve.

[0024] Preferably, when the chuck is released, Y1 and Y2 positions lose power, the pressure oil from the main pump reaches the P port of the hydraulically controlled reversing valve and is cut off, and the pressure oil from the auxiliary pump flows through the pressure reducing valve and reaches the P port of the electromagnetic reversing valve and is cut off; when the chuck is clamped at low pressure, Y2 is energized, the pressure oil from the main pump reaches the P port of the hydraulically controlled reversing valve and is cut off; one stream of pressure oil from the auxiliary pump reaches the P port of the hydraulically controlled reversing valve and is cut off, and the other stream flows through the electromagnetic reversing valve through the pressure reducing valve and reaches the control port of the chuck through the hydraulically controlled valve; when the chuck is clamped at high pressure, Y1 is energized, the pressure oil from the main pump flows into the control port of the chuck through the hydraulically controlled reversing valve, one stream of pressure oil from the auxiliary pump reaches the control port of the hydraulically controlled reversing valve through the electromagnetic reversing valve to switch the working state of the hydraulically controlled reversing valve, and the other stream flows into the control port of the chuck through the hydraulically controlled reversing valve, and the hydraulic oils from the main pump and the auxiliary pump merge.

[0025] Preferably, the swing body includes two support plates symmetrically arranged front and back, and guide mounting holes are provided on both support plates; a flip shaft seat is provided below one side of the support plate, and the outer end faces on both sides of the two support plates are respectively connected to a front cylinder mounting plate, and a front clamping cylinder is provided on the front cylinder mounting plate, and a swing ear seat is provided below the front cylinder mounting plate close to the flip shaft seat, and a swing cylinder is rotatably connected in the swing ear seat; a flip plate is connected to one side of the front support plate and the rear support plate close to the flip shaft seat, a flip hole is provided on the flip plate, and a flip pin is provided in the flip hole.

[0026] Preferably, a reinforcing plate is detachably connected to each opening, and a plurality of mutually matching grooves and protrusions are provided between the tops of the front support plate and the rear support plate and the bottom of the reinforcing plate.

[0027] Preferably, a guide sleeve group is provided in each of the two through holes, and the guide sleeve group includes an outer guide sleeve and an inner guide sleeve; the outer diameter of the inner guide sleeve is divided into two levels, the small diameter section of the inner guide sleeve cooperates with the guide mounting hole on the swing body, and the large diameter section of the inner guide sleeve cooperates with the through holes on the front support plate and the rear support plate.

[0028] Preferably, the outer diameter of the outer guide sleeve is divided into two levels, wherein a countersunk connecting hole is provided on the large diameter section of the outer guide sleeve, and the countersunk connecting hole is used to connect the outer guide sleeve and the inner guide sleeve to the swing body; the inner diameter of the inner guide sleeve is also divided into two levels, the small diameter section of the inner diameter is an equal diameter through hole, which cooperates with the small diameter section of the outer diameter of the outer guide sleeve; the large diameter section of the inner diameter is a countersunk stage, which cooperates with the large diameter section of the outer guide sleeve.

[0029] Preferably, the clamp mounting portion includes a rear clamp mounting portion, and the rear clamp mounting portion includes a symmetrically arranged front side plate and a rear side plate, and the middle part of the front side plate and the rear side plate are both provided with a U-shaped hole, and the U-shaped hole makes the top of the front side plate and the rear side plate completely open; the rear cylinder mounting plate is connected to the outer end surfaces on both sides of the front side plate and the rear side plate.

[0030] Preferably, a semi-ring guide sleeve is connected to each U-shaped hole, and the outer diameter of the semi-ring guide sleeve is divided into two levels, wherein the small diameter section of the semi-ring guide sleeve cooperates with the U-shaped hole, and the large diameter section of the semi-ring guide sleeve is used to fix the semi-ring guide sleeve on the front side plate or the rear side plate.

[0031] Preferably, the front clamp and the rear clamp are both connected to a clamping cylinder, and the power head also includes a hydraulic motor. An anti-skid hydraulic system is provided between the hydraulic motor and the clamping cylinder. The anti-skid hydraulic system can pressurize the clamping cylinder through the reversing oil circuit of the hydraulic motor during the clamping operation.

[0032] Preferably, the piston rod in the clamping cylinder is detachably connected to an external cava, and the inner side of the external cava is detachably connected to an internal cava; the diameter of the arc segment on the inner surface of the external cava matches the outer diameter of the inner cava, and a countersunk hole is provided on the external cava, and the piston rod of the clamping cylinder is detachably connected to the countersunk hole; the upper and lower ends of the inner cava are both provided with bosses, and the upper and lower ends of the external cava are both provided with slots, and the bosses are detachably connected to the slots.

[0033] Preferably, the anti-skid hydraulic system includes a branch oil circuit between the reversing oil circuit connected to the hydraulic motor and the clamping oil circuit connected to the clamping cylinder, a one-way valve is provided on the branch oil circuit, and the one-way valve only allows the oil in the reversing oil circuit to flow into the clamping oil circuit in one direction; the clamping oil circuit and the release oil circuit are jointly connected with a hydraulic lock.

[0034] Preferably, the oil inlet valve opening pressure of the one-way valve is higher than the oil return pressure in the reversing oil circuit.

[0035] Preferably, a front one-way valve is provided between the clamping oil circuit and the reversing oil circuit of the front clamping oil cylinder for connection, a rear one-way valve is provided between the clamping oil circuit and the reversing oil circuit of the rear clamping oil cylinder for connection, and the front one-way valve and the rear one-way valve are interconnected. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A three-dimensional diagram of a mining drilling system in an embodiment of the present invention;

[0037] Figure 2 It is a schematic diagram of the structure of the power head in an embodiment of the present invention;

[0038] Figure 3 It is a structural schematic diagram of an active drill rod in an embodiment of the present invention;

[0039] Figure 4 A schematic diagram of the structure of the front end cover in an embodiment of the present invention;

[0040] Figure 5 This is a detailed diagram of a water braid according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the connection of the water braid according to an embodiment of the present invention;

[0042] Figure 7 It is a schematic diagram of the structure of the connecting sleeve in an embodiment of the present invention;

[0043] Figure 8 This is a structural diagram of a brake assembly according to an embodiment of the present invention;

[0044] Fig. 9 It is a structural schematic diagram of a graded hydraulic system when the chuck is released in an embodiment of the present invention;

[0045] Fig.10 It is a structural schematic diagram of a graded hydraulic system when the chuck is clamped at low pressure in an embodiment of the present invention;

[0046] Fig.11 It is a structural schematic diagram of a graded hydraulic system during high-pressure clamping of a chuck in an embodiment of the present invention;

[0047] Fig.12 A three-dimensional diagram of a double clamp in an embodiment of the present invention;

[0048] Fig.13 A three-dimensional diagram of a base in an embodiment of the present invention;

[0049] Fig.14 A three-dimensional diagram of a swinging body in an embodiment of the present invention;

[0050] Fig.15A three-dimensional diagram of an external slip in an embodiment of the present invention;

[0051] Fig.16 A three-dimensional diagram of the inner slip in an embodiment of the present invention;

[0052] Fig.17 Schematic diagram of the internal structure of the double clamp in an embodiment of the present invention;

[0053] Fig.18 A three-dimensional diagram of an outer guide sleeve in an embodiment of the present invention;

[0054] Fig.19 A three-dimensional diagram of the inner guide sleeve in an embodiment of the present invention;

[0055] Fig. 20 A three-dimensional diagram of a semi-ring guide sleeve in an embodiment of the present invention;

[0056] Fig.21 A schematic diagram of the structure of a hydraulic system in an embodiment of the present invention;

[0057] Fig. 22 A three-dimensional axonometric diagram of the entire manipulator in an embodiment of the present invention;

[0058] Fig.23 A three-dimensional axonometric diagram of the pitch arm in an embodiment of the present invention;

[0059] Fig.24 A three-dimensional axonometric diagram of a rotating arm in an embodiment of the present invention;

[0060] Fig.25 This is a schematic diagram of the installation of a flip sensor in an embodiment of the present invention;

[0061] Fig.26 Schematic diagram of the structure of the drill rod storage box in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The following is further described in detail through specific implementation methods:

[0063] The reference numerals in the drawings of the specification include: power head 1, active drill rod 10, rod body 101, female joint 102, stop section 103, limit section 104, double-head joint 105, connecting shaft 11, water braid 12, core shaft 121, housing 122, water supply chamber 123, water inlet hole 124, bearing seat 125, grease nipple 1251, core shaft support bearing 126, front end cover 13, hexagonal through hole 131, hexagonal outer sleeve 132, chuck 14, spindle 15, gearbox 16, hydraulic motor 17, brake assembly 18, brake cover 181, clamping piston 182, release piston 1 83, sliding shaft 184, brake slip 185, transmission shaft 186, first oil inlet 187, second oil inlet 188, key 189, connecting sleeve 19, waist-shaped hole 191, front clamp 2, rear clamp 20, base 200, mounting plate 201, flip plate 202, front support plate 203, reinforcement plate 204, rear support plate 205, rear lining plate 206, rear side plate 207, rear cylinder mounting plate 208, front side plate 209, outer guide sleeve 21, inner guide sleeve 210, swing body 22, support plate 221, front cylinder mounting plate 222, front lining plate 223, swing ear seat 224, flip shaft seat 25, swing cylinder 226, flip pin 227, front clamping cylinder 23, rear clamping cylinder 230, outer slip 24, inner slip 240, semi-ring guide sleeve 25, frame 3, pressure reducing valve 41, electromagnetic reversing valve 42, hydraulic control reversing valve 43, oil tank 44, first non-return valve 45, second non-return valve 46, third non-return valve 47, drilling rig hydraulic system 5, forward oil circuit 51, reverse oil circuit 52, front hydraulic lock 53, front non-return valve 54, rear non-return valve 55, rear hydraulic lock 56, clamping oil circuit 57, release oil circuit 58, mobile platform 6, automatic control system 7. Drill rod storage box 8, drill rod frame 81, rod placement slot 82, drill rod slot 821, movable baffle 822, drive device 823, groove portion 824, grabbing manipulator 83, main manipulator 9, cylinder seat 91, pitch cylinder 92, rotary drive 93, pitch arm 94, shaft seat 941, end cover 942, support body 943, rotating cylinder 944, incremental sensor 945, angle identification plate 946, flip sensor 947, flip sensing plate 948, rotary shaft 95, rotating arm 96, horizontal sensing block 961, horizontal sensor 962, gripper 97, equiangular sensor 98.

[0064] Example

[0065] The embodiment is basically as shown in the attached Figure 1-26 As shown, Figure 1 The mining drilling system shown includes a mobile platform 6, a frame 3, a power head 1, a clamp, an automatic control system 7, a drilling rig hydraulic system 5, a drill rod storage box 8 and a main manipulator 9.

[0066] Among them, the mobile platform 6 is a platform for carrying and moving the upper parts of the drilling system. The mobile platform 6 can walk underground to realize the transfer and relocation of the machine. The frame 3 is the bearing component of the drilling and drill rod loading and unloading actuators such as the power head 1, the clamp and the main manipulator 9, as well as the drilling drive device 823. The power head 1 is connected to the drill rod and is used to transmit the rotation and movement power required for loading and unloading to the drill rod. The clamp is responsible for clamping the drill rod and cooperating with the power head 1 to realize the threaded connection and disassembly of the drill rod. In this embodiment, the clamp is a double clamp, including a front clamp 2 and a rear clamp 20 that can rotate with each other. The automatic control system 7 receives the control instructions of the personnel and converts them into the execution parameters of each mechanism of the drilling rig through compilation, so as to realize automatic directional drilling, trajectory measurement, and drilling rod loading and unloading. The drilling rig hydraulic system 5 converts mechanical energy into hydraulic energy through a hydraulic pump, thereby driving the actuators such as the power head 1, the frame 3, the clamp, and the manipulator to work. The drill rod frame 81 is a container for storing drill rods. The main manipulator 9 grabs the drill rods from the drill rod storage box 8 and transports them to the drilling axis between the power head 1 and the clamp, and retrieves the drill rods after the drilling is completed. The above components are all prior art, and the improvements of the relevant components are described one by one below.

[0067] First, combine Figure 2-8 As shown, the improved structure of the power head 1 is described.

[0068] like Figure 2 As shown, the power head 1 includes a main shaft 15, a water braid 12, an active drill rod 10, a hydraulic motor 17, a brake assembly 18 and a gearbox 16. The hydraulic motor 17 is the power source of the power head 1, providing the driving force for the active drill rod 10 to rotate. The output shaft of the hydraulic motor 17 is meshed with the gearbox 16. The gearbox 16 includes a gear shaft and a multi-stage gear, which transmits the power of the hydraulic motor 17 to the active drill rod 10 after speed change and torque increase to meet the requirements of drilling. At the same time, the gearbox 16 is also the installation and bearing body of other parts of the power head 1. The brake assembly 18 is used to perform rotational braking on the gearbox 16. A transmission shaft 186 connected to the gear shaft is provided inside the brake assembly 18. The transmission shaft 186 is connected to the gear shaft through a key 189 to achieve synchronous rotation. The brake assembly 18 performs rotational braking on the transmission shaft 186 and prevents the main shaft 15 from rotating under the action of the reverse torque of the drill rod drilling. A connecting shaft 11 is provided inside the main shaft 15 , and the water braid 12 and the active drill rod 10 are respectively connected to the two ends of the connecting shaft 11 . An accommodating hole for the active drill rod 10 to pass through is opened in the main shaft 15 .

[0069] like Figure 3As shown, the active drill rod 10 includes a rod body 101 and a double-headed joint 105 provided at one end of the rod body 101. Female joints 102 are provided at both ends of the rod body 101. The female joint 102 at the left end is connected to the connecting shaft 11. In this embodiment, the female joint 102 uses the same tapered thread connection method as the drill rod; the female joint 102 at the right end is connected to the double-headed joint 105, and is connected to the working drill rod through the double-headed joint 105. The rod body 101 includes a limiting section 104 and a stop section 103. The outer peripheral cross-section of the stop section 103 is set to a polygon (hexagonal in this embodiment). Figure 2 As shown, one end of the spindle 15 is connected to a chuck 14, and one end of the chuck 14 is connected to a front end cover 13, and the chuck 14 is a normally open chuck 14. Figure 4 As shown, the front end cover 13 is provided with a hexagonal through hole 131 inside, and the hexagonal through hole 131 cooperates with the stop section 103 to realize the sliding connection between the front end cover 13 and the active drill rod 10, and the active drill rod 10 can also be limited in rotation; the rear end of the front end cover 13 is provided with a hexagonal outer sleeve 132, and the front end of the chuck 14 is provided with a hexagonal inner hole, and the hexagonal outer sleeve 132 cooperates with the hexagonal inner hole to transmit the rotational power of the power head 1 to the front end cover 13, and then to the active drill rod 10 to realize the rotation of the active drill rod 10. The outer diameter of the left end female joint 102 is smaller than the diameter after the chuck 14 is loosened, so as to ensure that the active drill rod 10 can be drawn out from the rear of the power head 1; at the same time, the outer diameter of the left end female joint 102 is larger than the minimum diameter after the chuck 14 is clamped, so as to realize the axial limit of the active drill rod 10 when the chuck 14 is clamped; the diagonal distance of the outer circumference of the stop section 103 is smaller than the diameter after the chuck 14 is loosened, so as to ensure that the active drill rod 10 can be drawn out from the rear of the power head 1. The outer diameters of the shaft sections on both sides of the limiting section 104 (i.e., the outer diameter of the female connector 102 and the hexagonal opposite side distance of the stop section 103) are both larger than the minimum diameter after the chuck 14 is clamped, and the width of the limiting section 104 is slightly larger than the clamping width of the chuck 14.

[0070] By improving the drill rod structure and the front end cover 13 and the chuck 14, the rotation of the active drill rod 10 is restricted while the axial sliding of the rotating drill rod is allowed, so that the active drill rod 10 can float axially for a certain distance during operation, so as to effectively alleviate the axial impact generated by the drill rod during the threaded connection and disassembly process, thereby protecting the active drill rod 10 and other connecting parts and extending the service life of the equipment. When the active drill rod 10 floats axially, the impact force on the water braid 12 can be reduced, the wear of the water braid 12 can be reduced, and the service life and reliability of the entire drilling rig can be improved. The limit section 104 is located between the chucks 14. When the chuck 14 is clamped to the limit position, there is still a gap between the chuck 14 and the outer periphery of the limit section 104, so that the clamping force of the chuck 14 will not directly act on the active drill rod 10, thereby avoiding the active drill rod 10 from directly bearing the strong clamping force of the chuck 14, that is, avoiding the metal fatigue deformation of the active drill rod 10 during the reciprocating rotation process, thereby reducing fatigue damage and increasing the service life of the active drill rod 10; due to the axial floating design of the active drill rod 10, the impact force borne by the water braid 12 during the working process is reduced, which makes the force on the water braid 12 more uniform, and realizes the axial force balance of the water braid 12.

[0071] In addition, both ends of the double-headed joint 105 have the same male joint, which matches the female joint 102 of the rod body 101 and also matches the internal thread of the working drill rod used by the drilling rig. During normal use, the external thread at one end is coated with glue and screwed into the female joint 102 of the rod body 101, and the other end is connected to the female joint 102 of the drill rod before the active drill rod 10, so as to realize the transmission of the power head 1 to the drill rod. When the external thread connecting the joint and the drill rod is worn to a certain extent, the threaded connection between the joint and the rod body 101 is loosened, the male joints at both ends are swapped, and the male joints are coated with glue again and connected to the rod body 101. Since the thread of the male joint previously connected to the rod body 101 is a fixed connection during work and will not be worn, the swapping of the threads at both ends is equivalent to the double-headed joint 105 being able to be used twice, and its life is also equivalent to twice that of the previous integral active drill rod 10, which reduces the consumption of the active drill rod 10 by the original drilling rig, thereby reducing resource waste and the cost of using the drilling rig.

[0072] In addition, when the thread on one side of the double-headed joint 105 is worn and needs to be removed and the installation direction is reversed, the worn section of the double-headed joint 105 is fixed and connected to the active drill pipe 10 by glue. Specifically, a fastening glue is applied to the upper part of the joint on one side of the double-headed joint 105 along an axial straight line, and then the glue is applied symmetrically below the side. When the side joint is tightened with the female joint 102, the fastening glue at the left end of the glue-applied end will contact the female joint 102 thread, and the fastening glue will be spread further along the tightening direction. The further to the right, the fewer the number of contacts between the fastening glue and the female joint 102 thread, and the smaller the spread of the application; when the glue-applied side is screwed into the female joint 102 of the rod body 101, the fastening glue previously applied in a straight line It will be spread out to form a tape that is projected on the central symmetry plane of the joint as a trapezoidal shape that is wide on the left and narrow on the right. The tape on one side is as described above, and a similar method is used to apply glue on the other side when it is replaced. The wide and narrow trapezoidal tapes just complement the strength of the male joint thread itself, thereby making the stress on the male joint thread more uniform, which also complements the strength of the thread itself, and better equalizes the strength of the threaded connection, ensuring the reversal anti-loosening strength and facilitating later disassembly, which can save a lot of installation time and use costs, and can play an emergency role when constructing in some remote places where it is not convenient to repair and replace the active drill rod 10.

[0073] like Figure 5 and Figure 6As shown, the water braid 12 includes a core shaft 121 and a water inlet assembly. The core shaft 121 is fixedly connected and communicated with the connecting shaft 11, that is, the core shaft 121 and the connecting shaft 11 are both hollow shafts. The other end of the connecting shaft 11 is connected to the active drill rod 10, and the core shaft 121 is communicated and rotatably connected with the water inlet assembly. A bearing seat 125 is also provided to support the core shaft 121. The bearing seat 125 is provided with a core shaft support bearing 126 sleeved on the outer periphery of the core shaft 121. The water inlet assembly includes a housing 122 and a water inlet hole 124. The housing 122 is provided with a water supply cavity 123 communicated with the water inlet hole 124. A section of the connecting shaft 11 close to the active drill rod 10 is provided with an external thread for threaded connection with the rear end of the active drill rod 10. An end of the connecting shaft 11 close to the water braid 12 is provided with an internal thread for threaded connection with the core shaft 121, so as to transfer the drilling medium flowing into the water braid 12 to the active drill rod 10 and connect the active drill rod 10 and the water braid 12. The core shaft 121 is connected to the active drill rod 10 and rotates together with the active drill rod 10 during operation. The core shaft support bearing 126 can ensure the smooth rotation of the core shaft 121, reduce the friction and wear during the rotation process, and extend the service life of the equipment. The connecting shaft 11 and the core shaft 121 are hollow inside, and the pressure fluid can be smoothly transmitted from the water inlet component to the active drill rod 10, ensuring that the drilling medium can be stably and continuously supplied, thereby improving the drilling efficiency. A grease nipple 1251 is provided on the bearing seat 125, and the grease nipple 1251 is connected to the inside of the bearing seat 125. The grease nipple 1251 can provide lubricating oil to the core shaft support bearing 126 to keep the core shaft support bearing 126 lubricated, reduce the friction of the bearing under high load conditions, and extend the service life of the bearing; effective lubrication reduces the wear and heat accumulation of the bearing, avoids bearing damage caused by overheating, and improves the reliability and durability of the equipment.

[0074] The water braid 12 is fixed to the gearbox 16 by providing a connecting sleeve 19. Figure 7 As shown, the connecting sleeve 19 includes a connecting flange, and waist-shaped holes 191 for bolts to pass through are opened on both the upper and lower sides of the connecting flange to ensure the stability of the connection. A hexagonal hole is opened in the center of the connecting sleeve 19, and the right end of the core shaft 121 is a regular hexagon that matches the hexagonal hole and is axially slidably connected to the hexagonal hole. When in use, the end of the core shaft 121 is inserted into the hexagonal hole so that the connecting sleeve 19 can drive the core shaft 121 to rotate when the main shaft 15 rotates. The connecting flange is threadedly fixedly connected to the main shaft 15, and a gap is left between the inner end face of the connecting sleeve 19 facing the active drill pipe 10 and the end face of the connecting shaft 11 ( Figure 6The limit section 104 can slide axially along the chuck 14, so that the active drill rod 10 can float axially for a certain distance. The internal and external threads of the connecting shaft 11 cooperate to achieve a stable connection with the active drill rod 10 and the core shaft 121. The bearing seat 125 and the housing 122 are fixedly connected by bolts, and sealing rings are provided between the core shaft 121 and the housing 122 on both sides of the water inlet hole 124 to achieve sealing of the drilling medium.

[0075] like Figure 8 As shown, the brake assembly 18 includes a brake cover 181, a clamping piston 182 and a releasing piston 183. A sliding shaft 184 is provided on the brake cover 181. The left end of the transmission shaft 186 extends into the center of the clamping piston 182. A plurality of brake cavas 185 are distributed circumferentially on the transmission shaft 186. In this embodiment, the number of brake cavas 185 is three. The clamping piston 182 is sleeved on the outside of the brake slip 185 and can move axially along the transmission shaft 186. The surface of the brake slip 185 away from the transmission shaft 186 is a slope. The surface of the clamping piston 182 opposite to the brake slip 185 is a slope that matches the slope of the brake slip 185. The clamping piston 182 can slide and push the brake slip 185 to radially slide and clamp the transmission shaft 186. The release piston 183 is slidably sleeved on the sliding shaft 184 and can push the clamping piston 182 to release the clamping. The surface of the clamping piston 182 opposite to the brake slip 185 is a slope that matches the slope of the brake slip 185. The clamping piston 182 can slide so that the slope inside it contacts the slope of the brake slip 185, and the transmission shaft 186 is clamped by the radial movement of the brake slip 185, thereby limiting the rotation of the transmission shaft 186. The transmission shaft 186 can be quickly clamped and released through the axial sliding of the clamping piston 182 and the radial movement of the brake slip 185. The cooperation between the inclined surface and the slope surface provides a stable clamping force, ensuring that the transmission shaft 186 will not slide during operation, ensuring the reliability of the clamping of the transmission shaft 186, and being adaptable to transmission shafts 186 of different diameters. Even if the surface of the transmission shaft 186 is worn, stable clamping can be achieved by extending the sliding distance of the clamping piston 182. The transmission shaft 186 has strong versatility and can be applied to various types of drilling rig power heads 1.

[0076] The brake cover 181 is provided with a first oil inlet 187 and a second oil inlet 188. A first oil chamber is formed between the brake cover 181 and the side of the release piston 183 away from the clamping piston 182. The first oil inlet 187 can provide hydraulic oil to the first oil chamber. The clamping piston 182 is provided with a second oil chamber on the side away from the release piston 183. The second oil inlet 188 can provide hydraulic oil to the second oil chamber. The inner wall and outer wall of the release piston 183 are both provided with sealing rings, and the outer wall sleeve of the clamping piston 182 is also provided with a sealing ring. The setting of the sealing ring effectively prevents leakage of hydraulic oil and ensures that the pressure in the hydraulic structure remains stable. The pressure oil enters the second oil chamber from the second oil inlet 188, pushing the clamping piston 182 to move to the left, so that the slope inside it contacts the inclined surface of the brake cava 185, thereby pushing the brake cava 185 to move inward and limiting the radial displacement of the brake cava 185, thereby clamping the drive shaft 186 to achieve braking of the drive shaft 186; the pressure oil enters the first oil chamber from the first oil inlet 187, pushing the release piston 183 to move, and its end face pushes the clamping piston 182 to move to the right, releasing the radial displacement restriction of the brake cava 185, thereby releasing the rotation restriction of the drive shaft 186, and realizing automatic control of the brake assembly 18 through hydraulics, thereby improving the automation level and efficiency of the operation, and the hydraulics can provide stable and adjustable pressure to ensure the accuracy of the clamping and releasing processes, and the hydraulics have high stability and reliability, ensuring that the brake assembly 183 can work stably under various working conditions, reducing the failure rate and maintenance costs.

[0077] In the existing directional drilling rig power head 1 (such as the patent with publication number CN116905958A), when the active drill rod 10 needs to be replaced, the front end cover 13 needs to be removed first and then the active drill rod 10 is unlocked. Since one end of the connecting shaft 11 is threadedly connected to the active drill rod 10, and the other end is threadedly connected to the core shaft 121 of the water braid 12, when the active drill rod 10 is rotated to unlock, the active drill rod 10 cannot be accurately unlocked from the connecting shaft 11. It is possible that the connecting shaft 11 and the core shaft 121 of the water braid 12 are unlocked. Since the space from the front end of the chuck 14 to the clamp is very limited, in the narrow operating space, even if the active drill rod 10 is taken out alone, it will bring difficulty to the operation. If the connecting shaft 11 and the core shaft 121 of the water braid 12 are unlocked, the active drill rod 10 and the connecting shaft 11 are unlocked from the front end. It becomes very difficult to take out the connecting shaft 11 together. At the same time, if it is necessary to switch to the chuck 14 to clamp the salvage drill rod for work, it is necessary to remove the water braid 12 from the rear end of the gearbox 16, take out the water braid 12 and the connecting shaft 11 from the rear end of the gearbox 16, and then remove the end cover 942 to take out the active drill rod 10. In this process, it cannot be ensured that the connecting shaft 11 is unlocked from the active drill rod 10. If the connecting shaft 11 is unlocked from the core shaft 121 of the water braid 12, the active drill rod 10 and the connecting shaft 11 need to be taken out from the front end of the gearbox 16 together before the salvage drill rod can be loaded into the chuck 14 and switched to the chuck 14 for clamping to work. Therefore, the prior art is very difficult to replace the active drill rod 10 or switch the chuck 14 to clamp the salvage drill rod for work, which seriously affects the construction efficiency.

[0078] After the power head 1 is improved in this embodiment, when the active drill rod 10 needs to be replaced, due to the wide operating space at the rear end of the gearbox 16, it is only necessary to loosen the chuck 14 first, and then take out the water braid 12, the connecting shaft 11 and the active drill rod 10 from the rear end of the gearbox 16, so as to quickly replace the damaged active drill rod 10, and then install the new active drill rod 10, the connecting shaft 11 and the water braid 12 into the gearbox 16 from the rear end of the gearbox 16, and make the active drill rod 10 pass through the main shaft 15, the chuck 14 and the front cover 13 in turn, so as to quickly complete the active drill rod 10. The replacement of the rod 10 reduces the uncontrollable factors in the replacement process and increases the construction efficiency. When it is necessary to switch to the salvage drill rod work, the above disassembly process is repeated. During installation, it is only necessary to install the salvage drill rod from the rear end of the gearbox 16 into the main shaft 15, and pass it through the chuck 14 and the front end cover 13 in sequence, and finally clamp the salvage drill rod through the chuck 14 to rotate. At the same time, a part of the active drill rod 10 of the technical solution is located in the chuck 14 and the main shaft 15, so that when the main shaft 15 drives the active drill rod 10 to rotate through the chuck 14, the active drill rod 10 rotates more stably and can be more accurately docked with the drill rod.

[0079] Next, the hydraulic system connected to the chuck 14 of the existing power head 1 usually has only two states: loosening and clamping, and does not have a graded control function. In actual operation, the hydraulic system controls the chuck 14 to clamp at high pressure for a long time, which can easily damage the active drill rod 10 and generate unnecessary energy consumption.

[0080] like Figure 9-11 As shown, the graded hydraulic system includes a pressure reducing valve 41, an electromagnetic reversing valve 42, a hydraulically controlled reversing valve 43, a main pump and an auxiliary pump; the electromagnetic reversing valve 42 is a three-position four-way electromagnetic reversing valve 42 with an A port, a B port, a P port and a T port, the hydraulically controlled reversing valve 43 has a P port, a T port, an A port and a hydraulically controlled port, the chuck 14 has a control oil port, the A port of the hydraulically controlled reversing valve 43 is connected to the control oil port of the chuck 14, the main pump is connected to the P port of the hydraulically controlled reversing valve 43; the auxiliary pump The oil circuit of the pump is divided into two streams, one stream is connected to the P port of the hydraulically controlled reversing valve 43, and the other stream is connected to the P port of the electromagnetic reversing valve 42 through the pressure reducing valve 41; the oil drain port of the pressure reducing valve 41 is connected to the T port of the electromagnetic reversing valve 42 and drains oil; the oil output from the A port of the electromagnetic reversing valve 42 is divided into two streams, one stream is connected to the P port of the hydraulically controlled reversing valve 43, and the other stream is connected to the hydraulic control port of the hydraulically controlled reversing valve 43; the B port of the electromagnetic reversing valve 42 is connected to the T port of the hydraulically controlled reversing valve 43. The hydraulically controlled reversing valve 43 is a two-position three-way hydraulically controlled reversing valve 43, which can automatically switch the oil flow direction of the oil by controlling the oil circuit. Through the coordinated control of the electromagnetic reversing valve 42 and the hydraulically controlled reversing valve 43, the pressure of the chuck 14 can be accurately adjusted to meet the needs of different working states. In normal drilling and salvaging operations, the oil flow direction of the oil can be quickly switched to ensure that the chuck 14 is adjusted to the required state in the shortest time, thereby improving work efficiency. The main pump flows to the P port of the hydraulically controlled reversing valve 43 through the first one-way valve 45, and the oil circuit of the auxiliary pump is connected to the P port of the hydraulically controlled reversing valve 43 through the second one-way valve 46; the A port of the electromagnetic reversing valve 42 is connected to the P port of the hydraulically controlled reversing valve 43 through the third one-way valve 47; the pressure reducing valve 41 is a fixed value pressure reducing valve 41, which can adjust the oil pressure to 6Mpa in this embodiment; the electromagnetic reversing valve 42 in this embodiment has Y1 and Y2 positions, and also includes an oil tank 44 for storing oil, and the oil tank 44 is used to supply oil to the main pump and the auxiliary pump, and the oil supply is returned to the oil tank 44.

[0081] like Fig. 9As shown, in the working condition when the chuck 14 is loosened, the Y1 and Y2 positions are de-energized. When the left position Y1 and the right position Y2 of the electromagnetic reversing valve 42 are both in the de-energized state, the electromagnetic reversing valve 42 is in the middle position, and the hydraulic control reversing valve 43 works in the right position under the action of the spring force. When the pressure oil P1 of the main pump passes through the first one-way valve 45 to reach the outlet of the second one-way valve 46, the outlet of the third one-way valve 47 and the P port of the hydraulic control reversing valve 43, the oil is cut off. At the same time, a stream of pressure oil P2 from the auxiliary pump flows through the second one-way valve 46 to reach the outlet of the first one-way valve 45, the outlet of the third one-way valve 47 and the P port of the hydraulic control reversing valve 43, and the oil is cut off; another stream of pressure oil P2 from the auxiliary pump flows through the pressure reducing valve 41 to reach the P port of the electromagnetic reversing valve 42 and is cut off. The pressure oil in the chuck 14 returns to the oil tank 44 through the right position of the hydraulic control reversing valve 43 and the middle position of the electromagnetic reversing valve 42, and the chuck 14 is in a loose state. At the same time, the control oil of the hydraulic control reversing valve 43 is drained to the oil tank 44 through the middle position of the electromagnetic reversing valve 42. The chuck 14 is in a loose state and will not clamp or limit the active drill rod 10.

[0082] like Fig.10 As shown, under the working condition of low-pressure clamping of the chuck 14, Y2 is energized. When the electromagnetic reversing valve 42 is in the right position, Y2 is energized, the electromagnetic reversing valve 42 is in the right working state, and the hydraulic control reversing valve 43 is in the right working state under the action of the spring force. The pressure oil from the main pump P1 flows through the first check valve 45 to the outlet of the second check valve 46 and the outlet of the third check valve 47 and the P port of the hydraulic control reversing valve 43, and the control oil of the hydraulic control reversing valve 43 is drained to the oil tank 44 through the right position of the electromagnetic reversing valve 42. A stream of the pressure oil P2 from the auxiliary pump passes through the second one-way valve 46 to the outlet of the first one-way valve 45, the outlet of the third one-way valve 47, and the P port of the hydraulically controlled reversing valve 43, and the oil is cut off; another stream of the oil passes through the pressure reducing valve 41 and is reduced to the set pressure of 6MPa. Then the pressure oil flows through the right position of the electromagnetic reversing valve 42, and then passes through the right position of the hydraulically controlled reversing valve 43 to reach the chuck 14. At this time, the chuck 14 is in a 6MPa low-pressure clamping state, limiting the active drill rod 10.

[0083] like Fig.11As shown, under the working condition of high pressure clamping of the chuck 14, Y1 is energized, the electromagnetic reversing valve 42 is in the left working state, and the hydraulic control reversing valve 43 is in the left working state under the action of the control oil. The pressure oil P1 from the main pump flows through the first check valve 45 to the outlet of the second check valve 46 and the outlet of the third check valve 47, and finally flows into the chuck 14 through the left position of the hydraulic control reversing valve 43. The pressure oil P2 from the auxiliary pump is divided into two oil circuits, one of which is reduced in pressure to 6MPa through the pressure reducing valve 41, flows through the left position of the electromagnetic reversing valve 42 to the control port of the hydraulic control reversing valve 43, so that the hydraulic control reversing valve 43 is reversed and in the left working state; the other oil circuit passes through the second check valve 46 to the outlet of the first check valve 45 and the outlet of the third check valve 47, and finally flows into the chuck 14 through the left position of the hydraulic control reversing valve 43. In this state, the main pump and the auxiliary pump merge to form a high-pressure oil source, so that the chuck 14 is in a high-pressure clamping state, and the chuck 14 is in a high-pressure clamping state for salvage.

[0084] The graded hydraulic system is used to control the chuck 14 to switch between the three states of loosening, low-pressure clamping and high-pressure clamping. The loosening state is mainly used when the power head 1 is not in operation or when a drill rod is loaded into the chuck 14. The low-pressure clamping is mainly used when the active drill rod 10 is used to connect the drill rod for drilling. The high-pressure clamping is mainly used when the chuck 14 clamps the drill rod for drilling. By controlling the clamping pressure of the chuck 14 in a graded manner and combining the setting that the diameter of the limit section 104 of the active drill rod 10 is slightly smaller than the clamping inner diameter of the chuck 14, the stress condition of the active drill rod 10 is improved, and the energy waste caused by the long-term pressure holding of the chuck 14 is avoided. The adaptability of the power head 1 to various working conditions such as normal drilling and salvage drilling is also improved.

[0085] Next, combine Figure 12-Figure 20 As shown, based on the shortcomings of the existing clamp in the disassembly and assembly of the drill rod, the improvement of the clamp is described.

[0086] like Fig.12 As shown, the clamp is a double clamp, including a base 200, a front clamp 2 and a rear clamp 20. The base 200 is provided with a front clamp 2 mounting portion and a rear clamp 20 mounting portion, and the front clamp 2 mounting portion and the rear clamp 20 mounting portion are used to mount the front clamp 2 and the rear clamp 20 respectively. Fig.13As shown, the bottom surface of the base 200 is a mounting plate 201, and the mounting portion of the front clamp 2 includes a front support plate 203 and a rear support plate 205 symmetrically arranged on the mounting plate 201. A through hole is provided on each of the front support plate 203 and the rear support plate 205, and the two through holes are coaxial after being provided. An opening is provided at the upper end of each through hole, and the width of the opening is greater than or equal to the diameter of a large drilling tool (in this embodiment, the diameter of a bottom hole motor). The additional opening makes the through holes of the front support plate 203 and the rear support plate 205 for accommodating the drill rod open upward, so that the drilling rig can be operated from top to bottom when replacing a large diameter drill rod such as a bottom hole motor.

[0087] Due to the limitation of the drilling rig structure, two methods are generally used when replacing a drill rod with a larger diameter at the existing construction site: one is to tilt the bottom hole motor relative to each axis of the clamp through hole (i.e., the drilling axis) at a certain angle and then insert it into the clamp, but the scope of application of this method is very limited. When the distance between the clamp and the hole wall is too small, the overly tilted bottom hole motor will not be able to align with the inner hole of the clamp. Another method is to remove the clamp as a whole, install the bottom hole motor and send it into the hole, and then finally install the clamp back. This method has a wider scope of application and can be used when the distance between the clamp and the hole wall is very small, but the clamp is large in size, heavy in weight and complex in structure. The overall disassembly will consume a lot of manpower and construction time, seriously reducing the construction efficiency. There are also huge safety hazards in the operation, and the operation is difficult. This embodiment adds an opening, and changes the original method of extracting and disassembling the drill rod along the front and rear ends of the through hole axis to directly taking it out or putting it in from the top of the through hole, which greatly reduces the space required for disassembly and also reduces the difficulty of replacing the drill rod.

[0088] like Fig.13 As shown, a reinforcing plate 204 is detachably connected to the openings of the two through holes. The connection method of the reinforcing plate 204 is taken as an example of the front support plate 203: a convex block and a concave block are arranged on the top of the front support plate 203, and a concave block and a convex block matching the convex block and concave block on the top of the front support plate 203 are arranged on the bottom of the reinforcing plate 204. The upper and lower convex blocks and concave blocks are interlaced and nested to form a complete plane, which improves the overall structural strength of the support plate 221 and facilitates the positioning assistance when installing the reinforcing plate 204; finally, the reinforcing plate 204 is fixed to the front support plate 203 by screws or pins. The reinforcing plate 204 ensures the integrity of the through hole during the drilling operation and avoids safety accidents caused by the collapse of the through hole.

[0089] Combination Fig.12 and Fig.14 As shown, a swing body 22 is arranged between the front support plate 203 and the rear support plate 205. The swing body 22 includes two support plates 221 symmetrically arranged front and back. Both support plates 221 are provided with guide mounting holes, and connecting flanges are arranged in the guide mounting holes. Fig.14Direction, a flip shaft seat 25 is provided at the lower right side of the support plate 221, and the outer end faces on both sides of the two support plates 221 are respectively connected with a front cylinder mounting plate 222, and the front clamping cylinder 23 is installed on the front cylinder mounting plate 222 by bolts. A swing ear seat 224 is fixedly connected at the lower side of the front cylinder mounting plate 222 near the flip shaft seat 25, and a swing cylinder 226 is rotatably connected to the swing ear seat 224 by setting a rotating shaft. Four front lining plates 223 are symmetrically provided between the two support plates 221. The four front lining plates 223 are spliced ​​to form a guiding space for the movement of the clamping cylinder piston rod, and can also support the swinging part structure. At the same time, Fig.13 As shown, the front support plate 203 and the rear support plate 205 are fixedly connected to the flip plate 202 on one side close to the flip shaft seat 25. The flip plate 202 is provided with a flip hole, and the flip hole is installed with a flip pin 227 as the flip axis of the swing body 22. The swing body 22 is the main connecting part of the various parts in the front clamp 2, which connects the front clamping cylinder 23 and the base 200 into one body, and connects the front clamp 2 and the frame 3 of the drilling rig into one body through the swing cylinder 226.

[0090] like Fig.12 As shown, the swing cylinder 226 is a driving element that drives the swing body 22 to rotate around the flip pin 227. The piston rod of the swing cylinder 226 is hinged to the swing ear seat 224 of the swing body 22 through the pin, and the cylinder barrel of the swing cylinder 226 is hinged to the frame 3 of the drilling rig through the pin. The flip pin 227 is the axis of the swing body 22 flip. The end of the flip pin 227 close to the swing body 22 is inserted into the flip shaft seat 25 of the swing body 22, and the other end is inserted into the through hole of the flip plate 202 of the base 200, and is limited at the end by a split pin or a retaining ring. The swing body 22 mechanically swings out of the base 200 by switching the rotation center, and combined with the detachable reinforcing plate 204 structure of the base 200, a large amount of space inside and above the front clamp 2 is given, so that the bottom hole motor can be installed from top to bottom. This process only requires the disassembly and assembly of a small number of parts, which not only reduces the space requirement for the front end of the clamp for the installation of the bottom hole motor, but also saves a lot of time and manpower for the overall removal of the clamp.

[0091] The clamping device clamps the drill pipe by connecting the slips to the piston rods of the two symmetrically arranged clamping cylinders. Fig.15 and Fig.16As shown, the slips include an outer slip 24 and an inner slip 240. The inner surface of the outer slip 24 is provided with a number of protrusions or fine pointed teeth for increasing the friction force with the clamping contact surface of the drill pipe. The diameter of the inner surface arc section of the outer slip 24 matches the outer diameter of the inner slip 240. The inner surface of the outer slip 24 is provided with three countersunk holes, which are used to install screws for connecting the piston rod in the clamping oil cylinder. The upper and lower parts of the arc section are provided with a plane, which is provided with a threaded hole, which is used to install the screws for connecting the inner slip 240. A clamp block is provided at each of the four corners of the plane, and four stop planes of the four clamp blocks are combined with the arc surface to form an installation space for connecting the inner slip 240. Symmetrical bosses are provided on both the upper and lower sides of the inner slip 240. The bosses facing the center of the clamp are provided with countersunk through holes, which are used to install screws connected to the outer slip 24. The outer diameter of the inner slip 240 matches the inner diameter of the outer slip 24, which is convenient for installation. Several bumps or small sharp teeth are also provided on the inner surface of the inner slip 240 to make the clamping more stable. The front projection of the inner slip 240 is a "cross" shape, which cooperates with the four stop planes on the outer slip 24 to achieve positioning along the front and rear axis of the clamp.

[0092] The inner diameter of the inner slip 240 matches the outer diameter of the drill pipe with a smaller diameter, and the inner diameter of the outer slip 24 matches the outer diameter of the drill pipe with a larger diameter. When replacing drill pipes of different sizes, the clamping adjustment can be performed by removing or adding the inner slip 240. The replacement operation can be performed by removing or installing the inner slip 240 by screwing the screws, which further improves the convenience of the operation of the double clamp. The cylinder barrel of the front clamping cylinder 23 is symmetrically fixed on the front cylinder mounting plates 222 on both sides of the swing body 22. The piston rod of the front clamping cylinder 23 extends from both sides of the front clamp 2 to the center, and the drill pipe is clamped and driven by the slips on the piston rod.

[0093] When replacing the inner slip 240, the piston rod of the clamping cylinder retracts to form an open space for disassembling and installing the slip. The slip can be quickly replaced by removing and installing a few screws, which is convenient and quick to operate. In addition, the inner slip 240 uses a larger plane to achieve positioning along the axial direction of the clamp, and uses screws to achieve positioning along the radial direction of the arc. The plane bears the shear force for the screw, which greatly reduces the possibility of deformation of the screw under stress and improves the reliability of positioning to prevent slipping when the buckle is removed.

[0094] In addition, the nested structure of the inner and outer slips 24 and the inner and outer guide sleeves 21 can quickly realize the switching of drilling tool specifications and the replacement of accessories, and also improve the application range of the clamp, especially for the situation where the directional drilling rig uses ordinary drill pipes, salvage drill pipes and bottom hole motors and other special drilling tools at the same time. And the integrated setting of the clamp and the guide sleeve not only ensures the guiding function of the drill pipe in and out of the clamp, but also saves the space requirement of the drilling rig.

[0095] Combination Fig.12 and Fig.17 As shown, the front clamp 2 also includes a guide sleeve group, which includes an outer guide sleeve 21 and an inner guide sleeve 210, and the inner guide sleeve 210 and the outer guide sleeve 21 are detachably connected in the through hole, so that the guide sleeve is integrated into the clamp to save installation space and make the overall layout of the drilling rig more compact.

[0096] like Fig.19 As shown, the outer diameter of the inner guide sleeve 210 is divided into two levels. The small diameter section of the inner guide sleeve 210 cooperates with the guide installation hole on the swing body 22, and the large diameter section of the inner guide sleeve 210 cooperates with the through holes in the middle of the front support plate 203 and the rear support plate 205 of the base 200 to achieve axial limit. At the same time, the inner diameter of the inner guide sleeve 210 is also divided into two levels, wherein the small diameter section of the inner diameter is an equal diameter through hole, which cooperates with the small diameter section of the outer diameter of the outer guide sleeve 21; the large diameter section of the inner diameter is a countersunk stage, which cooperates with the outer guide sleeve 21. Fig.18 As shown, the outer diameter of the outer guide sleeve 21 is also divided into two levels, wherein a countersunk connection hole is provided on the end surface of the large diameter section of the outer guide sleeve 21, and the countersunk connection hole is used to install screws to fix the outer guide sleeve 21 and the inner guide sleeve 210 on the swing body 22; the bottom surface of the large diameter section of the inner guide sleeve 210 is provided with a through hole corresponding to the outer guide sleeve 21, and the outer guide sleeve 21 and the inner guide sleeve 210 are fixed on the swing body 22 by setting screws in the through hole. Fig.17 As shown, the large diameter section of the outer guide sleeve 21 cooperates with the stage section of the inner guide sleeve 210 to achieve axial limitation of the outer guide sleeve 21; the inner diameter of the outer guide sleeve 21 matches the outer diameter of the smaller drill rod applicable to the drilling rig to guide the drill rod in and out of the front clamp 2. The inner guide sleeve 210 and the outer guide sleeve 21 have obvious differences in structure, which facilitates on-site accessory management and identification.

[0097] Finally, combine Fig.12 and Fig.13 As shown, the mounting portion of the rear clamp 20 includes a symmetrically arranged front side plate 209 and a rear side plate 207. The front side plate 209 and the rear side plate 207 serve as support members for the rear clamp 20. U-shaped holes are provided in the middle of the front side plate 209 and the rear side plate 207. The U-shaped holes allow the tops of the front side plate 209 and the rear side plate 207 to be completely open. Four rear lining plates 206 are symmetrically arranged between the front side plate 209 and the rear side plate 207. The four rear lining plates 206 form a guiding space for the movement of the rear clamping cylinder 230 and the cylinder piston rod, and also play a structural support role. Rear cylinder mounting plates 208 are connected to the outer end surfaces on both sides of the front side plate 209 and the rear side plate 207. The rear clamping cylinder 230 is fixedly connected to the rear cylinder mounting plates 208 by bolts. Semi-ring guide sleeves 25 are connected to the U-shaped holes, as shown in FIG. Fig. 20As shown, the outer diameter of the semi-ring guide sleeve 25 is also divided into two levels, the small diameter section of the semi-ring guide sleeve 25 matches the U-shaped hole, and the large diameter section of the semi-ring guide sleeve 25 is provided with a countersunk connecting hole on the end surface, and the countersunk connecting hole is used to install screws to fix the semi-ring guide sleeve 25 on the front side plate 209 or the rear side plate 207. The inner diameter of the semi-ring guide sleeve 25 matched with the U-shaped hole can match the drill rods of different outer diameters of the drilling rig, and the drill rods are loaded into the clamp from the top opening.

[0098] In the traditional drilling rig structure, the clamp and the guide sleeve are generally arranged as two independent components at the front end of the frame 3, occupying a large length space. In order to save space in the drilling direction, some drilling rigs even cancel the guide sleeve. The traditional guide sleeve is a rotatable hollow cylinder. An inner sleeve can only adapt to a drill rod with an outer diameter. After the drill rod is replaced, the guide sleeve must be replaced as a whole or the inner sleeve must be replaced separately to adapt to the outer diameter of the new drill rod. It is relatively simple to replace the guide sleeve as a whole, but the spare parts cost is relatively high; replacing the inner sleeve separately is relatively complicated, but the cost is low, which is the method currently commonly used on site. There is also a problem of difficult identification and management of accessories when replacing the inner sleeve separately. Since the specifications of several drill rods used by the same drilling rig are similar, the diameter difference of the drill rod is generally about 10mm, which is reflected in the thickness difference of the inner sleeve, which is only a few millimeters. It is very difficult to identify such a small gap without measuring tools on the underground site, so it is also difficult to manage accessories on site. The above-mentioned method of assembling the guide sleeve on the clamp in this embodiment just solves this kind of problem, further improves the convenience of operating the double clamp, reduces the difficulty of replacing the drill rod during operation of the drilling rig, and improves work efficiency.

[0099] Finally, if Fig.21 As shown, in view of the fact that the existing clamp may slip during drill rod shattering operation, this embodiment proposes an anti-skid hydraulic system, which controls the oil circuit of the hydraulic motor 17 in the power head 1 and the clamping oil circuit 57 of the clamp to achieve pressurization during drill rod shattering and achieve the purpose of anti-skidding.

[0100] When the drill pipe is unhooked, the clamping force of the clamp needs to overcome the torque of fully tightening the threads at the threaded joint of the drill pipe. The power head 1 needs to provide a large reversal torque to complete the unhooking. Correspondingly, the clamp also needs to provide a large and stable clamping force to ensure that the drill pipe clamped by the power head 1 does not rotate with the power head 1 when the power head 1 reverses, that is, it does not slip. However, during the period when the clamp clamps the drill pipe through the clamping cylinder under the action of hydraulic pressure and maintains pressure through the hydraulic lock, the hydraulic lock or the clamping cylinder will inevitably have different degrees of leakage, and the leakage amount and speed of the hydraulic oil will gradually increase with the increase of usage time. Therefore, the clamping force of the clamp will decrease from clamping to reversing unhooking, causing the clamp to slip when unhooking, and ultimately leading to unhooking failure, or even safety accidents.

[0101] Based on this, the front clamp 2 is driven by the front clamping cylinder 23, and the rear clamp 20 is driven by the rear clamping cylinder 230. Fig.21 As shown, the front clamping cylinder 23 and the rear clamping cylinder 230 are respectively connected to the clamping oil circuit 57 and the loosening oil circuit 58 as the hydraulic power for the movement of the cylinder piston rod, and the two oil circuits on the front clamping cylinder 23 are connected to the front hydraulic lock 53, and the two oil circuits on the rear clamping cylinder 230 are connected to the rear hydraulic lock 56. The working principle of the hydraulic system is specifically explained by taking the front clamping cylinder 23 as an example: the clamping oil circuit 57 is connected to the rodless cavity of the front clamping cylinder 23, and the loosening oil circuit 58 is connected to the rod cavity of the front clamping cylinder 23. When the clamping oil circuit 57 is passed through oil, the internal pressure of the rodless cavity increases, thereby pushing the piston rod to move outward and clamp the drill rod through the connected cava. At the same time, the hydraulic motor 17 serves as the active driving component of the power head 1. The hydraulic motor 17 is connected to the forward oil circuit 51 and the reverse oil circuit 52. When oil flows through the forward oil circuit 51, the hydraulic motor 17 is driven to drive the power head 1 forward. When oil flows through the reverse oil circuit 52, the hydraulic motor 17 is driven to drive the power head 1 reversely.

[0102] A branch oil circuit is provided between the reversing oil circuit 52 and the clamping oil circuit 57 for communication. A front non-return valve 54 is provided on the branch oil circuit. The non-return valve only allows the oil in the reversing oil circuit 52 to flow into the clamping oil circuit 57 in one direction. When the drill pipe is unhooked, the hydraulic motor 17 drives the power head 1 to reverse. At this time, the reversing oil circuit 52 is connected with oil, and a part of the hydraulic oil will flow into the two rodless chambers in the front clamping oil cylinder 23 through the front non-return valve 54, so as to make up for the leaking front clamping oil cylinder 23 with hydraulic oil, improve the clamping strength of the front clamp 2, and prevent the occurrence of slipping. The hydraulic oil in the reversing oil circuit 52 is directly used to replenish the hydraulic oil during the clamping operation of the clamping oil cylinder without adding a new oil supply inlet, which reduces the complexity of the hydraulic system structure and the cost of transformation, and can further ensure the timeliness and synchronization of the replenishment of the hydraulic oil in the rodless chamber in the clamping oil cylinder. When the unbuckling is completed, the reversing operation of the power head 1 stops, and the oil supply to the reversing oil circuit 52 is suspended, then the replenishment of the hydraulic oil to the rodless chamber can also be suspended synchronously. At this time, even if the pressure in the clamping oil circuit 57 is greater than the internal pressure of the reversing oil circuit 52, under the reverse cut-off protection of the one-way valve, the hydraulic oil will not flow back to the reversing oil circuit 52, thereby improving the safety of the hydraulic system operation.

[0103] The front hydraulic lock 53 provides hydraulic oil pressure protection for the front clamping cylinder 23 in the clamping or loosening state. When the hydraulic oil enters the front clamping cylinder 23 through the clamping oil circuit 57 or the loosening oil circuit 58 and then through the front hydraulic lock 53, the oil supply is stopped and the front hydraulic lock 53 immediately enters the pressure-maintaining state to prevent the hydraulic oil in the front clamping cylinder 23 from flowing out, thereby ensuring the stability of the clamping or loosening state of the front top clamp. In this embodiment, the oil outlet of the front check valve 54 is connected to the oil outlet of the rodless chamber of the front clamping cylinder 23 connected to the front hydraulic lock 53.

[0104] A rear check valve 55 is provided between the clamping oil circuit 57 of the rear clamping oil cylinder 230 and the reversing oil circuit 52, and the front check valve 54 and the rear check valve 55 are interconnected to simplify the hydraulic system oil circuit and ensure the synchronization of the double clamps. Further considering that in actual use, there is a situation where a single top clamp is clamped, for example, the front clamp 2 is clamped and the rear clamp 20 is released. At this time, under the reverse cut-off effect of the front check valve 54, the rodless chamber of the front clamping oil cylinder 23 and the rodless chamber of the rear clamping oil cylinder 230 are not connected to each other. Therefore, although the oil circuits of the oil inlet of the front check valve 54 and the rear check valve 55 are connected, it still does not affect the oil circuit control of the rear clamping oil cylinder 230 on the released state of the rear clamp 20. And under the cut-off effect of the rear check valve 55, it will not affect the normal operation of the reversing oil circuit 52 of the hydraulic motor 17, further ensuring the safety of the operation of the hydraulic system.

[0105] When the hydraulic motor 17 rotates forward, the forward oil circuit 51 takes in oil and the reverse oil circuit 52 returns oil. When the reverse oil circuit 52 returns oil, it is inevitable that part of the hydraulic oil will flow to the front check valve 54 and the rear check valve 55, which will have a certain impact on the clamp that originally needs to be kept in a loose state. Therefore, the opening pressure of the front check valve 54 and the rear check valve 55 is set to be higher than the return oil pressure in the reverse oil circuit 52, so as to ensure that the oil inlet valve of the check valve will not open in this case, and avoid affecting the operating safety and stability of the original equipment due to the setting of the branch oil circuit. In addition, when both clamps are in a loosened state, the rod chamber in the clamping cylinder is in a high-pressure state under the pressure-maintaining action of the hydraulic lock, while the rodless chamber is in a return oil low-pressure chamber state. At this time, even in the extreme case of failure of the one-way valve, based on the pressure difference between the rod chamber and the rodless chamber, the loosened state of the two top clamps can be ensured not to be affected, that is, a double insurance effect of loosening and maintaining the top clamps is formed, ensuring that the top clamps in the hydraulic system will not affect the normal drilling work, further ensuring the safety of construction.

[0106] By connecting the reverse oil circuit 52 of the hydraulic motor 17 and the clamping oil circuit 57 of the clamping cylinder in the clamp, and setting a one-way valve and cooperating with a hydraulic lock, an anti-skid hydraulic system for the top clamp is formed in which reverse linkage boosting, forward rotation and single action of the clamp do not affect each other. The problem of slipping caused by the decrease of clamping force due to leakage of the clamping cylinder and the hydraulic lock in the existing hydraulic system of the top clamp is solved, thereby ensuring the safety of on-site construction and improving construction efficiency.

[0107] like Figure 22-Figure 26 As shown, in view of the shortcomings of the existing main manipulator 9 and the drilling rig drill rod storage structure, the drill rod storage box 8 and the positioning system are explained.

[0108] Existing drilling equipment often uses high-precision loading devices such as multi-degree-of-freedom manipulators to transport drill rods between the drill rod storage box 8 and the frame 3. The advantage of this type of conveying system is that it has a larger capacity, but it has higher requirements for the conveying device and must be used in conjunction with a six-degree-of-freedom industrial manipulator. The positioning and target recognition technology of existing industrial manipulators is not suitable for the harsh environment of coal mine drilling sites that is dim, dusty, and humid, so the application effect at the mining drilling site is extremely poor. At the same time, the existing manipulator uses a rotary reducer to adjust the posture, which occupies a large space and does not reduce the overall size of the drilling rig. In addition, the space required for the movement of the manipulator is also large, which is not conducive to the construction of the drilling rig in narrower tunnels.

[0109] like Fig.26 As shown, the drill rod storage box 8 includes a drill rod frame 81, a rod placement slot 82 and a grabbing manipulator 83. The drill rod frame 81 is used to store drill rods. The axial direction of the drill rod storage is consistent with the length direction of the frame 3 (i.e., the drilling axis direction), so it can better adapt to the storage of longer drill rods. The grabbing manipulator 83 is installed on one side of the drill rod frame 81. In order to save space and avoid the harsh environment of the hole, the grabbing manipulator 83 is installed on the side of the drill rod frame 81 facing the drill withdrawal direction in this embodiment. The grabbing manipulator 83 has a claw-shaped component for clamping the drill rod. The grabbing manipulator 83 is connected to the drill rod frame 81 by setting a translation mechanism to achieve the purpose of moving in a parallel direction along the installation side, so as to align with different drill rod storage columns in the drill rod frame 81. The grabbing manipulator 83 has two degrees of freedom: translation along the installation side and up and down translation. The claw-shaped component can be driven to move in the above direction to grab different drill rods in the drill rod frame 81.

[0110] The rod placement groove 82 is fixedly installed on the side of the drill rod frame 81 facing the frame 3. The rod placement groove 82 is provided with a drill rod groove 821 and a driving device 823. The drill rod groove 821 is fixedly installed on the side of the drill rod frame 81, and is used to place the drill rod, and has an arc that matches the outer diameter of the drill rod. A movable baffle 822 is arranged along both ends of the axial direction of the drill rod. The movable baffle 822 is connected to the driving device 823 to move along the length direction of the drill rod under the drive of the driving device 823. When the drill rod is placed therein, the length direction is expanded to the outside, thereby increasing the fault tolerance space. After the drill rod is placed, the length direction is reduced to the inside, thereby aligning the drill rod with the drill rod frame 81 or the frame 3. By setting the drill rod placement length direction in the drill rod conveying system to be consistent with the frame 3 direction, it is suitable for the long length of the directional drill rod and the construction characteristics of the directional drilling rig, saving the space for placing the drill rod, and taking into account the requirements of large-capacity storage of the drill rod and reducing the size of the whole machine.

[0111] Combination Figure 1 and Fig. 22As shown in FIG. 1 , a groove 824 is provided in the rod placement slot 82, and an isometric sensor 98 is provided on the frame 3. The isometric sensor 98 is used to determine whether the main manipulator 9 has reached the set inclination angle. The main manipulator 9 is installed on the frame 3 and is used to grab the drill rods in the drill rod storage box 8 onto the frame 3, and then the power head 1 and the clamp are used to install the drill rods. The main manipulator 9 includes a pitch cylinder 92, a slewing drive 93, a pitch arm 94, a slewing shaft 95, a slewing arm 96 and a gripper 97, as shown in FIG. Fig.23 As shown, the pitch arm 94 includes a rotating cylinder 944, an axle seat 941 and a support body 943 fixedly connected between the rotating cylinder 944 and the axle seat 941. The top of the piston rod of the pitch oil cylinder 92 is hinged to the side of the support body 943. The lower ends of the pitch arm 94 and the pitch oil cylinder 92 are both rotatably connected to the mobile platform 6. The slewing driver 93 is fixed on the axle seat 941. The output shaft, the swing arm 96 and the hand claw 97 of the slewing driver 93 are connected in sequence. When the piston rod of the pitch oil cylinder 92 is retracted, the inclination angle of the swing arm 96 increases; when the piston rod is extended, the inclination angle of the swing arm 96 decreases. The rotating cylinder 944 is provided with a connecting sleeve 19, and the connecting sleeve 19 is connected with an incremental sensor 945 and an angle identification plate 946. The incremental sensor 945 cooperates with the angle identification plate 946 to determine whether the manipulator has reached an inclination angle suitable for conveying the drill rod to the frame 3 (between the power head 1 and the clamp). This section is all prior art (see patent number: CN116877007A for details) and will not be repeated here.

[0112] The positioning system in this embodiment includes a horizontal sensor 962, a horizontal sensing block 961, a flip sensor 947 and a flip sensing plate 948; wherein the flip sensor 947 cooperates with the flip sensing plate 948 to determine whether the rotating arm 96 of the main manipulator 9 has driven the gripper 97 to flip toward the frame 3. The horizontal sensor 962 cooperates with the horizontal sensing block 961 to determine whether the main manipulator 9 is at a position with an inclination angle of 0°.

[0113] like Fig.23 As shown, the right end of the shaft seat 941 is connected to the end cover 942, and the flip sensor 947 is installed on the lower side of the shaft seat 941 or the end cover 942 close to the end of the rotating arm 96. In this embodiment, it is specifically installed on the lower side of the end cover 942; Fig. 22 As shown, the mobile platform 6 is connected with a cylinder seat 91 by bolts, and the bottom of the pitch cylinder 92 is rotatably connected to the cylinder seat 91. The slewing driver 93 is installed at one end of the shaft seat 941 away from the end cover 942. The inner cavity of the shaft seat 941 is provided with a mounting hole, and the slewing shaft 95 is installed in the mounting hole. The end cover 942 is fixedly installed on the shaft seat 941 to limit the axial position of the slewing shaft 95. The flipping induction plate 948 is installed on the end of the slewing shaft 95 or the rotating arm 96 close to the pitching arm 94. For the convenience of installation, the flipping induction plate 948 is specifically installed on an end face of the slewing shaft 95 close to the flipping sensor 947 by bolts in this embodiment.

[0114] like Fig.24 As shown, the horizontal sensing block 961 is installed on the rotating arm 96, and the horizontal sensor 962 is installed on the drill rod frame 81 or the rod placement slot 82 and other components through a bracket or a fixing seat, and the horizontal sensor 962 faces the manipulator rotating arm 96, and forms a sensing group with the horizontal sensing block 961 on the rotating arm 96. The specific embodiment of this embodiment is as follows Fig.26 As shown, the horizontal sensor 962 is connected to the side of the groove portion 824 on the rod placement groove 82. When the swing arm 96 is in a horizontal position, the horizontal sensor 962 is connected to the horizontal sensing block 961, and the horizontal sensor 962 can send a signal to the automatic control system 7. The automatic control system 7 controls the pitch cylinder 92 based on the acquired signal, so that the swing arm 96 stops vertical rotation. If the main manipulator 9 has an inclination angle of 0°, that is, the swing arm 96 is in a horizontal position, the horizontal sensor 962 is connected to the horizontal sensing block 961, and the angle identification plate 946 is not connected to the incremental sensor 945.

[0115] like Fig.25 As shown, in this embodiment, the flip sensing plate 948 is an arc-shaped iron plate, and the flip sensor 947 and the flip sensing plate 948 form a sensing group. When the gripper 97 is in a vertical position, the flip sensor 947 is disconnected from the flip sensing plate 948 (that is, the flip sensor 947 and the flip sensing plate 948 do not overlap in the same axial direction), and no signal is output. When the gripper 97 flips toward the rack 3, the flip sensing plate 948 covers the flip sensor 947, and the sensor outputs a signal. It should be noted that the coverage range of the flip sensing plate 948 meets the full flipping angle travel requirements of the gripper 97. The function of this sensing group is: when the sensor is turned on and there is a signal output, it means that the gripper 97 has flipped inward, that is, the gripper 97 is in the rack 3, and the signal is transmitted to the automatic control system 7, and the automatic control system 7 restricts the actions of other actuators to avoid damage caused by motion interference between the power head 1 and the gripper 97.

[0116] By using the original incremental sensor 945 and iso-angle sensor 98 of the main manipulator 9 to judge whether the manipulator has reached the appropriate inclination angle to the frame 3 and whether the main manipulator 9 has reached the same inclination angle as the frame 3, the additional horizontal sensor 962 and horizontal sensor block 961 sensor group and the flip sensor 947 and flip sensor plate 948 sensor group are further added to ensure that the actuator in the drilling system can work within the designed inclination range. When the rotating arm 96 rotates, a signal is sent to the automatic control system 7 to promptly handle unexpected situations such as the main manipulator 9 and the power head 1. The flip controller is independent of the rotary drive 93 that drives the rotating wall to rotate, and can monitor whether the rotating arm 96 is rotated, thereby increasing the reliability of the manipulator arm positioning system. Furthermore, when the arm 96 is turned to the side close to the frame 3, the flip sensing plate 948 always covers the flip sensor 947, thereby ensuring that only when the arm 96 returns to the initial state, that is, the position closest to the drill rod box, the flip sensor 947 and the flip sensing plate 948 are disconnected, thereby ensuring that there is no motion interference between the moving head and the gripper 97. In addition, the additional level sensor 962 can also make the inclination sensor use a simpler single-head oil cylinder, thereby making the inclination control simpler.

[0117] In summary, the mining drilling system in this scheme has been improved and upgraded through the improvement of the power head 1 structure, the clamp structure, and the control hydraulic system of the chuck 14 and the control hydraulic system of the clamp, and the positioning system of the existing main manipulator 9 has been further improved and designed. In the limited structural space of the original drilling system, it not only realizes the convenience of installation and removal and replacement of the drill rod, but also can perform different controls according to different construction needs during the construction process. It is suitable for mining drilling rigs that need to change the specifications of drilling tools during underground construction, especially for directional drilling rigs that use ordinary drill rods, salvage drill rods, bottom hole motors and other special drilling tools at the same time. The main manipulator 9 can work within the inclination range of the drilling rig design through four position sensors, further ensuring the reliability and safety of the drilling rig construction. The whole drilling system has a simple structure and can meet more underground working environments.

[0118] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A mining drilling system, comprising a frame, a power head, a clamp and a main manipulator, characterized in that: The power head includes a main shaft, a water braid and an active drill rod. A connecting shaft is arranged inside the main shaft. The water braid and the active drill rod are respectively connected to the two ends of the connecting shaft. The active drill rod includes a limit section and a rotation-stop section. A chuck is arranged at one end of the main shaft. A front end cover is arranged at one end of the chuck. The chuck is clamped on the limit section. The front end cover is slidably connected to the rotation-stop section. The front end cover can drive the active drill rod to rotate. The chuck is connected to a graded hydraulic system. The graded hydraulic system can control the clamping pressure of the chuck on the limit section. The clamp includes a front clamp and a rear clamp, the front clamp includes a front support plate and a rear support plate which are spaced apart, both the front support plate and the rear support plate are provided with through holes, both through holes are provided with openings, and the widths of the openings are greater than or equal to the diameter of the large drilling tool; a swinging body is provided in the front support plate and the rear support plate, and the swinging body can swing outside the front support plate and the rear support plate; It also includes a drill rod storage box, which includes a drill rod frame, a rod placement slot and a grabbing manipulator. The axial direction of the drill rod storage is consistent with the length direction of the frame, and the grabbing manipulator is installed on the side of the drill rod frame; the rod placement slot is installed on the side of the drill rod frame facing the frame, and a drill rod slot and a driving device are provided in the rod placement slot. The drill rod slot is arranged on the side of the drill rod frame, and movable baffles are arranged at both ends along the axial direction of the drill rod, and the movable baffle is connected to the driving device; The main manipulator includes a positioning system and a rotating arm and a gripper connected to each other. The positioning system includes a horizontal sensor, a horizontal sensing block, a flip sensor and a flip sensing plate; the flip sensor and the flip sensing plate are used to determine whether the rotating arm of the main manipulator has driven the gripper to flip toward the frame; the horizontal sensor and the horizontal sensing block are used to determine whether the main manipulator is in the set inclination position; The main manipulator also includes a pitch cylinder, a slewing drive, a pitch arm and a slewing shaft. The pitch arm includes an axle seat and a support body connected to each other. The slewing drive, the axle seat, the slewing arm and the gripper are connected in sequence. An end cover is provided at one end of the axle seat away from the slewing drive. The piston rod of the pitch cylinder is rotatably connected to the side wall of the support body. The slewing shaft is provided between the axle seat and the slewing arm. The rollover sensor is installed on the lower side of the shaft seat or the end cover close to one end of the rotating arm, and the rollover sensing plate is installed on the end of the rotating shaft or the rotating arm close to the pitch arm; The horizontal sensing block is installed on the rotating arm, the horizontal sensor is installed on the drill rod frame or the rod placement slot, and the horizontal sensor faces the manipulator rotating arm.

2. A mining drilling system according to claim 1, characterized in that: The power head also includes a hydraulic motor, which is connected to a gearbox. The gearbox includes a gear shaft and multi-stage gears, which transmits the power of the hydraulic motor to the active drill rod after speed change and torque increase. The main shaft is arranged inside the gearbox.

3. A mining drilling system according to claim 2, characterized in that: The active drill rod includes a rod body and a double-head joint arranged at one end of the rod body. The limit section and the anti-rotation section are both arranged on the rod body. The outer periphery of the anti-rotation section is provided with a hexagonal shape, and the interior of the front end cover is provided with a hexagonal through hole. The diagonal distance of the six squares around the anti-rotation section is less than the diameter of the chuck after loosening, the outer diameters of the shaft sections on both sides of the limit section are larger than the minimum diameter after the chuck is clamped, and the width of the limit section is slightly larger than the clamping width of the chuck.

4. A mining drilling system according to claim 3, characterized in that: The water braid includes a core shaft and a water inlet assembly, wherein the core shaft is fixedly connected and communicated with the connecting shaft, and the core shaft is communicated and rotatably connected with the water inlet assembly; the water inlet assembly includes a shell and a water inlet hole, and a water supply cavity communicated with the water inlet hole is provided inside the shell; and further includes a bearing seat, which supports the core shaft, and a grease nipple is provided on the bearing seat, and the grease nipple is communicated with the inside of the bearing seat; It also includes a connecting sleeve, which connects the water braid to the end of the gearbox away from the hydraulic motor; the connecting sleeve includes a connecting flange, which is provided with a waist-shaped hole for bolts to pass through, and a gap is left between the end face of the connecting sleeve facing the active drill rod and the end face of the connecting shaft.

5. A mining drilling system according to claim 4, characterized in that: The power head also includes a brake assembly, which includes a brake cover, a clamping piston and a releasing piston. A sliding shaft is provided on the brake cover, one end of the transmission shaft extends into the center of the clamping piston, and a plurality of brake slips are distributed circumferentially of the transmission shaft. The clamping piston is sleeved on the brake slip and can move axially. The surface of the brake slip away from the transmission shaft is an inclined surface, and the surface of the clamping piston opposite to the brake slip is a slope surface matching the inclined surface of the brake slip. The clamping piston can slide through the brake slip to clamp the transmission shaft, and the releasing piston is slidingly sleeved on the sliding shaft and can push the clamping piston to release the clamping.

6. A mining drilling system according to claim 1, characterized in that: The graded hydraulic control system includes a pressure reducing valve, an electromagnetic reversing valve, a hydraulically controlled reversing valve, a main pump and an auxiliary pump; the electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve with an A port, a B port, a P port and a T port, and the electromagnetic reversing valve has a Y1 position and a Y2 position; the hydraulically controlled reversing valve is a hydraulically controlled reversing valve with a P port, a T port, an A port and a hydraulically controlled port, the chuck has a control oil port, the A port of the hydraulically controlled reversing valve is connected to the control oil port of the chuck, and the main pump is connected to the P port of the hydraulically controlled reversing valve; the oil circuit of the auxiliary pump is divided into two streams, one is connected to the P port of the hydraulically controlled reversing valve, and the other is connected to the P port of the electromagnetic reversing valve through the pressure reducing valve; the oil drain port of the pressure reducing valve is connected to the T port of the electromagnetic reversing valve and drains oil; the oil output from the A port of the electromagnetic reversing valve is divided into two streams, one is connected to the P port of the hydraulically controlled reversing valve, and the other is connected to the hydraulically controlled port of the hydraulically controlled reversing valve, and the B port of the electromagnetic reversing valve is connected to the T port of the hydraulically controlled reversing valve.

7. A mining drilling system according to claim 6, characterized in that: When the chuck is released, the Y1 and Y2 positions lose power, the pressure oil from the main pump reaches the P port of the hydraulically controlled reversing valve and is cut off, and the pressure oil from the auxiliary pump flows through the pressure reducing valve and reaches the P port of the electromagnetic reversing valve and is cut off; When the chuck is clamped at low pressure, Y2 is energized, and the pressure oil from the main pump reaches the P port of the hydraulic control reversing valve and is cut off; one stream of the pressure oil from the auxiliary pump reaches the P port of the hydraulic control reversing valve and is cut off, and the other stream flows through the pressure reducing valve, the electromagnetic reversing valve, and the hydraulic control valve to the control port of the chuck; When the chuck is clamped under high pressure, Y1 is energized, and the pressure oil from the main pump flows into the control port of the chuck through the hydraulic control reversing valve. One stream of pressure oil from the auxiliary pump reaches the control port of the hydraulic control reversing valve through the electromagnetic reversing valve to switch the working state of the hydraulic control reversing valve, and the other stream flows into the control port of the chuck through the hydraulic control reversing valve, and the hydraulic oil from the main pump and the auxiliary pump merge.

8. A mining drilling system according to claim 1, characterized in that: The swing body includes two support plates symmetrically arranged front and back, and guide mounting holes are provided on both support plates; a flip shaft seat is provided below one side of the support plate, and the outer end faces on both sides of the two support plates are respectively connected to a front cylinder mounting plate, and a front clamping cylinder is provided on the front cylinder mounting plate, and a swing ear seat is provided below the front cylinder mounting plate close to the flip shaft seat, and a swing cylinder is rotatably connected in the swing ear seat; a flip plate is connected to one side of the front support plate and the rear support plate close to the flip shaft seat, a flip hole is provided on the flip plate, and a flip pin is provided in the flip hole.

9. A mining drilling system according to claim 8, characterized in that: The openings are all detachably connected with reinforcement plates, and a plurality of mutually matching grooves and protrusions are arranged between the tops of the front support plate and the rear support plate and the bottom of the reinforcement plate.

10. A mining drilling system according to claim 9, characterized in that: A guide sleeve group is provided in each of the two through holes, and the guide sleeve group includes an outer guide sleeve and an inner guide sleeve; the outer diameter of the inner guide sleeve is divided into two levels, the small diameter section of the inner guide sleeve cooperates with the guide mounting hole on the swing body, and the large diameter section of the inner guide sleeve cooperates with the through holes on the front support plate and the rear support plate.

11. A mining drilling system according to claim 10, characterized in that: The outer diameter of the outer guide sleeve is divided into two levels, wherein a countersunk connecting hole is provided on the large diameter section of the outer guide sleeve, and the countersunk connecting hole is used to connect the outer guide sleeve and the inner guide sleeve to the swing body; the inner diameter of the inner guide sleeve is also divided into two levels, the small diameter section of the inner diameter is an equal diameter through hole, which cooperates with the small diameter section of the outer diameter of the outer guide sleeve; the large diameter section of the inner diameter is a countersunk stage, which cooperates with the large diameter section of the outer guide sleeve.

12. A mining drilling system according to claim 11, characterized in that: The clamp mounting part includes a rear clamp mounting part, and the rear clamp mounting part includes a symmetrically arranged front side plate and a rear side plate, and the middle part of the front side plate and the rear side plate are both provided with U-shaped holes, and the U-shaped holes make the tops of the front side plate and the rear side plate completely open; the rear cylinder mounting plates are connected to the outer end surfaces on both sides of the front side plate and the rear side plate.

13. A mining drilling system according to claim 12, characterized in that: A semi-ring guide sleeve is connected to each U-shaped hole, and the outer diameter of the semi-ring guide sleeve is divided into two levels, wherein the small diameter section of the semi-ring guide sleeve cooperates with the U-shaped hole, and the large diameter section of the semi-ring guide sleeve is used to fix the semi-ring guide sleeve on the front side plate or the rear side plate.

14. A mining drilling system according to claim 13, characterized in that: The front clamp and the rear clamp are both connected to a clamping cylinder. The power head also includes a hydraulic motor. An anti-skid hydraulic system is provided between the hydraulic motor and the clamping cylinder. The anti-skid hydraulic system can pressurize the clamping cylinder through the reversing oil circuit of the hydraulic motor during the clamping operation.

15. A mining drilling system according to claim 14, characterized in that: The piston rod in the clamping cylinder is detachably connected with an external slip, and the inner side of the external slip is detachably connected with an internal slip; the diameter of the arc section on the inner surface of the external slip matches the outer diameter of the internal slip, a countersunk hole is provided on the external slip, and the piston rod of the clamping cylinder is detachably connected to the countersunk hole; bosses are provided at the upper and lower ends of the internal slip, and slots are provided at the upper and lower ends of the external slip, and the bosses are detachably connected to the slots.

16. A mining drilling system according to claim 15, characterized in that: The rear clamp is connected to a rear clamping oil cylinder as a driving member, and the front clamping oil cylinder and the rear clamping oil cylinder are respectively connected to a clamping oil circuit and a loosening oil circuit; The anti-skid hydraulic system includes a branch oil circuit between the reversing oil circuit connected to the hydraulic motor and the clamping oil circuit connected to the clamping cylinder. A one-way valve is provided on the branch oil circuit, and the one-way valve only allows the oil in the reversing oil circuit to flow into the clamping oil circuit in one direction; a hydraulic lock is connected to both the clamping oil circuit and the releasing oil circuit.

17. A mining drilling system according to claim 16, characterized in that: The oil inlet valve opening pressure of the one-way valve is higher than the oil return pressure in the reverse oil circuit.

18. A mining drilling system according to claim 17, characterized in that: A front one-way valve is provided between the clamping oil circuit and the reversing oil circuit of the front clamping oil cylinder for connection, a rear one-way valve is provided between the clamping oil circuit and the reversing oil circuit of the rear clamping oil cylinder for connection, and the front one-way valve and the rear one-way valve are communicated with each other.

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