Automatic drilling machine with narrow machine body

Abstract

The invention relates to the technical field of mining equipment, and discloses a narrow-machine-body automatic drilling machine which comprises a rack and a drill rod box, a clamping device and a driving drill rod are arranged on the rack, and a drill rod transferring system composed of an auxiliary mechanical arm, a transferring groove and a main mechanical arm is arranged between the rack and the drill rod box. The main manipulator comprises a rotary speed reducer, a rotary arm, an overturning assembly, a first clamping assembly and a swing assembly which are connected in sequence, the auxiliary manipulator is arranged at the top of the drill rod box in a sliding mode, and a drill rod to be clamped reaches the position above the driving drill rod under the action of the main manipulator and swings into the clamping device under the action of the swing assembly; after the technical scheme is adopted, the distance between the driving drill rod and the tail of the drill rod to be clamped can be reduced, the width of a drilling machine body is further reduced, and the drilling machine can better adapt to the working environment of a narrow roadway of an underground coal mine.

Description

Technical Field

[0001] The invention relates to the technical field of mining equipment, and in particular to an automatic drilling rig with a narrow body. Background Art

[0002] In the process of mining, especially in underground mines, in order to reduce the labor burden of workers, mining automatic drilling rigs are generally used to enter the tunnels for drilling operations. Existing mining automatic drilling rigs generally include a drill rod box and a frame. A sub-manipulator and a main manipulator are arranged between the drill rod box and the frame as a drill rod loading and unloading system, wherein the sub-manipulator is used to transport the drill rod between the drill rod box and the main manipulator, and the main manipulator is used to transfer the drill rod transported by the sub-manipulator to the drill rig frame for clamping, or to transfer the drill rod in the hole disassembled at the drill rig frame to the sub-manipulator, and transport the disassembled drill rod in the hole back to the drill rod box for storage through the sub-manipulator. When drilling with an automatic drilling rig, the automatic drilling rig needs to be transported to the tunnel. Since the design and construction of the tunnel are affected by many factors such as geological conditions, resource protection, economic costs and safety considerations, the design width of the tunnel is subject to many restrictions. Therefore, the body width of the automatic drilling rig greatly determines the scope of application of the automatic drilling rig.

[0003] At present, the width of the automatic drilling rig is generally determined by the length of the frame, and the length of the frame often depends on the design of the main manipulator. For example, the patent with publication number CN111042752A discloses a manipulator for loading and unloading drill rods, including a rotary reducer, a rotary arm, a rotary motor and a gripper. The rotary motor is connected to the rotary reducer and drives the rotary arm to drive the gripper to flip. The rotary reducer controls the increase and decrease of the inclination angle of the gripper; that is, the manipulator transfers the drill rod to be clamped to the drilling rig frame for loading and unloading. The general sequence of clamping is: after the claw clamps the drill rod to be clamped, the rotary reducer controls the claw to increase its inclination angle, and then the rotary motor drives the rotary arm to drive the claw to flip, and then the rotary reducer controls the claw to reduce its inclination angle until the drill rod to be clamped is placed in the clamp of the drilling rig. The drill rod to be clamped is placed in the clamp of the drilling rig, and the claw contacts the sensor installed on the frame to stop the rotary reducer from rotating. After the clamp clamps the drill rod to be clamped, the claw releases and the manipulator resets.

[0004] After the drill rod to be clamped is placed in place, the slewing arm is parallel to the frame, that is, after the drill rod to be clamped is placed in place, the drill rod to be clamped is parallel to the frame, that is, the drill rod to be clamped is coaxial with the active drill rod of the drilling rig, and then the active drill rod moves and rotates to be threadedly connected with the tail end of the drill rod to be clamped; this is the prior art and will not be described in detail here, but it should be noted that if Fig.16As shown, in the process of reducing the inclination angle of the gripper controlled by the rotary reducer, since the running trajectory of the tail of the drill rod to be clamped is an arc, in order to avoid interference between the tail of the drill rod to be clamped and the active drill rod and ensure that the drill rod to be clamped is smoothly placed in place, the distance between the drill rod to be clamped and the active drill rod is increased, that is, after the drill rod to be clamped is placed in the clamp of the drilling rig, there is a large distance k between the active drill rod and the tail of the drill rod to be clamped. This distance directly increases the body width of the drilling rig and the body width of the automatic drilling rig. As a result, when the completed tunnel is too narrow, the automatic drilling rig cannot enter the tunnel for operation. However, the design of a new narrow-body drilling rig requires consideration of many issues such as R&D cost, procurement cost, production cost, testing and certification, which is difficult and time-consuming, and it is difficult to meet the urgent needs of on-site users for automatic drilling rigs. Summary of the invention

[0005] The present invention is intended to provide a narrow-body automatic drilling rig to provide a narrow-body drilling rig suitable for mining operations in narrow tunnels, thereby avoiding the use of manual drilling rigs or blasting methods for mining, and reducing safety hazards when mining in narrow tunnels.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a narrow-body automatic drilling rig, comprising a frame and a drill rod transfer system, a clamp and an active drill rod are arranged on the frame, the drill rod transfer system comprises a drill rod box for storing drill rods, an auxiliary manipulator for transferring drill rods between the drill rod box and a running slot, a running slot and a main manipulator for transferring drill rods between the transfer slot and the frame, the main manipulator comprises a rotary reducer, a rotary arm, a flip assembly and a first clamping assembly connected in sequence, the auxiliary manipulator sliding assembly is arranged on the top of the drill rod box, the main manipulator also comprises a swing assembly and a first positioning assembly, the first clamping assembly is connected to the flip assembly through the swing assembly, the rotary reducer and the flip assembly cooperate with the first positioning assembly to transfer the drill rod to be clamped to the top of the drilling rig frame and be parallel or nearly parallel to the frame, and then the swing assembly drives the first clamping assembly to rotate to swing the drill rod to be clamped into the clamp, and the axis of the active drill rod is exactly coaxial with the axis of the drill rod to be clamped.

[0007] The beneficial effects of this program are:

[0008] After the rotary reducer drives the flipping mechanism to increase the inclination angle through the rotating arm, the flipping mechanism drives the first clamping assembly to flip, and then the swinging mechanism drives the drill rod to be clamped into the clamp in a state parallel to the frame, and after the swinging mechanism drives the drill rod in the hole to swing out of the clamp in a state parallel to the frame, the flipping mechanism and the rotary reducer cooperate to drive the first clamping assembly to reset and continue to grab the drill rod to be clamped.

[0009] Compared with the existing manipulators for loading and unloading drill rods, this solution changes the way of placing the drill rod to be clamped in place and then making it parallel to the frame. By setting a swing mechanism, the swing mechanism will swing the drill rod to be clamped, which is parallel to the frame in advance, into the clamp. The running trajectory of the tail of the drill rod to be clamped in the process of entering the clamp is no longer an arc. The drill rod to be clamped can be placed in place with a very small distance from the active drill rod in the axial direction of the frame, thereby solving the problem of the prior art that the tail of the drill rod to be clamped will interfere with the active drill rod in the process of placing the drill rod to be clamped in the clamp, and further solving the problem that there is a large distance between the active drill rod and the tail of the drill rod to be clamped after the drill rod to be clamped is placed in place.

[0010] Compared with the prior art, after the drill rod to be clamped is placed in place, the distance between the active drill rod and the tail of the drill rod to be clamped is reduced by 80mm. The reduction of 80mm shortens the propulsion stroke of the active drill rod, reduces the design difficulty, and also reduces the length of the frame in the axial direction by 80mm, that is, it is reduced by 80mm in the width direction of the drill rig body, making the structure of the drilling rig more compact and better adaptable to the working environment of narrow tunnels in coal mines. At the same time, the frame is less restricted when adjusting the inclination angle.

[0011] Furthermore, the swing assembly includes a swing driving member and a swing mounting frame, the swing mounting frame is connected to the flip assembly, the first clamping assembly is hinged to the swing mounting frame through the swing driving member, and the first clamping assembly can rotate around the swing mounting frame, a power head is slidably arranged on the frame, an active drill rod is rotatably arranged on the power head, and the axis of the active drill rod is perpendicular to the movement trajectory of the axis of the drill rod clamped by the first clamping assembly during the rotation process.

[0012] Furthermore, the first positioning assembly includes a first sensor fixed on the outer wall of the frame for determining whether the first clamping assembly is parallel to the frame, a second sensor fixed on the frame for determining a first rotation angle of the swivel arm, and a third sensor fixed on the frame for determining a second rotation angle of the swivel arm; when the swing mounting frame triggers the first sensor, the drill rod is parallel to the frame; when the second sensor is triggered, the swivel arm reaches the inclination angle of the first clamping assembly to clamp or put back the drill rod; when the third sensor is triggered, the swivel arm reaches the flipping inclination angle of the flipping assembly.

[0013] Furthermore, the flipping mechanism includes a flipping drive and a flipping spindle, the flipping drive is fixedly arranged on the rotating arm, the flipping spindle is rotatably arranged on the rotating arm and fixedly connected to the output shaft of the flipping drive, the first clamping assembly includes a telescopic mechanism and a first clamping assembly, the first clamping assembly is connected to the flipping mechanism through the telescopic mechanism, the telescopic mechanism is hinged to the swing mounting frame through the swinging drive, and the telescopic mechanism can rotate around the swing mounting frame to drive the first clamping assembly to rotate.

[0014] Furthermore, a positioning sleeve is fixed on the slewing arm, an inner boss is fixed on the inner wall of the positioning sleeve, and an outer boss is fixed on the outer arm of the flip spindle. The outer boss abuts against the inner boss after the flip spindle rotates to the limit position. Through the cooperation of the inner boss and the outer boss, the limit rotation angle of the flip spindle is limited to achieve precise positioning of the manipulator flipping, while preventing the flip spindle from flipping too much when the flip drive is damaged or the control of the flip drive has problems, causing damage to other facilities on the drilling rig and increasing losses.

[0015] Furthermore, the telescopic mechanism includes a telescopic outer cylinder, a telescopic inner cylinder and a telescopic driving member. The telescopic outer cylinder is rotatably arranged on a swing mounting frame and can rotate under the action of a flip driving member. The telescopic inner cylinder is slidably arranged in the telescopic outer cylinder. The two ends of the telescopic driving member are respectively fixedly connected to the telescopic inner cylinder and the telescopic outer cylinder. The first clamping assembly is fixedly arranged at the free end of the telescopic inner cylinder; the first positioning assembly also includes a telescopic positioning assembly for detecting the extreme positions of extension and retraction of the telescopic inner cylinder. The telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame and a proximity switch. The protective cover is fixedly connected to the telescopic outer cylinder, the proximity switch is installed on the protective cover, the signal rod is slidably connected to the protective cover, one end of the signal rod is connected to the first clamping assembly through the connecting frame, and notches are provided at both ends of the signal rod. The signal changes when the notch approaches the proximity switch. By setting up the telescopic mechanism and the telescopic positioning component, after the first clamping component grabs the drill rod to be clamped, before the flipping mechanism drives the first clamping component to flip, the first clamping component retracts under the drive of the telescopic mechanism. In this way, the flipping of the first clamping component takes up less space, which is beneficial to improving the compactness of the drilling rig and is also convenient for operation in narrow lanes. At the same time, through the setting of the telescopic positioning component, by setting notches at both ends of the signal rod and no notch in the middle, the notch cooperates with the proximity switch. When the notch is close to the proximity switch, the proximity switch no longer contacts the signal rod and causes the signal to change, thereby determining whether the signal rod is fully extended and retracted. Since the signal rod is extended and retracted with the telescopic inner tube, it is determined whether the telescopic inner tube is fully extended and retracted, so that the telescopic stroke of the telescopic mechanism can be accurately fed back through the telescopic positioning component, so that the stroke of the telescopic mechanism is more controllable, and the telescopic speed of the manipulator can be increased, thereby improving the construction efficiency of the drilling rig.

[0016] Furthermore, the swing mounting frame includes a connecting plate and two L-shaped mounting plates, the two mounting plates are connected by the connecting plate, when the connecting plate contacts a sensor arranged on the frame, the drill rod is parallel to the frame, the side plate close to the flipping mechanism is connected to the flipping mechanism, the first clamping assembly is hinged to the connecting plate through a swing driving member, and the first clamping assembly can rotate around the side plate.

[0017] Furthermore, the transfer trough is slidably arranged on the frame and can drive the drill rod to be clamped away from the auxiliary manipulator. When the drill rod is installed, the transfer trough drives the drill rod to be clamped away from the auxiliary manipulator and clamps the drill rod to be clamped on the transfer trough through the first clamping assembly. Subsequently, the flipping mechanism drives the first clamping assembly to flip a certain angle first, and then drives the flipping mechanism to increase the inclination angle until it is greater than the inclination angle of the frame. The flipping mechanism drives the first clamping assembly to transfer the drill rod to be clamped to the top of the drilling rig frame. The rotary reducer drives the flipping mechanism to reduce the inclination angle until the flipping mechanism is parallel or nearly parallel to the frame. The swinging mechanism drives the first clamping assembly to swing the drill rod to be clamped into the clamper.

[0018] The technical effect of this scheme is: although the rotary reducer can directly drive the flipping mechanism to increase the inclination angle until the drill rod to be clamped is parallel to the frame, there is uncertainty. The rotary reducer drives the flipping mechanism to increase and then decrease the inclination angle to ensure that the drill rod to be clamped is parallel to the frame; specifically, since the distance between the proximity switch for detecting the inclination angle and the rotation axis of the rotary reducer is smaller than the distance between the proximity switch for detecting that the drill rod to be clamped is parallel to the frame and the rotation axis of the rotary reducer, that is, the rotation radius of the former is much smaller than the rotation radius of the latter. Under the same rotation arc length error, the smaller the rotation radius, the larger the angle error. Therefore, if only the proximity switch for detecting the inclination angle is used for positioning, the drill rod to be clamped and the frame may no longer be parallel but tilted within the rotation error arc length range, affecting the subsequent connection action of the active drill rod and the drill rod to be clamped. Therefore, the rotary reducer drives the flipping mechanism to increase and then decrease the inclination angle to ensure that the drill rod to be clamped is parallel to the frame.

[0019] Furthermore, the first clamping assembly includes a fixed claw, a movable claw and a clamping drive, the fixed claw is fixedly arranged at the free end of the telescopic inner cylinder, the movable claw is hinged on the fixed claw, and the clamping drive is arranged on the fixed claw and can drive the movable claw to rotate.

[0020] Furthermore, the telescopic driving member, the swing driving member and the clamping driving member are all telescopic driving members.

[0021] Furthermore, the telescopic driving member is a cylinder.

[0022] Further, the first sensor, the second sensor and the third sensor are all proximity switches.

[0023] Furthermore, the auxiliary manipulator includes a sliding assembly, a lifting and clamping assembly and a second positioning assembly. The lifting and clamping assembly slides on the top of the drill rod box under the action of the sliding assembly and the second positioning assembly and transports the drill rod between the drill rod box and the main manipulator.

[0024] Furthermore, the sliding assembly includes a sliding seat, a sliding rail and a sliding drive member, the sliding seat is slidably arranged on the sliding rail, the sliding rail is fixedly arranged on the top of the drill rod box, and the sliding drive member is fixedly arranged on the sliding seat and can drive the sliding seat to reciprocate.

[0025] Furthermore, the lifting and clamping assembly includes a lifting assembly and a second clamping assembly, and the lifting assembly includes a mounting cylinder, a first lifting cylinder, a second lifting cylinder, a first lifting drive and a second lifting drive. The mounting cylinder is rotatably arranged on a sliding platform, the first lifting cylinder is slidably arranged in the mounting cylinder, the second lifting cylinder is slidably arranged in the first lifting cylinder, the first lifting drive is fixedly arranged between the mounting cylinder and the first lifting cylinder and can drive the first lifting cylinder and the mounting cylinder to slide relative to each other, the second lifting drive is arranged between the first telescopic cylinder and the second telescopic cylinder and can drive the first lifting cylinder and the second lifting cylinder to slide relative to each other, and the second clamping assembly is fixedly arranged at the free end of the second lifting cylinder. Through the arrangement of the first lifting cylinder and the second lifting cylinder, a two-stage lifting structure is formed, and the second clamping assembly is lifted and lowered under the drive of the first lifting drive and the second lifting drive. At the same time, only one solenoid valve can be used to control the movement of the two oil cylinders, thereby reducing the complexity of the pipeline and the system, improving the lifting efficiency, and thus improving the transportation efficiency of the drill rod.

[0026] Further, the second positioning assembly includes a lifting sensor for determining the vertical lifting displacement between the second lifting cylinder and the mounting cylinder, a sliding displacement sensor for determining the horizontal displacement of the sliding seat, and a drill rod sensor for determining whether the clamping assembly is in contact with the drill rod. The lifting sensor is fixedly arranged on the second lifting cylinder or the mounting cylinder, the sliding displacement sensor is fixedly arranged on the sliding seat or the slide rail, and the drill rod sensor is fixedly arranged on the second clamping assembly. The lifting displacement of the lifting assembly is calibrated by the lifting sensor, and the distance can be used to infer whether there is a drill rod in the drill rod box, and if there is, the number of drill rods can be further inferred; at the same time, the drill rod is detected by the drill rod sensor. When the second clamping assembly touches the drill rod, the drill rod sensor can control the lifting assembly to slow down the lifting speed, thereby avoiding the lifting and lowering of the lifting assembly to lag when the lifting sensor is damaged, causing the second clamping assembly to collide with the drill rod, and increasing the subsequent maintenance cost. At the same time, during maintenance, the data of the lifting sensor and the drill rod sensor can be called for comparison to check whether the lifting sensor or the drill rod sensor is damaged, thereby reducing the subsequent maintenance cost.

[0027] Furthermore, the lifting sensor and the sliding displacement sensor are a type of pull-wire displacement sensor or a magnetostrictive displacement sensor, and the drill rod sensor is a proximity switch set in the clamping assembly. There is a lot of dust in the tunnel mining environment, and the pull-wire displacement sensor or the magnetostrictive displacement sensor is less affected by the environment and is more suitable for the positioning of the drilling rig.

[0028] Furthermore, the sliding driving component is a hydraulic motor, and the first lifting driving component and the second lifting driving component are both oil cylinders.

[0029] Furthermore, the output shaft of the second lifting drive member is fixedly connected to the first lifting cylinder.

[0030] Furthermore, it also includes a carrying platform, which includes a carrying platform body and an anchoring mechanism. The carrying platform body is a tracked vehicle, and the anchoring mechanism includes an anchoring cylinder, which is placed under the tracked vehicle or at the front and rear ends.

[0031] Based on the above technical features, this application also includes the following technical effects:

[0032] 1. The first positioning component cooperates with the main manipulator to achieve precise control of the main manipulator, reducing the hysteresis phenomenon in the hydraulic control process, thereby speeding up the efficiency of drill rod transportation and further improving the working efficiency of the drilling rig.

[0033] 2. By changing the way the drill rod to be clamped enters the clamp, the distance between the tail of the drill rod and the active drill rod is greatly reduced (80mm), thereby shortening the propulsion stroke, reducing the size of the drilling rig in the width direction, and improving the adaptability and operational flexibility of the drilling rig in narrow spaces.

[0034] 3. Use sensors (such as proximity switches, wire displacement sensors or magnetostrictive displacement sensors) and positioning components to achieve precise control of the manipulator's movements, reduce the hysteresis of the hydraulic system, speed up the transportation of drill rods, and improve the overall work efficiency of the drilling rig.

[0035] 4. The maximum rotation angle of the flip spindle is limited by the cooperation of the inner boss and the outer boss to avoid excessive flipping caused by failure of the driving component, which leads to increased losses.

[0036] 5. Use a crawler vehicle as the transport platform and equip it with an anchoring mechanism to ensure stability. At the same time, select a sensor type that is less affected by dust (such as a pull-wire or magnetostrictive displacement sensor) to adapt to harsh working conditions such as underground coal mines.

[0037] 6. The design of the rotary reducer driving the flip mechanism to increase and then decrease the inclination angle ensures that the drill rod to be clamped is parallel to the frame, avoids the angle error that may be caused by relying solely on inclination detection, and ensures the accuracy of subsequent connection actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A three-dimensional diagram of an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the working state of the auxiliary manipulator according to an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the internal structure of a lifting and clamping assembly according to an embodiment of the present invention;

[0041] Figure 4 A three-dimensional diagram of a sliding seat according to an embodiment of the present invention;

[0042] Figure 5A three-dimensional diagram of the transport status of the drill pipe box and the auxiliary manipulator according to an embodiment of the present invention;

[0043] Figure 6 A three-dimensional diagram of the working state of the auxiliary manipulator according to an embodiment of the present invention;

[0044] Figure 7 A three-dimensional diagram of a main manipulator from one perspective according to an embodiment of the present invention;

[0045] Figure 8 A three-dimensional diagram of another perspective of the main manipulator of an embodiment of the present invention;

[0046] Fig. 9 It is a schematic diagram of the assembly of the turning spindle and the fixing seat of the main manipulator according to an embodiment of the present invention;

[0047] Fig.10 An exploded view of a swing assembly according to an embodiment of the present invention;

[0048] Fig.11 An exploded view of the positioning components of an embodiment of the present invention;

[0049] Fig.12 A three-dimensional diagram of positioning components for embodiments of the present invention;

[0050] Fig.13 It is a schematic diagram of a process of sending a drill rod to be clamped into a rack by a swing assembly in an embodiment of the present invention;

[0051] Fig.14 A schematic diagram of the arrangement of a trigger positioning component according to an embodiment of the present invention;

[0052] Fig.15 A three-dimensional diagram of a mobile platform according to an embodiment of the present invention;

[0053] Fig.16 It is a schematic diagram of the drill pipe placement state in the background technology. DETAILED DESCRIPTION

[0054] The following is further described in detail through specific implementation methods:

[0055] The reference numerals in the drawings of the specification include: crawler 1, anchor cylinder 11, bottom plate 21, side plate 22, vertical plate 23, partition plate 24, drill rod to be clamped 25, slide rail 31, block 311, sliding seat 32, positioning hole 321, rotating mounting hole 322, mounting cylinder 33, mounting plate 331, rotating shaft 332, positioning pin 333, second clamping assembly 34, first lifting cylinder 35, second lifting cylinder 36, first lifting drive member 371, second lifting drive member 372, sliding displacement sensor 381, lifting sensor 382, ​​drill rod sensor 383, rotation reduction Speed ​​​​device 41, rotating arm 42, fixed seat 421, inner boss 4211, flip spindle 431, outer boss 4311, flip drive 432, telescopic outer cylinder 441, telescopic inner cylinder 442, swing mounting frame 45, first clamping assembly 46, protective cover 471, mounting block 472, signal rod 473, connecting piece 474, positioning sensor 475, first sensor 481, second sensor 482, third sensor 483, signal block 484, receiver 485, swing drive 49, transfer trough 5, frame 6, rear clamp 61, active drill rod 62.

[0056] Example 1

[0057] Embodiment 1 is basically as attached Figure 1-12 As shown, Figure 1-12 The narrow-body automatic drilling rig shown in the figure includes a carrying platform, a frame 6, a drill rod box and a drill rod transfer system. The carrying platform includes a crawler vehicle 1 and an anchoring mechanism. The crawler vehicle 1 is internally integrated with a hydraulic oil circuit including an oil pipe and a valve seat, and the hydraulic oil in the oil pipe is controlled by the valve seat to supply energy to the anchoring mechanism and the drill rod loading and unloading system. The anchoring mechanism includes an anchoring oil cylinder 11, as shown in FIG. Fig.14 As shown, the anchoring cylinder 11 is fixedly arranged below or at the front and rear ends of the tracked vehicle 1. In this embodiment, the anchoring cylinder 11 is arranged below and at the front end of the tracked vehicle 1.

[0058] The frame 6 is rotatably arranged on the crawler vehicle 1, and an active drill rod 62 and a clamp assembly are arranged on the frame 6. The active drill rod 62 is slidably arranged on the frame 6, and the clamp is fixedly connected to the frame 6 by bolts. In this embodiment, the clamp assembly is a double clamp including a front clamp and a rear clamp 61, and the front clamp and the rear clamp 61 are respectively fixedly connected to the drilling rig mounting frame by bolts. The front clamp and the rear clamp 61 are both top clamps. The difference is that an opening is arranged on the top of the rear clamp 61, and the size of the opening is larger than the diameter of the drill rod. A drill rod loading and unloading cavity is formed between the opening of the rear clamp 61 and the active drill rod 62, and the drill rod loading and unloading cavity is a virtual cavity coaxial with the active drill rod 62.

[0059] During drilling, first, the nth drill rod 25 to be clamped enters the drill rod loading and unloading cavity under the action of the drill rod loading and unloading system. Under the clamping of the rear clamp 61, the active drill rod 62 approaches the nth drill rod 25 to be clamped and is screwed together with the nth drill rod 25 to be clamped by rotation. Subsequently, the rear clamp 61 is released, and the nth drill rod 25 to be clamped is driven by the active drill rod 62 to approach the n-1th drill rod 25 to be clamped clamped by the front clamp and is screwed together by rotation. It is screwed together with the n-1th drill rod 25 to be clamped by the front clamp, and then, under the action of the active drill rod 62, the rear end of the nth drill rod 25 to be clamped enters the front clamp, and through the clamping action of the front clamp and the reversal of the active drill rod 62, the active drill rod 62 is separated from the nth drill rod 25 to be clamped and moves away from the rear clamp 61, reserving a drill rod loading and unloading cavity for the n+1th drill rod 25 to be clamped to enter, until the predetermined drilling operation is completed.

[0060] like Figure 1 , Figure 5 As shown, the drill rod box includes a bottom plate 21, side plates 22 and vertical plates 23. The side plates 22 and vertical plates 23 are welded to the bottom plate 21 to form a box body with an open top. A number of partitions 24 are equidistantly welded to the vertical plates 23. The partitions 24 are parallel to the side plates 22, and the spacing between the partitions 24 is adapted to the size of the drill rods.

[0061] The drill rod transfer system includes a main manipulator, a transfer trough 5 and an auxiliary manipulator. The main manipulator is used to transport the drill rod to be clamped between the drill rod loading and unloading cavity and the transfer trough 5. The transfer trough 5 is used to adjust the position of the drill rod to be clamped and the main manipulator and the auxiliary manipulator to avoid interference between the drill rod to be clamped and the auxiliary manipulator or the main manipulator when the main manipulator or the auxiliary manipulator transfers the drill rod to be clamped. The auxiliary manipulator is used to transfer the drill rod to be clamped between the transfer trough 5 and the drill rod box.

[0062] The main manipulator includes a rotary reducer 41, a rotary arm 42, a flipping assembly, a telescopic clamping assembly, a swing assembly and a first positioning assembly. The rotary reducer 41, the rotary arm 42, the flipping assembly and the telescopic clamping assembly are connected in sequence. The rotary reducer 41 is rotatably set on the frame 6, the rotary arm 42 is rotatably set on the rotary reducer 41, and the top end of the rotary arm 42 is fixed with a fixed seat 421 by bolts, and the telescopic clamping assembly is rotatably set on the flipping assembly through the swing assembly.

[0063] The flip assembly includes a flip driving member 432, a fixing seat 421 and a flip main shaft 431. Figure 5 , Figure 6 As shown, the flip driving member 432 is fixedly connected to the mounting arm by bolts, the fixing seat 421 is fixedly connected to the swivel arm 42 by bolts, and the flip main shaft 431 is rotatably arranged on the fixing seat 421 and is keyed to the output shaft of the flip driving member, as shown in FIG. Fig. 9As shown, an outer boss 4311 is provided in the fixing seat 421, and an inner boss 4211 is provided on the flip main shaft 431. The inner boss 4211 and the outer boss 4311 cooperate to form a limiting unit for limiting the rotation limit of the flip main shaft 431. Under the limitation of the limiting unit, the maximum rotation angle of the flip main shaft 431 is 300 degrees. In this embodiment, the flip driving member 432 is a hydraulic motor, and the rotation angle of the flip main shaft 431 is 240°.

[0064] The telescopic clamping assembly includes a telescopic assembly and a first clamping assembly 46. The telescopic assembly includes a telescopic inner cylinder 442, a telescopic outer cylinder 441 and a telescopic driving member. The telescopic inner cylinder 442 is slidably arranged in the telescopic outer cylinder 441. The first clamping assembly 46 is fixed to the free end of the telescopic inner cylinder 442. One end of the telescopic driving member is fixedly connected to the telescopic inner cylinder 442, and the other end is fixedly connected to the telescopic outer cylinder 441. The telescopic inner cylinder 442 is driven to slide on the telescopic outer cylinder 441 through the telescopic movement of the telescopic driving member, thereby driving the first clamping assembly 46 to telescopically slide, thereby increasing the clamping range of the first clamping assembly 46.

[0065] The first clamping assembly 46 includes a fixed claw, a movable claw and a clamping drive. The fixed claw is fixedly connected to the telescopic outer cylinder 441 by bolts, and the movable claw is hinged on the fixed claw. In this embodiment, the clamping drive is a cylinder, one end of the cylinder is hinged to the fixed claw, and the other end is hinged to the movable claw, so that the movable claw is driven to rotate by the extension and contraction of the clamping drive, thereby controlling the clamping work of the first clamping assembly 46.

[0066] like Fig.10 As shown, the swing assembly includes a swing mounting frame 45 and a swing driving member 49. The swing mounting frame 45 includes an integrally formed connecting plate and two L-shaped mounting plates. The two mounting plates become a whole through the connecting plate and are bolted to the flip main shaft 431 through a mounting plate. The swing driving member 49 is a telescopic driving member. In this embodiment, the swing driving member 49 is an oil cylinder. One end of the swing driving member 49 is hinged to the swing mounting frame 45, and the other end is hinged to the telescopic outer cylinder 441. The telescopic outer cylinder 441 is rotatably arranged between the two mounting plates, so that the telescopic assembly is driven to swing through the telescopic movement of the swing driving member 49, thereby driving the first clamping assembly 46 and the drill rod clamped by the first clamping assembly 46 to swing.

[0067] The first positioning assembly includes a trigger positioning assembly for determining the position of the flip spindle 431 and a telescopic positioning assembly for determining the position of the first clamping assembly 46. The trigger positioning assembly includes a first sensor 481, a second sensor 482, a third sensor 483, a signaling block 484 and a receiver 485. Fig.14As shown, the first sensor 481, the second sensor 482 and the third sensor 483 are all displacement sensors. The first sensor 481 is fixed on the frame 6 and corresponds to the swing mounting frame 45 to form a first trigger component. When the swing mounting frame 45 approaches the first sensor 481 and triggers the first sensor 481, the flip main shaft 431 is parallel to the frame 6; the second sensor 482 and the third sensor 483 are all fixed on the frame 6 and correspond to the rotation displacement of the slewing arm 42 to form corresponding trigger components. When the slewing reducer 41 rotates, the slewing arm 42 rotates, and When the second sensor 482 is triggered, the flip spindle 431 is parallel to the axis of the drill rod to be clamped; when the rotary reducer 41 rotates to drive the rotary arm 42 to rotate and trigger the third sensor 483, the angle between the flip spindle 431 and the frame 6 is 7-10°. In this embodiment, the first sensor 481, the second sensor 482 and the third sensor 483 are all proximity switches. The first arc block and the second arc block are fixed on the rotary arm 42. The first arc block is arranged on the outer wall of the rotary reducer 41, and the second arc block is arranged on the inner wall of the rotary reducer 41. The first sensor 481 measures The first sensor 481 measures the displacement information between the first arc block and the swing mounting frame 45. When the displacement information measured by the first sensor 481 reaches the set value, the first sensor 481 is triggered and transmits a signal to stop the turning assembly from rotating. At this time, the turning spindle 431 of the turning mechanical arm is parallel to the drilling rig mounting frame, so that the axis of the drill rod to be clamped is parallel to the axis of the active drill rod 62; the second sensor 482 measures the displacement information between the first arc block and the swing mounting frame. When the displacement information measured by the second sensor 482 reaches the set value, the second sensor 482 is triggered and transmits a signal to stop the turning reducer 41 from rotating. At this time, the turning mechanical arm The angle between the flip spindle 431 of the rotating robot arm and the frame 6 is 7-10°; the third sensor 483 measures the displacement information between the second arc block, and when the displacement information measured by the third sensor 483 reaches the set value, the third sensor 483 is triggered and transmits a signal to stop the rotation of the rotary reducer 41. At this time, the flip spindle 431 of the flip robot arm is parallel to the drill rod to be clamped, so that the first clamping assembly 46 can clamp the drill rod to be clamped on the transfer trough 5 or place the rotating rod clamped on the clamping claw on the transfer trough 5, such as Figure 7 As shown, the receiver 485 is fixed on the fixing seat 421, and the signal block 484 is fixed on the outer wall of the flip main shaft 431. When the signal block 484 on the outer wall of the flip main shaft 431 rotates to the front end of the receiver 485, the receiver 485 can receive the signal sent by the signal block 484, thereby controlling the flip driving member 432 to stop working.

[0068] like Fig.11 , Fig.12As shown, the telescopic positioning assembly includes a protective cover 471, a signal rod 473, a mounting block 472, a connecting piece 474 and a telescopic positioning sensor 475. The protective cover 471 and the mounting block 472 are both fixed to the cylinder body of the telescopic driving member by bolts. The signal rod 473 is slidably set on the mounting block 472, and the connecting piece 474 is rotatably set at the free end of the signal rod 473. The telescopic positioning sensor 475 is fixed to the mounting block 472 by bolts. A first positioning notch and a second positioning notch are set on the signal rod 473. The spacing between the first positioning notch and the second positioning notch is adapted to the stroke of the telescopic driving member. In this embodiment, the telescopic positioning sensor 475 is a proximity switch, and the telescopic driving member is an oil cylinder. When in use, it is fixedly connected to the telescopic inner cylinder 442 through the connecting piece 474, so that the signal rod 473 is driven to slide by the telescopic movement of the telescopic inner cylinder 442, and then the displacement of the telescopic inner cylinder 442 is measured by the telescopic sensor 475.

[0069] The transfer trough 5 includes a transfer basin and a transfer drive. The transfer plate is slidably arranged on the tracked vehicle 1 and slides on the width of the tracked vehicle 1 through the transfer drive. The transfer plate is provided with a groove adapted to the drill rod to be clamped. In this embodiment, the transfer drive is a cylinder, one end of the cylinder is fixedly connected to the tracked vehicle 1, and the other end is fixedly connected to the transfer plate, so that the transfer plate is driven to slide on the tracked vehicle 1 through the extension and retraction of the transfer drive.

[0070] like Fig.10 As shown, the auxiliary manipulator includes a sliding assembly, a lifting and clamping assembly and a second positioning assembly. The lifting and clamping assembly slides on the top of the drill rod box under the action of the sliding assembly and the second positioning assembly and transports the drill rods between the drill rod box and the main manipulator.

[0071] The sliding assembly includes a slide rail 31, a slide seat 32 and a driving structure. The slide rail is welded or bolted to the top of the vertical plate 23. The slide seat 32 is slidably arranged on the slide rail 31. Stoppers 311 are bolted to both ends of the slide rail 31 to limit the limit position of the slide seat 32 on both sides of the slide rail 31, thereby preventing the slide seat 32 from accidentally slipping off. The driving structure includes a rack and a sliding driving member, such as Figure 8 As shown, in this embodiment, the slide rail 31 includes two rails, a rack is set on one slide rail 31, the sliding drive component is a hydraulic motor, a driving gear is keyed to the output shaft of the hydraulic motor, the driving gear is meshed with the rack, and the hydraulic motor is fixed to the sliding seat 32 by bolts, so that the sliding seat 32 is driven to reciprocate on the slide rail 31 through the reciprocating rotation of the hydraulic motor.

[0072] The lifting and clamping assembly includes a lifting assembly and a second clamping assembly 34. The lifting assembly includes a mounting cylinder 33, a first lifting cylinder 35 and a second lifting cylinder 36. The first lifting cylinder 35 is slidably arranged in the mounting cylinder 33, and the second lifting cylinder 36 is slidably arranged in the first lifting cylinder 35. A connecting assembly is arranged on the side wall of the mounting cylinder 33, such as Figure 2 , Figure 3 As shown, the connection assembly includes a mounting plate 331 and a positioning pin 333. The mounting plate 331 is welded to the side wall of the mounting cylinder 33 and is welded with a rotating shaft 332. The positioning pin 333 is slidably arranged on the mounting plate 331. Figure 4 As shown, a rotating mounting hole 322 and a plurality of positioning holes 321 are provided on the sliding seat 32, the rotating shaft 332 is rotatably connected to the sliding seat 32 through the rotating mounting hole 322, and the plurality of positioning holes 321 are combined to form a first positioning slot hole group and a second positioning slot hole group, the connecting line of the positioning holes 321 in the first positioning slot hole group is parallel to the sliding direction of the sliding seat 32, and the connecting line of the positioning holes 321 in the second positioning slot hole group is perpendicular to the sliding direction of the sliding seat 32.

[0073] A first lifting drive member 371 is welded or bolted on the side wall of the mounting cylinder 33, and the output shaft of the first lifting drive member 371 is fixedly connected to the first lifting cylinder 35 by bolts. A second lifting drive member 372 is fixedly arranged in the second lifting cylinder 36, and the output shaft of the second lifting drive member 372 is fixedly connected to the upper end of the first lifting cylinder 35. The structure and clamping process of the second clamping assembly 34 are basically the same as those of the first clamping assembly 46, which will not be repeated here. The second clamping assembly 34 is fixed to the lower end of the second lifting cylinder 36 by bolts. When the output shaft of the first lifting drive member 371 is extended, the first lifting cylinder 35 moves away from the mounting cylinder 33 and drives the second lifting cylinder 36 away from the mounting cylinder 33, thereby driving the second clamping assembly 34 away from the mounting cylinder 33; when the output shaft of the second lifting drive member 372 is extended, due to the display of the first lifting drive member 371, the relative position of the first lifting cylinder 35 and the mounting cylinder 33 remains unchanged, so that the second lifting cylinder 36 slides in the first lifting cylinder 35, driving the second clamping assembly 34 away from the mounting cylinder 33.

[0074] like Figure 5 , Figure 6 As shown in FIG. 1 , when the positioning pin 333 on the mounting plate 331 is inserted into the first positioning slot, the lifting cylinder remains as shown in FIG. Figure 7 The lying state shown in the figure is to reduce the height of the drilling rig for easy transportation; when the positioning pin 333 on the mounting plate 331 is inserted into the second positioning slot, the lifting cylinder remains as shown in the figure. Figure 8 The vertical state shown in the figure, thereby driving the clamping assembly to a suitable height through the output shaft of the lifting cylinder, clamping the drill rod in the drill rod box or placing the drill rod clamped by the second clamping assembly 34 between the partitions 24 of the drill rod box.

[0075] The second positioning assembly includes a lifting sensor 382, ​​a sliding displacement sensor 381 and a drill rod sensor 383, wherein the lifting sensor 382 and the sliding displacement sensor 381 are a kind of wire displacement sensor or a magnetostrictive displacement sensor, and the drill rod sensor 383 is a kind of Hall induction sensor. In this embodiment, the lifting sensor 382 and the sliding displacement sensor 381 are wire displacement sensors, and the drill rod sensor 383 is a proximity switch. The lifting sensor 382 is fixedly arranged on the mounting cylinder 33 and connected to the second lifting cylinder 36 through a lead wire, so as to detect the first The displacement change between the second lifting cylinder 36 and the installation cylinder 33 determines the displacement change of the second clamping assembly 34. The sliding displacement sensor 381 is fixed on the sliding seat 32 and fixedly connected to the slide rail through a pull wire to detect the displacement change of the sliding seat 32. The drill rod sensor 383 is fixed on the fixed claw of the second clamping assembly 34 to detect the displacement change of the drill rod and the second clamping assembly 34. When the second clamping assembly 34 approaches the drill rod, the drill rod sensor 383 is triggered to slow down the lifting speed of the lifting assembly to avoid collision between the drill rod and the second clamping assembly 34.

[0076] The specific implementation process is as follows:

[0077] The drilling process is as follows:

[0078] The working process of the auxiliary manipulator is as follows: first: under the drive of the lifting assembly and the combined action of the lifting sensor 382 and the drill rod sensor 383, the second clamping assembly 34 clamps the drill rod to be clamped in the drill rod box; then, under the action of the lifting assembly and the lifting sensor 382, ​​the second clamping assembly 34 lifts the drill rod to be clamped to above the partition 24; then, under the action of the sliding assembly and the sliding displacement sensor 381, the second clamping assembly 34 slides on the top of the drill rod box to above the transfer trough 5; finally, under the action of the lifting assembly and the lifting sensor 382, ​​the second clamping assembly 34 lowers the drill rod to be clamped to above the transfer trough 5 and places the drill rod to be clamped on the transfer plate.

[0079] The working process of the transfer trough 5: under the action of the transfer driving member, the transfer plate slides the drill rod to be clamped in the transfer plate to the side away from the sliding assembly.

[0080] The workflow of the main robot is as follows:

[0081] Main manipulator drilling process: initialization state, main manipulator extends, main manipulator clamps, retracts, flips 150°, inclination increases, flips horizontally, inclination decreases, extends, swings in, releases, swings out, retracts, flips 90°, the inclination of the swivel arm 42 decreases to vertical, and flips to the initial state.

[0082] Among them, in the initialization state: the turning main shaft 431 is parallel to the transfer trough 5, and the telescopic clamping assembly is located on the side of the transfer trough 5; the main manipulator extends: the telescopic inner cylinder 442 is pushed to move closer to the drill rod above the transfer trough 5 by the telescopic driving member, and at this time, the signal rod 473 slides in the mounting block 472 under the action of the connecting frame, and when the signal rod 473 moves away from the notch at one end of the connecting frame to the supporting block, the first sensor 481 recognizes the notch, thereby stopping the extension of the telescopic driving member, and at this time, the first fixed claw is located directly above the drill rod;

[0083] The main manipulator clamps and retracts: by starting the clamping drive to extend, the movable claw of the first clamping assembly 46 is clamped from below the drill rod, and then the telescopic drive is retracted. When the signal rod 473 moves into the support block near the notch at one end of the connecting block, the first sensor 481 recognizes the notch, thereby stopping the retraction of the telescopic drive to ensure that the telescopic drive is retracted in place, avoiding the clamped drill rod from interfering with other components in the subsequent process. Since in this solution, the transport device is arranged at the upper end of the drill rod box, in order to avoid the first clamping assembly 46 from interfering with the transport device during the flipping process;

[0084] Flip 150°: The rotation of the flip spindle 431 drives the telescopic assembly and the first clamping assembly 46 to flip. When the signaling block 484 on the outer wall of the flip spindle 431 rotates to the front end of the receiver 485, the hydraulic motor stops rotating. At this time, the first clamping assembly 46 rotates 150°, and the first clamping assembly 46 and the rotating arm 42 are located in the same horizontal plane;

[0085] The inclination angle increases: the rotary reducer 41 then drives the rotary arm 42 to rotate counterclockwise. When the second arc block on the inner wall of the rotary arm 42 rotates to the front end of the third sensor 483, the rotary reducer 41 stops rotating. At this time, the rotary arm 42 rotates counterclockwise by 7-10°, and the angle between the flip spindle 431 and the ground is greater than the angle between the frame 6 and the ground.

[0086] Flip 90°: The flip spindle 431 rotates again, driving the telescopic assembly and the first clamping assembly 46 to rotate 90°, so that the first clamping assembly 46 is close to the drilling rig;

[0087] Horizontal flip, reduced inclination angle: the slewing reducer 41 rotates the slewing arm 42 clockwise to drive the first clamping assembly 46 to move downward until the swing mounting frame 45 contacts the first sensor 481, the first sensor 481 transmits a signal, and the slewing reducer 41 stops rotating. At this time, the first clamping assembly 46 is parallel or nearly parallel to the frame 6. Nearly parallel means that the inclination angle is in the range of 7-10°. Although the slewing reducer 41 can directly drive the flip spindle 431 to rotate parallel to the frame 6, there is uncertainty in this process. Specifically, due to the second arc block to the detection slewing arm 42 The distance between the third sensor 483 of the inclination angle is smaller than the distance between the mounting seat and the rotation axis 332 line of the slewing arm 42, that is, the slewing radius of the former is smaller than the slewing radius of the latter. Under the condition of the same slewing arc length error, the smaller the slewing radius, the larger the corresponding angle error. Therefore, the positioning is based only on the third sensor 483 for detecting the inclination angle of the slewing arm 42. Within the range of the slewing error arc length, the flip spindle 431 and the frame 6 may no longer be parallel but tilted, affecting the subsequent drill rod connection action. Therefore, the slewing reducer 41 drives the flip spindle 431 to increase the inclination angle first and then decrease it, which can ensure that the drill rod 25 to be clamped is parallel to the frame 6.

[0088] Extension: The telescopic drive member pushes the first clamping assembly 46 toward the rear clamp 61. When the positioning sensor 475 recognizes that the signal rod 473 is away from the notch at one end of the connecting frame, the telescopic drive member extends into place. At this time, the drill rod clamped by the first clamping assembly 46 is located directly above the drill rod loading and unloading cavity.

[0089] Swing in: The swing drive member pushes the rear end of the telescopic drive member, causing the first clamping group 46 at the output end of the telescopic drive member to swing downward, thereby moving the drill rod into the rear clamp 61. The swinging process is as follows: Fig.13 As shown, during the swinging process of the drill rod, the drill rod always moves in the radial direction of the frame 6, but does not move in the axial direction of the frame 6;

[0090] Loosen: The clamping drive member then contracts, causing the movable claw of the first clamping assembly 46 to separate from the fixed claw, thereby loosening the clamping of the drill rod, thereby completing the transportation of the drill rod 25 to be clamped, and moving the drill rod 25 to be clamped from the drill rod box to the rear clamp 61 of the drilling rig.

[0091] Swing out: Push the rear end of the telescopic driving member through the swing driving member, so that the output end of the telescopic driving member swings upward;

[0092] Retraction: The telescopic drive member pushes the first clamping assembly 46 away from the rear clamp 61, and when the first sensor 481 recognizes that the signal rod 473 is close to the notch at one end of the connecting frame, the telescopic drive member retracts into place;

[0093] Flip 90°: The flip spindle 431 rotates in the opposite direction, driving the telescopic assembly and the first clamping assembly 46 to rotate 90°, so that the first clamping assembly 46 is away from the frame 6;

[0094] The inclination angle decreases to vertical: the rotary reducer 41 then drives the rotary arm 42 to rotate clockwise. When the second arc block on the outer wall of the rotary arm 42 rotates to the rear end of the third sensor 483, the rotary reducer 41 stops rotating. At this time, the rotary arm 42 rotates 7-10° clockwise. At this time, the rotary arm 42 is vertical to the ground, and the flip main axis 431 is parallel to the ground.

[0095] Flipping to the initial state: By flipping the main shaft 431 and rotating it again, the telescopic assembly and the first clamping assembly 46 are driven to return to the initial state.

[0096] In the above process, the drill rod clamped by the first clamping assembly 46 is swung into the clamper in a posture parallel to the frame 6 through the swing driving member 49, which reduces the range of motion of the drill rod in the axial direction of the frame 6 during transportation, thereby shortening the length of the drill rod loading and unloading cavity, and further shortening the length of the frame 6, thereby making the body of the drilling rig narrower, making the drilling rig more conducive to operation in narrow lanes, and improving the applicability of the drilling rig.

[0097] Drill unloading process: Initialization state, main manipulator flips 150°, inclination increases, horizontal flip, inclination decreases, extends, swings in, clamps, swings out, retracts, flips 90°, inclination decreases to vertical, flips, main manipulator releases, retracts to initial state

[0098] When the drill rod needs to be disassembled, the process is opposite to the above-mentioned docking process. The first clamping assembly 46 first clamps the drill rod at the upper end of the drilling rig, and then drives the first clamping assembly 46 to translate upward through the swing mechanism, so that the drill rod leaves the drilling rig. Then the rotary reducer 41 drives the rotary arm 42 to rotate counterclockwise until the second arc block rotates to the front end of the third sensor 483, so that the first clamping assembly 46 is further away from the drilling rig, and at the same time, the first clamping assembly 46 is prevented from interfering with the drilling rig in subsequent rotation. Then the flip spindle 431 drives the first clamping assembly 46 to rotate in the direction away from the drilling rig until the signal sending block 484 rotates to the front end of the receiver 485. At this time, the first clamping assembly 46 rotates °, the flip spindle 431 stops rotating, and then the rotary reducer 41 drives the rotary arm 42 to rotate clockwise until the first arc block moves to the second sensor 482, and the flip spindle 431 is parallel to the transfer trough 5. Then the flip spindle 431 continues to drive the first clamping assembly 46 to rotate 90 °, so that the transfer trough 5 is located below the terminal end of the motion trajectory of the drill rod 25 to be clamped under the drive of the telescopic assembly, and finally the first clamping assembly 46 is pushed close to the transfer trough 5 by the telescopic drive until the drill rod is located above the transfer trough 5, and the clamping drive retracts and places the drill rod at the upper end of the transfer trough 5.

[0099] The above is only an embodiment of the present invention, and 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 the technical means for solving the problems in the above-mentioned embodiments of the present invention can be used in combination to solve multiple technical problems at the same time. For those skilled in the art, several modifications and improvements can be made without departing from the technical solution of the present invention, which should also be regarded as the scope of protection 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 narrow-body automatic drilling rig, comprising a frame and a drill rod box, a clamp and an active drill rod are arranged on the frame, a drill rod transfer system is arranged between the frame and the drill rod box, the drill rod transfer system comprises a sub-manipulator for transferring the drill rod between the drill rod box and the operating slot, an operating slot for adjusting the relative position of the drill rod to be clamped and the main manipulator and the sub-manipulator, and a main manipulator for transferring the drill rod between the transfer slot and the frame, the main manipulator comprises a rotary reducer, a rotary arm, a flip assembly and a first clamping assembly connected in sequence, characterized in that: The auxiliary manipulator is slidably arranged on the top of the drill rod box, and the main manipulator also includes a swinging assembly and a first positioning assembly. The first clamping assembly is connected to the flipping assembly through the swinging assembly. The rotary reducer and the flipping assembly cooperate with the first positioning assembly to transfer the drill rod to be clamped to the top of the drilling rig frame and make it parallel or nearly parallel to the frame. Then, the swinging assembly drives the first clamping assembly to rotate and swings the drill rod to be clamped into the clamper, and the axis of the active drill rod is exactly coaxial with the axis of the drill rod to be clamped.

2. The narrow-body automatic drilling machine according to claim 1, characterized in that: The swing assembly includes a swing driving member and a swing mounting frame, the swing mounting frame is connected to the flip assembly, the first clamping assembly is hinged to the swing mounting frame through the swing driving member, and the first clamping assembly can rotate around the swing mounting frame, a power head is slidably arranged on the frame, an active drill rod is rotatably arranged on the power head, and the axis of the active drill rod is perpendicular to the movement trajectory of the axis of the drill rod clamped by the first clamping assembly during the rotation process.

3. The narrow-body automatic drilling machine according to claim 2, characterized in that: The first positioning component includes a trigger positioning component for determining the position information of the flip spindle, the trigger positioning component includes a first sensor fixed on the outer wall of the frame for determining whether the flip spindle is parallel to the frame, a second sensor fixed on the frame for determining the first rotation angle of the swivel arm, and a third sensor fixed on the frame for determining the second rotation angle of the swivel arm. The first sensor, the second sensor and the third sensor are all displacement sensors and are triggered by the displacement information of the corresponding structure on the manipulator; when the first sensor is triggered, the flip spindle is parallel to the frame; when the second sensor is triggered, the angle between the flip spindle and the frame is 7-10°; when the third sensor is triggered, the flip spindle is parallel to the axis of the drill rod to be clamped.

4. The narrow-body automatic drilling machine according to claim 3, characterized in that: The flipping mechanism includes a flipping drive and a flipping spindle. The flipping drive is fixedly arranged on the rotating arm. The flipping spindle is rotatably arranged on the rotating arm and fixedly connected to the output shaft of the flipping drive. The first clamping assembly includes a telescopic mechanism and a first clamping assembly. The first clamping assembly is connected to the flipping mechanism through the telescopic mechanism. The telescopic mechanism is hinged to the swing mounting frame through the swinging drive, and the telescopic mechanism can rotate around the swing mounting frame to drive the first clamping assembly to rotate.

5. The narrow-body automatic drilling machine according to claim 4, characterized in that: A positioning sleeve is fixed on the rotary arm, an inner boss is fixed on the inner wall of the positioning sleeve, an outer boss is fixed on the outer arm of the turning spindle, and the outer boss abuts against the inner boss after the turning spindle rotates to the limit position.

6. The narrow-body automatic drilling machine according to claim 5, characterized in that: The telescopic mechanism includes a telescopic outer cylinder, a telescopic inner cylinder and a telescopic driving member. The telescopic outer cylinder is rotatably arranged on a swing mounting frame and can rotate under the action of a flip driving member. The telescopic inner cylinder is slidably arranged in the telescopic outer cylinder. The two ends of the telescopic driving member are respectively fixedly connected to the telescopic inner cylinder and the telescopic outer cylinder. The first clamping assembly is fixedly arranged at the free end of the telescopic inner cylinder; the first positioning assembly also includes a telescopic positioning assembly for determining the position of the first clamping assembly. The telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame and a proximity switch. The protective cover is fixedly connected to the telescopic outer cylinder, the proximity switch is installed on the protective cover, the signal rod is slidably connected to the protective cover, one end of the signal rod is connected to the first clamping assembly through the connecting frame, and notches are provided at both ends of the signal rod. The signal changes when the notch approaches the proximity switch.

7. The narrow-body automatic drilling machine according to claim 6, characterized in that: The swing mounting frame includes a connecting plate and two L-shaped mounting plates, the two mounting plates are connected by the connecting plate, when the connecting plate contacts the sensor arranged on the frame, the drill rod is parallel to the frame, the side plate close to the flipping mechanism is connected to the flipping mechanism, the first clamping assembly is hinged to the connecting plate through the swing driving member, and the first clamping assembly can rotate around the side plate.

8. The narrow-body automatic drilling machine according to claim 7, characterized in that: The transfer trough is slidably arranged on the frame and can drive the drill rod to be clamped away from the auxiliary manipulator. When the drill rod is installed, the transfer trough drives the drill rod to be clamped away from the auxiliary manipulator and clamps the drill rod to be clamped on the transfer trough through the first clamping assembly. Subsequently, the flipping mechanism drives the first clamping assembly to flip a certain angle first, and then drives the flipping mechanism to increase the inclination angle until it is greater than the inclination angle of the frame. The flipping mechanism drives the first clamping assembly to transfer the drill rod to be clamped to the top of the drilling rig frame. The rotary reducer drives the flipping mechanism to reduce the inclination angle until the flipping mechanism is parallel or nearly parallel to the frame. The swinging mechanism drives the first clamping assembly to swing the drill rod to be clamped into the clamper.

9. The narrow-body automatic drilling machine according to claim 8, characterized in that: The first clamping assembly comprises a fixed claw, a movable claw and a clamping drive member, wherein the fixed claw is fixedly arranged at the free end of the telescopic inner cylinder, the movable claw is hinged on the fixed claw, and the clamping drive member is arranged on the fixed claw and can drive the movable claw to rotate.

10. The narrow-body automatic drilling machine according to claim 9, characterized in that: The telescopic drive member, the swing drive member and the clamping drive member are all telescopic drive members.

11. The narrow-body automatic drilling machine according to claim 10, characterized in that: The telescopic driving member is an oil cylinder, and the first sensor, the second sensor and the third sensor are all proximity switches.

12. A narrow-body automatic drilling machine according to any one of claims 1 to 11, characterized in that: The auxiliary manipulator comprises a sliding assembly, a lifting and clamping assembly and a second positioning assembly. The lifting and clamping assembly slides on the top of the drill rod box under the action of the sliding assembly and the second positioning assembly and transports the drill rod between the drill rod box and the main manipulator.

13. The narrow-body automatic drilling machine according to claim 12, characterized in that: The sliding assembly comprises a sliding seat, a sliding rail and a sliding driving member. The sliding seat is slidably arranged on the sliding rail, the sliding rail is fixedly arranged on the top of the drill rod box, and the sliding driving member is fixedly arranged on the sliding seat and can drive the sliding seat to reciprocate.

14. The narrow-body automatic drilling machine according to claim 13, characterized in that: The lifting and clamping assembly includes a lifting assembly and a second clamping assembly. The lifting and clamping assembly includes a mounting tube. A connecting assembly is arranged on the side wall of the mounting tube. The connecting assembly includes a mounting plate and a positioning pin. The mounting plate is welded on the side wall of the mounting tube. The positioning pin is slidably arranged on the mounting plate. A first positioning slot hole and a second positioning slot hole are arranged on the sliding seat. The mounting tube is rotatably arranged on the sliding platform through the mounting plate and is fixedly connected to the first positioning slot hole or the second positioning slot hole through the positioning pin.

15. The narrow-body automatic drilling machine according to claim 14, characterized in that: The lifting assembly also includes a first lifting cylinder, a second lifting cylinder, a first lifting drive and a second lifting drive. The first lifting cylinder is slidably arranged in the mounting cylinder, the second lifting cylinder is slidably arranged in the first lifting cylinder, the first lifting drive is fixedly arranged between the mounting cylinder and the first lifting cylinder and can drive the first lifting cylinder and the mounting cylinder to slide relative to each other, the second lifting drive is arranged between the first telescopic cylinder and the second telescopic cylinder and can drive the first lifting cylinder and the second lifting cylinder to slide relative to each other, and the clamping assembly is fixedly arranged at the free end of the second lifting cylinder.

16. The narrow-body automatic drilling machine according to claim 15, characterized in that: The second positioning assembly includes a lifting sensor for determining the vertical lifting displacement between the second lifting cylinder and the mounting cylinder, a sliding sensor for determining the horizontal displacement of the sliding seat, and a drill rod sensor for determining whether the clamping assembly is in contact with the drill rod. The lifting sensor is fixedly set on the second lifting cylinder or the mounting cylinder, the sliding sensor is fixedly set on the sliding seat or the slide rail, and the drill rod sensor is fixedly set on the clamping assembly.

17. The narrow-body automatic drilling machine according to claim 16, characterized in that: The lifting sensor and the sliding displacement sensor are a type of wire-drawing displacement sensor or a magnetostrictive displacement sensor, and the drill pipe sensor is a proximity switch.

18. The narrow-body automatic drilling machine according to claim 17, characterized in that: The sliding driving component is a hydraulic motor, and the first lifting driving component and the second lifting driving component are both oil cylinders.

19. The narrow-body automatic drilling machine according to claim 18, characterized in that: The output shaft of the second lifting drive member is fixedly connected to the first lifting cylinder.

20. The narrow-body automatic drilling machine according to claim 1, characterized in that: It also includes a transport platform, which includes a transport platform body and an anchoring mechanism. The transport platform body is a tracked vehicle, and the anchoring mechanism includes an anchoring cylinder, which is placed under the tracked vehicle or at the front and rear ends.

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