Rear loading and unloading device suitable for underground drill rig and construction method

Abstract

The invention discloses a rear loading and unloading device suitable for an underground drill rig and a construction method.The rear loading and unloading device mainly comprises a drill rod loading and unloading device and a convenient water loading and unloading device, and the drill rod loading and unloading device is installed at the right rear end of a feeding machine body of the drill rig and matched with the feeding machine body through a fastening bolt and a pin; and the drill rod loading and unloading device is matched with the drilling machine rotating device, the clamping device, the righting device and the feeding oil cylinder of the feeding machine body to realize automatic loading and unloading of a drill rod at the rear end of the feeding machine body. The water tool loading and unloading device is installed at the right rear end of the drill rod loading and unloading device and can be matched with the drill rod loading and unloading device and the drilling machine in the drilling construction process to achieve automatic water tool loading and unloading. The water stool screwing and unscrewing device can replace manual water stool screwing and unscrewing, water splashing during manual construction is avoided, the labor intensity of workers is reduced, and the operation safety is improved.

Description

Technical Field

[0001] The invention relates to the field of automatic loading and unloading of drill rods and water toilets for tunnel drilling rigs, and in particular to a rear loading and unloading device and a construction method suitable for tunnel drilling rigs. Background Art

[0002] At present, in the process of tunnel drilling, adding and removing drill rods and water toilets need to be completed by manpower, especially when the tunnel drilling rig is used for directional drilling, each time the drill rod is added or removed, it is necessary to manually disassemble and install the drill rod and water toilets, which is not only time-consuming and labor-intensive, but also seriously affects the safety of the operators. To this end, the designer of the present invention has devoted himself to studying the directional drilling construction process and equipment, combined with many years of experience and achievements in tunnel drilling rig design, and has designed a rear loading and unloading device and construction method suitable for tunnel drilling rigs, which can overcome the technical difficulties of time-consuming and labor-intensive loading and unloading of drill rods and water toilets in the process of directional drilling, and can complete the automated operation of loading and unloading drill rods by combining electro-hydraulic program control. Summary of the invention

[0003] In view of the deficiencies of existing equipment and technology, the present invention provides a rear loading and unloading device and construction method suitable for tunnel drilling rigs, which can realize the operation of quickly replacing drill rods and water stools during the directional drilling construction process, and overcome the technical difficulties of time-consuming and labor-intensive loading and unloading of drill rods and water stools during the directional drilling construction process.

[0004] To solve the above problems, the technical solution adopted by the present invention includes: A rear loading and unloading device suitable for a tunnel drilling rig is provided, and the rear loading and unloading device comprises a drill rod loading and unloading device and a water-operated loading and unloading device which are arranged in series along the same moving plane; the drill rod loading and unloading device is provided with a straightening device which is slidably arranged along the same moving plane and a drill rod upper unloading device which is arranged to move in the same plane; the water-operated loading and unloading device is provided with a water-operated upper unloading device which moves in the same plane.

[0005] Optionally, the drill rod loading and unloading device is provided with a drill rod guide frame, on which the straightening device and the drill rod unbuckling device are slidably mounted; and a first feed cylinder is arranged on the drill rod guide frame along the length direction; the drill rod unbuckling device moves along the axis direction of the drill rod under the drive of the first feed cylinder, and the straightening device floats along the axis direction of the drill rod.

[0006] Optionally, the straightening device is provided with a sliding base, and a straightening device upper body is provided with the sliding base in a direction perpendicular to the axis of the drill rod, and a spring is provided at the connection between the two; the sliding base is sleeved on the drill rod guide frame for sliding.

[0007] Optionally, the sliding base is provided with a flat-plate mounting seat, and a lower sleeve is vertically arranged on the upper edge of the mounting seat; lower holding bushes are arranged on the lower left and right sides of the mounting seat, and the lower holding bushes are arranged on the drill rod guide frame.

[0008] Optionally, an upper sleeve is provided on the straightening device, a mounting base is carried on the upper sleeve, a sliding guide rail is provided on the mounting base along the length direction, a clamping straightening cava is relatively slidably installed on the sliding guide rail, and a straightening clamping cylinder is provided at the outer end of the clamping straightening cava; the upper sleeve is axially sleeved with the lower sleeve.

[0009] Optionally, the water stool loading and unloading device is provided with a water stool guide rail frame, on which a water stool upper and lower unloading device is slidably mounted, and a second feed oil cylinder is provided on the water stool guide rail frame along the length direction; the cylinder rod of the second feed oil cylinder drives the water stool upper and lower unloading device to move along the axis of the water stool guide rail frame.

[0010] Optionally, a support plate is provided on the water toilet unloading device, a relatively sliding unloading wheel is provided on the support plate, and a unloading clamping cylinder is provided on the outer end surface of the unloading wheel; a lifting column and a lifting cylinder are vertically provided on the lower edge of the support plate, and the bottom of the lifting column and the lifting cylinder are connected to a movable base, and the movable base is sleeved on the water toilet guide rail frame.

[0011] Optionally, the unloading wheel is provided with a clamping cava, and a cylinder connecting seat is provided on the outer end surface of the clamping cava; an axially connected driving motor, a driving wheel and a positioning wheel are embedded in the clamping surface of the clamping cava; the outer diameter of the driving wheel intersects with the inner circle of the clamping cava, and an oblique thread is provided on the outer diameter of the driving wheel.

[0012] Optionally, the drive motors on the relatively arranged breakaway wheels are arranged in opposite directions; and the breakaway device on the drill pipe and the breakaway device on the water stool have the same structure.

[0013] The construction method of the rear loading and unloading device of the tunnel drilling rig according to the present invention includes an automatic rod loading process and an automatic rod unloading process; The drill pipe adding process comprises: Step A1, the drilling operation is completed on a drill rod, the clamping and straightening slips in the straightening device of the rear rod adding device are in an open state under the drive of the straightening clamping oil cylinder, the breakaway wheel in the drill rod upper breakaway device is in an open state under the drive of the upper breakaway clamping oil cylinder, and the lifting cylinder drives the drill rod upper breakaway device in the drill rod loading and unloading device to a low position so that the drill rod in the hole passes over it, at this time, the water stool is located at the rear end of the drill rod in the hole, and there is no water stool on the drill rod upper breakaway device in the water stool loading and unloading device; Step A2, the drill rod in the hole moves toward the rear rod adding device, and after one rod inversion, the water stool is located in the water stool upper shackle device in the water stool loading and unloading device. At this time, the upper shackle clamping cylinder drives the shackle wheel to move along the guide rail to clamp the water stool, and the driving motor drives the driving wheel to rotate clockwise to make the water stool shackle counterclockwise. At this time, the feed body cylinder does not move, and the second feed cylinder in the water stool loading and unloading device is in a floating state; Step A3: When the water pipe and the drill pipe in the hole are completely unfastened, the drill pipe in the hole moves inward. After one rod inversion, the rear end of the drill pipe in the hole extends, and at this time, the water pipe is clamped by the uncoupling wheel in the water pipe coupling and uncoupling device. Step A4: The drill pipe is hoisted by the hoisting device onto the rear rod adding device. At this time, the clamping and centering jaws in the centering device on the drill pipe coupling and uncoupling device clamp the drill pipe under the drive of the centering and clamping oil cylinder. Step A5: The drill pipe coupling and uncoupling device on the drill pipe coupling and uncoupling device slowly rises under the drive of the lifting oil cylinder until the center line of the left and right uncoupling wheels is aligned with the center line of the drill pipe. Then, the uncoupling wheel clamps the drill pipe under the drive of the upper uncoupling clamping oil cylinder. At this time, the center of the drill pipe is adjusted through the lifting oil cylinder to be concentric with the center of the water pipe. Step A6: The first feeding oil cylinder in the drill pipe coupling and uncoupling device remains stationary. The second feeding oil cylinder in the water pipe coupling and uncoupling device drives the water pipe upper uncoupling device to move towards the drill pipe until the male and female threads of the drill pipe contact. At this time, the second feeding oil cylinder is in a floating state, and the driving motor drives the driving wheel to rotate counterclockwise to make the water pipe screw on clockwise. When the oil inlet pressure of the driving motor reaches 5 Mpa, the rotation stops. Step A7: The uncoupling wheel on the water pipe coupling and uncoupling device releases the water pipe under the drive of the upper uncoupling clamping oil cylinder. At the same time, the second feeding oil cylinder stops floating and drives the water pipe upper uncoupling device to move away from the drill pipe. Immediately afterwards, the first feeding oil cylinder drives the upper uncoupling device on the drill pipe coupling and uncoupling device to move towards the drill pipe in the hole until the male and female threads of the two drill pipes contact. At this time, the first feeding oil cylinder is in a floating state, and the driving motor drives the driving wheel to rotate counterclockwise to make the drill pipe on the drill pipe upper uncoupling device screw on clockwise until it reaches 2 Mpa and then the rotation stops. Step A8: The clamping and centering jaws in the centering device on the drill pipe coupling and uncoupling device continue to clamp the drill pipe. The uncoupling wheel in the drill pipe upper uncoupling device on the drill pipe coupling and uncoupling device releases the drill pipe under the action of the upper uncoupling clamping oil cylinder. Step A9: The drill pipe upper uncoupling device on the drill pipe coupling and uncoupling device moves downward under the drive of the lifting oil cylinder to open the water pipe water passing switch. Step A10: Through the repeated actions of the program, the process of automatically adding drill pipes to the rear of the drilling rig can be achieved. The rod removing process includes: For the drill pipe removing process, compared with the drill pipe adding process, only the water pipe needs to be removed for the first time, and only the drill pipe needs to be removed later. The specific steps are as follows: Step B1: Turn off the water pipe water passing switch. The clamping and centering jaws in the centering device on the drill pipe coupling and uncoupling device, the uncoupling wheel in the drill pipe upper uncoupling device, and the uncoupling wheel in the upper water pipe device are all completely opened. Step B2: The drill pipe moves towards the rear rod adding device at the rear end of the machine body until the water pipe is in the uncoupling wheel in the water pipe upper uncoupling device on the water pipe coupling and uncoupling device. Step B3, the shackle wheel in the upper shackle device of the water stool on the water stool loading and unloading device clamps the water stool under the drive of the upper shackle clamping cylinder, and the upper shackle device on the drill rod loading and unloading device moves upward under the drive of the lifting cylinder until the center lines of the two shackle wheels are aligned with the axis of the drill rod, and the shackle wheel on the drill rod loading and unloading device clamps the drill rod, and the driving motor thereon remains unchanged, and the first feed cylinder remains stationary; the driving wheel in the shackle wheel on the water stool loading and unloading device rotates counterclockwise under the drive of the driving motor to drive the water stool to rotate clockwise to shackle, and the second feed cylinder is in a floating state at this time. When the drill rod and the water stool thread are completely loosened, the second feed cylinder drives the upper shackle device to move backward; Step B4, the first feed cylinder is in a floating state, the driving wheel in the drill rod upper shackle device on the drill rod loading and unloading device rotates counterclockwise under the drive of the driving motor to completely loosen the two drill rod threads, and the first feed cylinder stops floating to drive the drill rod in the drill rod upper shackle device on the drill rod loading and unloading device to separate from the drill rod in the hole by a certain distance; Step B5, the clamping and straightening slips in the straightening device on the drill pipe loading and unloading device, the breakaway wheel in the breakaway device on the drill pipe, and the breakaway wheel in the upper water toilet device are all fully opened, and the hoisting device hoists away the drill pipe; Step B6, the drill rod is moved to the rear end of the fuselage in the direction of the rear rod adding device until the water is in the shackle wheel of the upper shackle device on the drill rod adding and removing device; Step B7, the breaker wheel on the drill rod loading and unloading device clamps the drill rod, and the first feed oil cylinder is in a floating state; the driving wheel in the drill rod upper breaker device on the drill rod loading and unloading device rotates counterclockwise under the drive of the driving motor to completely loosen the two drill rod threads, and the first feed oil cylinder stops floating to drive the drill rod in the drill rod upper breaker device on the drill rod loading and unloading device to separate from the drill rod in the hole by a certain distance; Step B8, the clamping and straightening slips in the straightening device on the drill pipe loading and unloading device, the breakaway wheel in the breakaway device on the drill pipe, and the breakaway wheel in the upper water toilet device are all fully opened, and the hoisting device hoists away the drill pipe; Step B9, repeat B6 to B8 until the drill rod in the hole is completely removed.

[0014] It can be seen from the above structure that the advantages of the present invention are: The automatic rod adding device cooperates with the clamp and the rotator to realize the automatic adding and unloading of drill rods and water stools during the directional drilling construction process, thereby reducing the number of operators and improving operation safety.

[0015] The details of the present invention can be obtained from the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the installation position of the rear loading and unloading device applicable to the tunnel drilling rig of the present invention; Figure 2Structural schematic diagram of the rear adding and removing device applicable to the tunnel drilling rig of the present invention; Figure 3 is Figure 2 the structural schematic diagram of the centralizer device in; Figure 4 is Figure 2 the structural schematic diagram of the water pipe adding and removing device in; Figure 5 Structural schematic diagram of the water pipe screwing-on and screwing-off device; Figure 6 Structural schematic diagram of the shackle wheel; Figure 7 Construction method schematic diagram of the rear adding and removing device applicable to the tunnel drilling rig of the present invention; Meanings of the reference numerals: 1 - Centralizer, 2 - Clamp, 3 - Rotary device, 4 - Drill pipe, 5 - Feed body; 6 - Rear adding and removing device; 61 - Drill pipe adding and removing device, 611 - Centralizer device, 612 - Drill pipe guide frame, 613 - Drill pipe screwing-on and screwing-off device, 614 - First feed oil cylinder; 6111 - Sliding base, 6112 - Upper mounting of centralizer device, 6113 - Spring; 61111 - Mounting seat, 61112 - Lower sleeve, 61113 - Lower holding jaw; 61121 - Centralizing and clamping oil cylinder, 61122 - Clamping and centralizing chuck, 61123 - Clamping oil cylinder mounting plate, 61124 - Sliding guide rail, 61125 - Upper sleeve, 61126 - Connecting bottom plate, 61127 - Reinforcing rib, 61128 - Mounting bottom plate; 62 - Water pipe adding and removing device; 621 - Water pipe guide frame, 622 - Water pipe, 623 - Water pipe screwing-on and screwing-off device, 624 - Second feed oil cylinder; 6231 - Screwing-on and screwing-off clamping oil cylinder, 6232 - Shackle wheel, 6233 - Lifting oil cylinder, 6234 - Moving base, 6235 - Oil cylinder mounting plate, 6236 - Lifting column, 6237 - Support plate; 62321 - Clamping chuck, 62322 - Oil cylinder connecting seat, 62323 - Driving motor, 62324 - Plug plate, 62325 - Positioning wheel, 62326 - Driving wheel; Detailed implementation manners Complying with the above technical solutions, the following gives specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent transformations made on the basis of the technical solutions of this application fall within the protection scope of the present invention. The present invention will be further described in detail below in conjunction with the embodiments.

[0017] Combined with Figures 1-6, the rear loading and unloading device adapted to the tunnel drilling rig of the present invention comprises a drill pipe loading and unloading device 61 and a water pipe loading and unloading device 62. The drill pipe loading and unloading device 61 is installed at the exact rear end of the feed body 5 of the drilling rig and is fitted with the feed body 5 through fastening bolts and pins. The drill pipe loading and unloading device 61 cooperates with the rotary device 3, the gripper 2, the centralizer 1 and the feed body 5 on the drilling rig to realize automatic loading and unloading of the drill pipe 4 at the rear end of the feed body 5. The water pipe loading and unloading device 62 is installed at the exact rear end of the drill pipe loading and unloading device 61 and can realize automatic loading and unloading of the water pipe in cooperation with the drill pipe loading and unloading device 61 and the drilling rig during the drilling construction process. Specifically, the rear loading and unloading device adapted to the tunnel drilling rig is provided with a rear loading and unloading device 6, and the rear loading and unloading device 6 comprises a drill pipe loading and unloading device 61 and a water pipe loading and unloading device 62 connected in series along the same movement plane; the drill pipe loading and unloading device 61 is provided with a centralizing device sliding along the same movement plane and a drill pipe make-up and break-out device moving in the same plane; the water pipe loading and unloading device 62 is provided with a water pipe make-up and break-out device moving in the same plane. The drill pipe loading and unloading device cooperates with the rotary device, the clamping device, the centralizing device and the feed cylinder of the feed body of the drilling rig to realize automatic loading and unloading of the drill pipe at the rear end of the feed body. The water pipe loading and unloading device is installed at the exact rear end of the drill pipe loading and unloading device and can realize automatic loading and unloading of the water pipe in cooperation with the drill pipe loading and unloading device and the drilling rig during the drilling construction process. The water pipe screwing and unscrewing device can replace manual screwing and unscrewing of the water pipe, preventing splashing of water during manual construction, reducing the labor intensity of workers and improving the operation safety.

[0018] In the embodiment of the present disclosure, the drill pipe loading and unloading device 61 is provided with a drill pipe guide frame 612, on which a centralizing device 611 and a drill pipe make-up and break-out device 613 are slidably carried; and a first feed cylinder 614 is arranged along the length direction on the drill pipe guide frame 612; the drill pipe make-up and break-out device 613 moves along the drill pipe axis direction under the drive of the first feed cylinder 614, and the centralizing device 611 floats along the drill pipe axis direction. The drill pipe guide frame 612 is a frame structure with side plates arranged at both ends and two parallel cylindrical guide rails connected in the middle, and the overall extending direction is parallel to the drill pipe axis. The front side plate of the drill pipe guide frame 612 is fixedly connected to the rear end of the feed body 5 through bolts and pins, and the rear end of the drill pipe guide frame 612 is connected to the water pipe loading and unloading device 62, and the basic structure is also the connection of side plates to side plates. The centralizing device 611 and the drill pipe make-up and break-out device 613 are sleeved on the guide rails on both sides of the guide frame. The drill pipe make-up and break-out device 613 can move along the axis direction of the guide rail under the drive of the first feed cylinder 614, and the centralizing device 611 can float along the guide rail direction when the drill pipe is added. When unscrewing the drill pipe, the center line of the clamping and centralizing chuck 61122 in the centralizing device 611 and the center line of the clamping chuck 62321 in the drill pipe make-up and break-out device 613 are concentric with the centers of the rotary device 3 and the gripper 2; In an embodiment of the present disclosure, the straightening device 611 is provided with a sliding base 6111, and a straightening device upper assembly 6112 is arranged on the sliding base 6111 in a direction perpendicular to the axis of the drill pipe. A spring 6113 is arranged at the connection between the two; the sliding base 6111 is sleeved on the drill pipe guide frame 612 and slides thereon. The sliding base 6111 cooperates with the guide rail in the drill pipe guide frame 612 to enable the straightening device to slide along the axis of the guide rail. The straightening device upper assembly 6112 is connected by bolts and the spring 6113, so that when the drill pipe is clamped, the drill pipe can have a slight offset in the direction perpendicular to the axis, preventing damage to the threads when the male and female threads of the drill pipe are not aligned and affecting the service life of the drill pipe; In an embodiment of the present disclosure, the sliding base 6111 is provided with a flat mounting seat 61111, and a lower sleeve 61112 is arranged vertically on the mounting seat 61111; lower clamping jaws 61113 are arranged on the left and right sides of the mounting seat 61111, and the lower clamping jaws 61113 are sleeved on the drill pipe guide frame 612. The lower sleeve 61112 is installed at the central position of the mounting seat 61111 and can cooperate with the spring 6113 and the straightening device upper assembly 6112 to enable the straightening device upper assembly 6112 to float when the drill pipe is loaded and unloaded, realizing thread protection during loading and unloading. The cooperation between the lower clamping jaws 61113 and the sliding base 6111 enables the straightening device 611 to slide along the guide rail on the drill pipe guide frame 612; In an embodiment of the present disclosure, the straightening device upper assembly 6112 is provided with an upper sleeve 61125, an installation base plate 61128 is mounted on the upper sleeve, a sliding guide rail 61124 is arranged along the length direction on the installation base plate 61128, and a clamping and straightening chuck 61122 is slidably mounted on the sliding guide rail 61124 relatively. A straightening clamping oil cylinder 61121 is arranged at the outer end of the clamping and straightening chuck 61122; the upper sleeve 61125 is axially sleeved with the lower sleeve 61112. When the drill pipe is loaded and unloaded, the rod of the straightening clamping oil cylinder 61121 extends to push the clamping and straightening chuck 61122 to move along the sliding guide rail 61124 to clamp and release the drill pipe 4. The upper end of the upper sleeve 61125 is connected to the installation base plate 61128, and reinforcing ribs 61127 are arranged on the outer periphery of the upper sleeve at the connection. Two clamping oil cylinder mounting plates 61123 are arranged vertically on the installation base plate 61128 for installing the straightening clamping oil cylinder 61121. The lower end is connected to the connection base plate 61126, and reinforcing ribs 61127 are arranged on the outer periphery of the upper sleeve at the connection. During operation, it is axially sleeved and cooperated with the lower sleeve 61112 to enable the straightening device upper assembly 6112 to float slightly. The installation base plate 61128 and the lower sleeve 61112 are cooperated by bolts; In an embodiment of the present disclosure, the water pipe loading and unloading device 62 is provided with a water pipe guide frame 621. A water pipe upper and lower buckle device 623 is slidably mounted on the water pipe guide frame 621, and a second feeding oil cylinder 624 is arranged along the length direction on the water pipe guide frame 621. The rod of the second feeding oil cylinder 624 drives the water pipe upper and lower buckle device 623 to move along the axis of the water pipe guide frame 621. The water pipe guide frame 621 is a frame structure with side plates at both ends and two parallel cylindrical guide rails connected in the middle. The overall extending direction is parallel to the axis of the drill pipe. The front end of the water pipe guide frame 621 is connected to the rear end of the drill pipe guide frame 612 in the drill pipe loading and unloading device 61. The rod of the second feeding oil cylinder 624 is installed on the front end plate of the water pipe guide frame 621, and the cylinder barrel end is installed on the oil cylinder mounting plate 6235 on the water pipe upper and lower buckle device 623. The extension and retraction of the rod of the second feeding oil cylinder 624 drive the water pipe upper and lower buckle device 623 to move along the axis of the conduit of the water pipe guide frame 621; In an embodiment of the present disclosure, the water pipe upper and lower buckle device 623 is provided with a support plate 6237. A relatively sliding buckle wheel 6232 is arranged on the support plate 6237, and a buckle clamping oil cylinder 6231 is arranged on the outer end face of the buckle wheel 6232. A lifting column 6236 and a lifting oil cylinder 6233 are arranged vertically along the lower edge of the support plate 6237, and the bottoms of the lifting column 6236 and the lifting oil cylinder 6233 are connected to a moving base 6234. The moving base 6234 is sleeved on the water pipe guide frame 621. The extension and retraction of the rod of the upper and lower buckle clamping oil cylinder 6231 drive the buckle wheel 6232 to move along the guide rail to realize the clamping and loosening of the drill pipe or the water pipe. The extension and retraction of the rod of the lifting oil cylinder 6233 can realize the rising or falling of the centralizing device upper installation 6112 in the water pipe upper and lower buckle device 623 along the two cylindrical guide rails of the base. When descending, it creates space in the drill pipe axis direction for adding rods at the rear end of the whole device during the operation of loading and unloading the drill pipe in the narrow space underground. When rising, it realizes the automatic loading and unloading of the drill pipe or the water pipe. The oil cylinder mounting plate 6235 is connected to the cylinder barrel of the second feeding oil cylinder 624 to realize the sliding of the water pipe upper and lower buckle device 623 along the axis of the guide rail of the water pipe guide frame 621; In the embodiment of the present disclosure, the unloading wheel 6232 is provided with a clamping cava 62321, and a cylinder connecting seat 62322 is provided on the outer end surface of the clamping cava 62321; the clamping surface of the clamping cava 62321 is embedded with an axially connected driving motor 62323, a driving wheel 62326 and a positioning wheel 62325; the outer diameter of the driving wheel 62326 intersects with the inner circle of the clamping cava 62321, and an oblique thread is provided on the outer diameter of the driving wheel 62326. The clamping slip 62321 is a mounting base, the driving motor 62323 is mounted on one side of the clamping slip 62321, the driving shaft is connected to the driving wheel 62326, a positioning wheel 62325 is mounted on the other side of the driving wheel, the driving shaft axis connecting shaft passes through the positioning wheel 62325 and penetrates the blocking plate 62324, the blocking plate is mounted on the other side of the clamping slip 62321, the positioning wheel 62325 is limited, and the axial stringing of the driving wheel 62326 is further limited, the outer diameter of the driving wheel 62326 intersects with the inner circle of the clamping slip 62321, and the outer diameter of the driving wheel 62326 may have an oblique thread, which can increase the friction with the drill rod and the water stool, and at the same time, the drill rod or the water stool can be moved axially when rotating; The unloading wheels 6232 are arranged obliquely symmetrically on the upper unloading device, that is, the driving motor of the left unloading wheel is arranged in the front, and the driving motor of the right unloading wheel is arranged in the rear. In this way, when unloading, the left and right driving wheels rotate in opposite directions, so that the drill rod or water stool can move in the same axial direction; the driving motors on the relatively arranged unloading wheels 6232 are arranged in opposite directions; and the unloading device 613 on the drill rod and the unloading device 623 on the water stool have the same structure and the same implementation principle, which will not be repeated here.

[0019] Combination Figure 7 (Steps 1-9 in the figure correspond to steps A1-A9 or steps B1-B9 in the process diagram), the construction method of the rear loading and unloading device of the tunnel drilling rig of the present invention includes an automatic rod loading process and an automatic rod unloading process; The rod adding process includes: Step A1, the last drill rod completes the drilling operation, at this time the clamp 2 is in a loose state, the rotator 3 clamps the drill rod 4 in the hole, and is at the clamp end of the feed body 5. The clamping and straightening slips 61122 in the straightening device 611 of the rear rod adding device 6 are in an open state under the drive of the straightening clamping oil cylinder 61121, the unbuckling wheel 6232 in the drill rod upper unbuckling device 613 is in an open state under the drive of the upper unbuckling clamping oil cylinder 6231, and the lifting oil cylinder 6233 drives the water stool upper unbuckling device 623 in the drill rod loading and unloading device 61 to a low position so that the drill rod in the hole passes over it. At this time, the water stool 622 is located at the rear end of the drill rod in the hole, and there is no water stool on the water stool upper unbuckling device 623 in the water stool loading and unloading device 62; Step A2, the rotator 3 clamps the drill rod 4 in the hole and drags the drill rod in the hole to move toward the rear rod adding device 6 under the drive of the fuselage feed cylinder. After one rod inversion, the water stool 622 is located in the water stool upper shackle device 623 in the water stool loading and unloading device 62. At this time, the upper shackle clamping cylinder 6231 drives the shackle wheel 6232 to move along the guide rail 61124 to clamp the water stool 622. The driving motor 62323 drives the driving wheel 62326 to rotate clockwise to make the water stool 622 shackle counterclockwise. At this time, the feed cylinder of the fuselage does not move, and the second feed cylinder 624 in the water stool loading and unloading device 62 is in a floating state; Step A3, when the water stool 622 is completely loosened from the drill rod in the hole, the clamp 2 clamps the drill rod 4 in the hole and moves it toward the hole. After one rod inversion, the rear end of the drill rod in the hole extends about 200 mm from the rear end of the rotator. At this time, the water stool 622 is clamped by the unloading wheel 6232 in the water stool loading and unloading device 62; Step A4, the drill rod 2 is hoisted by the hoisting device on the rear rod adding device 6, at which time the clamping and straightening slips 61122 in the upper mounting 6112 of the straightening device on the drill rod loading and unloading device 61 clamp the drill rod under the drive of the straightening and clamping oil cylinder 61121; Step A5, the drill rod upper shackle device 613 on the drill rod loading and unloading device 61 slowly rises under the drive of the lifting cylinder 6233 until the center line of the left and right shackle wheels 6232 is aligned with the center line of the drill rod, and then the shackle wheels 6232 clamp the drill rod under the drive of the upper shackle clamping cylinder 6231. At this time, the center of the drill rod is adjusted to be concentric with the center of the water stool 622 through the lifting cylinder 6233; Step A6, the first feed cylinder 614 in the drill rod loading and unloading device 61 remains stationary, and the second feed cylinder 624 in the water stool loading and unloading device 62 drives the water stool buckle-up and buckle-down device 623 to move toward the drill rod until the male and female buckles of the drill rod are in contact. At this time, the second feed cylinder 624 is in a floating state, and the driving motor 62323 drives the driving wheel 62326 to rotate counterclockwise to buckle the water stool 622 clockwise. When the oil inlet pressure of the driving motor reaches 5Mpa, the rotation stops; Step A7, the unloading wheel 6232 on the water stool loading and unloading device 62 releases the water stool 622 under the drive of the upper unloading clamping cylinder 6231, and at the same time the second feed cylinder 624 stops floating, driving the upper unloading device 623 to move away from the drill pipe, and then the first feed cylinder 614 drives the drill pipe upper unloading device 613 on the drill pipe loading and unloading device 61 to move toward the drill pipe in the hole until the male and female buckles of the two drill pipes are in contact. At this time, the first feed cylinder 614 is in a floating state, and the driving motor 62323 drives the driving wheel 62326 to rotate counterclockwise so that the drill pipe on the drill pipe upper unloading device 613 stops rotating when it is buckled clockwise to 2Mpa; Step A8, the clamping and centering slip 61122 in the centering device 611 on the drill pipe adding and removing device 61 continues to clamp the drill pipe. The uncoupling wheel 6232 in the drill pipe coupling device 613 on the drill pipe adding and removing device 61 releases the drill pipe under the action of the uncoupling clamping oil cylinder 6231. At this time, the gripper 2 on the feed body 5 clamps the drill pipe 4, the chuck of the rotary table 3 is released, and the feed oil cylinder drives the rotary table 3 to move to the rear end of the feed body 5, and the clamped rear drill pipe 4 is rotated clockwise to select the drill until the two drill pipe joints are completely combined; Step A9, the drill pipe coupling device 613 on the drill pipe adding and removing device 61 moves downward under the drive of the lifting oil cylinder 6233 to prevent the drill pipe from being damaged due to the excessive deviation of the water outlet end from the rotary table during drilling, resulting in an excessive rotation radius, and to damage the drill pipe and the water outlet 622. Open the water outlet water connection switch, release the gripper 2, and the rotary table 3 rotates clockwise for drilling. In this way, one automatic drill pipe adding process is completed.

[0020] Step A10, by repeating the actions through the program, the process of automatically adding drill pipes at the rear of the drilling rig can be realized; The drill pipe removing process includes: The drill pipe removing process only needs to remove the water outlet for the first time compared with the drill pipe adding process, and then only removes the drill pipe frequently. The specific steps are as follows; Step B1, turn off the water connection switch of the water outlet 622, release the gripper 2, and the chuck of the rotary table 3 clamps the drill pipe and drags the drill pipe from the front end (gripper end) of the drilling rig body to the rear end, so that the drill pipe clamped by the rotary table 3 and the drill pipe joint in the hole are between the gripper 2 and the rotary table 3. Then the gripper 2 clamps the drill pipe in the hole, and the power head of the rotary table 3 rotates counterclockwise to release the two drill pipe threads (not completely uncoupled). At this time, the clamping and centering slip 61122 in the centering device 611 on the drill pipe adding and removing device 61, the uncoupling wheel 6232 in the drill pipe coupling device 613, and the uncoupling wheel 6232 in the water outlet adding and removing device are all completely opened; Step B2, the chuck of the rotary table 3 is released, and the oil cylinder of the feed body 5 drives the rotary table 3 to move towards the gripper 2 end. Then the chuck of the rotary table 3 clamps the drill pipe 4, and the gripper 2 is released and continues to drive the drill pipe in the hole to move towards the rear part adding rod device 6 at the rear of the rig body under the action of..., the gripper 2 is opened, and the chuck of the rotary table 3 clamps the drill pipe 4 and moves to the uncoupling wheel 6232 in the water outlet coupling device 623 on the water outlet adding and removing device 62; Step B3, the shackle wheel 6232 in the upper shackle device 623 of the water stool loading and unloading device 62 clamps the water stool 622 under the drive of the upper shackle clamping oil cylinder 6231, and the drill rod upper shackle device 613 on the drill rod loading and unloading device 61 moves upward under the drive of the lifting oil cylinder 6233 until the center lines of the two shackle wheels 6232 are aligned with the axis of the drill rod, and the shackle wheel 6232 on the drill rod loading and unloading device 61 clamps the drill rod, and the driving motor 62323 thereon remains unchanged, and the first feeding oil cylinder 614 remains stationary; the driving wheel 62326 in the shackle wheel 6232 on the water stool loading and unloading device 62 rotates counterclockwise under the drive of the driving motor 62323 to drive the water stool 622 to rotate clockwise to shackle, and the second feeding oil cylinder 624 is in a floating state at this time. When the threads of the drill rod and the water stool 622 are completely loosened, the second feeding oil cylinder 624 drives the upper shackle device 623 of the water stool to move backward; Step B4, the clamp 2 clamps the drill rod 4 in the hole, and the first feed cylinder 614 is in a floating state. The driving wheel 62326 in the upper and lower buckle device 623 on the drill rod loading and unloading device 61 rotates counterclockwise under the drive of the driving motor 62323 to completely loosen the two drill rod threads, and the first feed cylinder 614 stops floating to drive the drill rod in the upper and lower buckle device 613 on the drill rod loading and unloading device 61 to separate from the drill rod in the hole by a certain distance; Step B5, the clamping and straightening slips 61122 in the straightening device 611 on the drill pipe loading and unloading device 61, the breakaway wheel 6232 in the upper breakaway device 623, and the breakaway wheel 6232 in the upper water-discharging device are all fully opened, and the hoisting device hoists away the drill pipe; Step B6, the clamp 2 is released, the chuck of the rotator 3 clamps the drill rod and drags the drill rod from the front end of the drilling rig body (the clamp end) to the rear end, so that the drill rod 4 clamped by the rotator 3 and the drill rod connection in the hole are between the clamp 2 and the rotator 3, and then the clamp 2 clamps the drill rod 4 in the hole, the power head of the rotator 3 rotates counterclockwise to loosen the two drill rod threads (incompletely unloaded), the chuck of the rotator 3 is released, the oil cylinder of the feed body 5 drives the rotator 3 to move toward the clamp 2 end, and then the chuck of the rotator 3 clamps the drill rod 4, the clamp 2 continues to drive the drill rod 4 in the hole to move behind the feed body 5, the clamp 2 is opened, the chuck of the rotator 3 clamps the drill rod and moves to the rear end of the body in the direction of the rear rod adding device 6 until the water is in the unloading wheel 6232 of the drill rod unloading device 613 on the drill rod loading and unloading device 61; Step B7, the unbuckling wheel 6232 on the drill rod loading and unloading device 61 clamps the drill rod, and the first feed oil cylinder 614 is in a floating state. The driving wheel 62326 in the drill rod upper unbuckling device 613 on the drill rod loading and unloading device 61 rotates counterclockwise under the drive of the driving motor 62323 to completely loosen the two drill rod threads, and the first feed oil cylinder 614 stops floating to drive the drill rod in the drill rod upper unbuckling device 613 on the drill rod loading and unloading device 61 to separate from the drill rod in the hole by a certain distance; Step B8: The clamping and centering slips 61122 in the centering device 611 of the drill pipe adding / removing device 61, the uncoupling wheel 6232 in the drill pipe make-and-break device 613, and the uncoupling wheel 6232 in the make-and-break water swivel device are all fully opened, and the hoisting device hoists away the drill pipe; Step B9: Repeat B6 - B8 until all the drill pipes in the hole are completely removed.

[0021] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A rear loading and unloading device suitable for a tunnel drilling rig, characterized in that: A rear loading and unloading device (6) is provided, wherein the rear loading and unloading device (6) comprises a drill rod loading and unloading device (61) and a water-contained loading and unloading device (62) which are arranged in series along the same motion plane; The drill rod loading and unloading device (61) includes a straightening device arranged to slide along the same motion plane and a drill rod unbuckling device arranged to move on the same plane; The water-container loading and unloading device (62) is provided with a water-container loading and unloading buckle device that moves in the same plane.

2. The rear loading and unloading device for a tunnel drilling rig according to claim 1, characterized in that: The drill rod loading and unloading device (61) is provided with a drill rod guide frame (612), on which a straightening device (611) and a drill rod upper buckle-off device (613) are slidably mounted; and a first feed oil cylinder (614) is provided on the drill rod guide frame (612) along the length direction; The unbuckling device (613) on the drill rod moves along the axis direction of the drill rod under the drive of the first feed oil cylinder (614), and the straightening device (611) floats along the axis direction of the drill rod.

3. The rear loading and unloading device for a tunnel drilling rig according to claim 2, characterized in that: The straightening device (611) is provided with a sliding base (6111), and a straightening device upper body (6112) is provided with the sliding base (6111) in a direction perpendicular to the axis of the drill rod, and a spring (6113) is provided at the connection between the two. The sliding base (6111) is sleeved on the drill rod guide frame (612) to slide.

4. The rear loading and unloading device for a tunnel drilling rig according to claim 3, characterized in that: The sliding base (6111) is provided with a flat-plate mounting seat (61111), and a lower sleeve (61112) is vertically provided on the mounting seat (61111); Lower holding tiles (61113) are arranged under the left and right sides of the mounting seat (61111), and the lower holding tiles (61113) are sleeved on the drill rod guide frame (612).

5. The rear loading and unloading device for a tunnel drilling rig according to claim 4, characterized in that: The upper mounting (6112) of the straightening device is provided with an upper sleeve (61125), a mounting base plate (61128) is mounted on the upper sleeve, a sliding guide rail (61124) is provided on the mounting base plate (61128) along the length direction, a clamping straightening slip (61122) is relatively slidably mounted on the sliding guide rail (61124), and a straightening clamping oil cylinder (61121) is provided at the outer end of the clamping straightening slip (61122); The upper sleeve (61125) is axially sleeved with the lower sleeve (61112).

6. The rear loading and unloading device for a tunnel drilling rig according to any one of claims 1 to 5, characterized in that: The water-container loading and unloading device (62) is provided with a water-container guide rail frame (621), on which a water-container upper and lower buckle device (623) is slidably mounted, and a second feed oil cylinder (624) is provided on the water-container guide rail frame (621) along the length direction; the cylinder rod of the second feed oil cylinder (624) drives the water-container upper and lower buckle device (623) to move along the axis of the water-container guide rail frame (621).

7. The rear loading and unloading device for a tunnel drilling rig according to claim 6, characterized in that: The water-contained upper shackle device (623) is provided with a support plate (6237), a shackle wheel (6232) that slides relatively is provided on the support plate (6237), and a shackle clamping oil cylinder (6231) is provided on the outer end surface of the shackle wheel (6232); A lifting column (6236) and a lifting cylinder (6233) are vertically arranged at the lower edge of the support plate (6237), and the bottoms of the lifting column (6236) and the lifting cylinder (6233) are connected to a movable base (6234), and the movable base (6234) is sleeved on the water-contained guide rail frame (621).

8. The rear loading and unloading device for a tunnel drilling rig according to claim 7, characterized in that: The shackle wheel (6232) is provided with a clamping slip (62321), and an oil cylinder connecting seat (62322) is provided on the outer end surface of the clamping slip (62321); The clamping surface of the clamping cava (62321) is embedded with an axially connected driving motor (62323), a driving wheel (62326) and a positioning wheel (62325); the outer diameter of the driving wheel (62326) intersects with the inner circle of the clamping cava (62321), and an oblique thread is arranged on the outer diameter of the driving wheel (62326).

9. The rear loading and unloading device for a tunnel drilling rig according to claim 8, characterized in that: The drive motors on the relatively arranged shackle wheels (6232) are arranged in opposite directions; The drill pipe upper shackle device (613) and the water-contained upper shackle device (623) have the same structure.

10. The construction method of the rear loading and unloading device for a tunnel drilling rig according to claim 9, characterized in that: Including automatic rod adding process and automatic rod unloading process; The drill pipe adding process comprises: Step A1, the last drill rod completes the drilling operation, the clamping and straightening slip (61122) in the straightening device (611) of the rear rod adding device (6) is in an open state under the drive of the straightening clamping oil cylinder (61121), the breakaway wheel (6232) in the drill rod upper breakaway device (613) is in an open state under the drive of the upper breakaway clamping oil cylinder (6231), the lifting oil cylinder (6233) drives the drill rod upper breakaway device (613) in the drill rod adding and unloading device (61) to a low position so that the drill rod in the hole passes over it, at this time, the water stool (622) is located at the rear end of the drill rod in the hole, and there is no water stool on the drill rod upper breakaway device (613) in the water stool adding and unloading device (62); Step A2, the drill rod in the hole is moved toward the rear rod adding device (6), and after one rod inversion, the water stool (622) is located in the water stool upper shackle device (623) in the water stool loading and unloading device (62). At this time, the upper shackle clamping cylinder (6231) drives the shackle wheel (6232) to move along the guide rail (61124) to clamp the water stool (622), and the driving motor (62323) drives the driving wheel (62326) to rotate clockwise so that the water stool (622) is shackled counterclockwise. At this time, the feed body cylinder does not move, and the second feed cylinder (624) in the water stool loading and unloading device (62) is in a floating state; Step A3, when the water stool (622) is completely loosened from the drill rod in the hole, the drill rod in the hole moves in the hole, and after one inversion, the rear end of the drill rod in the hole extends out, and at this time, the water stool (622) is clamped by the unloading wheel (6232) in the water stool loading and unloading device (62); Step A4, the drill rod is hoisted by the hoisting device onto the rear rod adding device (6), at which time the clamping and straightening slips (61122) in the upper mounting (6112) of the straightening device on the drill rod loading and unloading device (61) clamp the drill rod under the drive of the straightening and clamping oil cylinder (61121); Step A5, the drill rod upper shackle device (613) on the drill rod loading and unloading device (61) is slowly raised under the drive of the lifting cylinder (6233) until the center line of the left and right shackle wheels (6232) is aligned with the center line of the drill rod, and then the shackle wheels (6232) are driven by the upper shackle clamping cylinder (6231) to clamp the drill rod. At this time, the center of the drill rod is adjusted to be concentric with the center of the water stool (622) through the lifting cylinder (6233); Step A6, the first feed cylinder (614) in the drill rod loading and unloading device (61) remains stationary, and the second feed cylinder (624) in the water stool loading and unloading device (62) drives the water stool buckle-up and buckle-down device (623) to move toward the drill rod until the male and female buckles of the drill rod come into contact. At this time, the second feed cylinder (624) is in a floating state, and the drive motor (62323) drives the drive wheel (62326) to rotate counterclockwise to buckle the water stool (622) clockwise. When the oil inlet pressure of the drive motor reaches 5Mpa, the rotation stops; Step A7, the unbuckling wheel (6232) on the water stool loading and unloading device (62) releases the water stool (622) under the drive of the upper unbuckling clamping cylinder (6231), and at the same time the second feed cylinder (624) stops floating, driving the water stool upper unbuckling device (623) to move away from the drill rod, and then the first feed cylinder (614) drives the upper unbuckling device (623) on the drill rod loading and unloading device (61) to move toward the drill rod in the hole until the male and female buckles of the two drill rods are in contact. At this time, the first feed cylinder (614) is in a floating state, and the drive motor (62323) drives the drive wheel (62326) to rotate counterclockwise so that the drill rod on the drill rod upper unbuckling device (613) stops rotating when the drill rod is buckled clockwise to 2Mpa; Step A8, the clamping and straightening slips (61122) in the straightening device (611) on the drill rod loading and unloading device (61) continue to clamp the drill rod, and the breakaway wheel (6232) in the drill rod upper breakaway device (613) on the drill rod loading and unloading device (61) releases the drill rod under the action of the upper breakaway clamping cylinder (6231); Step A9, the drill rod upper shackle device (613) on the drill rod loading and unloading device (61) moves downward under the drive of the lifting cylinder (6233), and the water switch of the water faucet is turned on; Step A10, by repeating the program, the process of automatically adding drill rods to the rear of the drilling rig can be realized; The unloading process includes: Compared with the process of adding drill rods, the process of removing drill rods only needs to remove the water stool for the first time, and then only the drill rods need to be removed. The specific steps are as follows; Step B1, turn off the water switch of the water toilet (622), and fully open the clamping and straightening slips (61122) in the straightening device (611) on the drill rod loading and unloading device (61), the breakaway wheel (6232) in the drill rod upper breakaway device (613), and the breakaway wheel (6232) in the upper water toilet unloading device; Step B2, the drill rod is moved to the direction of the rear rod adding device (6) at the rear end of the fuselage and moved to the shackle wheel (6232) of the water stool upper shackle device (623) on the water stool loading and unloading device (62); Step B3, the shackle wheel (6232) in the upper shackle device (623) of the water stool loading and unloading device (62) clamps the water stool (622) under the drive of the upper shackle clamping oil cylinder (6231), and the upper shackle device (623) on the drill rod loading and unloading device (61) moves upward under the drive of the lifting oil cylinder (6233) until the center lines of the two shackle wheels (6232) are aligned with the axis of the drill rod, and the shackle wheel (6232) on the drill rod loading and unloading device (61) clamps the drill rod, and the driving motor thereon is driven to move upward. (62323) remains unchanged, and the first feed cylinder (614) remains stationary; the driving wheel (62326) in the shackle wheel (6232) on the water stool loading and unloading device (62) rotates counterclockwise under the drive of the driving motor (62323) to drive the water stool (622) to rotate clockwise to shackle, and at this time the second feed cylinder 624 is in a floating state. When the threads of the drill pipe and the water stool (622) are completely loosened, the second feed cylinder (624) drives the upper shackle device (623) to move backward; Step B4, the first feed oil cylinder (614) is in a floating state, the driving wheel (62326) in the drill rod upper shackle device (613) on the drill rod loading and unloading device (61) rotates counterclockwise under the drive of the driving motor (62323) to completely loosen the two drill rod threads, and the first feed oil cylinder (614) stops floating to drive the drill rod in the drill rod upper shackle device (613) on the drill rod loading and unloading device (61) to separate from the drill rod in the hole by a certain distance; Step B5, the clamping and straightening slips (61122) in the straightening device (611) on the drill rod loading and unloading device (61), the breakaway wheel (6232) in the drill rod upper breakaway device (613), and the breakaway wheel (6232) in the upper water toilet unloading device are all fully opened, and the hoisting device hoists away the drill rod; Step B6, the drill rod is moved to the rear end of the fuselage and in the direction of the rear rod adding device (6) until the water is in the shackle wheel (6232) of the upper shackle device (623) on the drill rod adding and removing device (61); Step B7, the unbuckling wheel (6232) on the drill rod loading and unloading device (61) clamps the drill rod, and the first feed oil cylinder (614) is in a floating state; the driving wheel (62326) in the drill rod upper unbuckling device (613) on the drill rod loading and unloading device (61) rotates counterclockwise under the drive of the driving motor (62323) to completely loosen the two drill rod threads, and the first feed oil cylinder (614) stops floating to drive the drill rod in the drill rod upper unbuckling device (613) on the drill rod loading and unloading device (61) to separate from the drill rod in the hole by a certain distance; Step B8, the clamping and straightening slips (61122) in the straightening device (611) on the drill rod loading and unloading device (61), the breakaway wheel (6232) in the drill rod upper breakaway device (613), and the breakaway wheel (6232) in the upper water toilet unloading device are all fully opened, and the hoisting device hoists away the drill rod; Step B9, repeat B6 to B8 until the drill rod in the hole is completely removed.

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