Power head drilling machine with automatic drilling path correction function
Through the powered head drilling rig with integrated sensors and intelligent control systems, the automation and safety problems of traditional drilling rigs in complex geological environments are solved, and efficient and accurate drilling operations are achieved, which are suitable for geological exploration tasks such as coal mines.
Patent Information
- Application Number
- CN202510658159.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-21
- Publication Date
- 2025-07-18
AI Technical Summary
Traditional directional drilling rigs are difficult to achieve automation, high-precision and high-efficiency construction in complex geological environments, lack environmental perception and obstacle avoidance capabilities, and have operational blind spots and safety hazards. The power head structure is huge in size and has a single function, and the connection method is prone to fatigue and wear.
It adopts a power head drilling rig with automatic drilling path correction function, integrates sensors such as ultrasonic radar, infrared vision imager, induction chip label recognition instrument, etc. to realize real-time data acquisition and path correction. Through the integrated design of the induction power head and the chuck shaft by driving the integrated design of the hydraulic motor, the connection tension is reduced and intelligent perception and automated control is enhanced.
It significantly improves the intelligence level and construction safety of drilling operations, reduces human operation errors, improves drilling efficiency and equipment operation continuity and accuracy, and is suitable for high-precision directional drilling under complex geological conditions.
Smart Images
Figure CN120331748A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of power head drills, and specifically to a power head drill with an automatic drilling path correction function. Background Art
[0002] Currently, in coal mines, geological exploration, and underground engineering construction, directional drills are widely used in operation scenarios such as advance exploration of roadway drivage, gas drainage, water exploration, and gas exploration. However, traditional directional drills have multiple technical bottlenecks during the drilling process and are difficult to meet the requirements of automated, high-precision, and high-efficiency construction in complex geological environments.
[0003] On the one hand, most traditional drills adopt a rigid drive structure and lack the ability to monitor and correct the drilling path in real time. In complex strata such as coal-rock interfaces and interlayers, drilling deviation is extremely likely to occur, seriously affecting the construction quality. On the other hand, most of the existing drill walking systems rely on manual control or simple sensing feedback, lack environmental perception and obstacle avoidance capabilities, and are difficult to move flexibly in narrow or variable coal mine roadways, with operation blind spots and safety hazards. In addition, the traditional power head structure is large in volume and single in function. The power head and the chuck are separate structures, occupying a large space and being inconvenient to adjust. Moreover, most of the common water tail connection methods are rigid or push-type connections, which are prone to generating large axial tensile forces during the drill pipe connection process, resulting in fatigue wear of the water tail thread, shortening the service life, and increasing the maintenance cost. Therefore, this application discloses a power head drill with an automatic drilling path correction function to meet the requirements of the adaptive drill pipe grasping function. Summary of the Invention
[0004] Aiming at the deficiencies of the prior art, the present invention provides a power head drill with an automatic drilling path correction function, which has the advantages of automatic judgment and dynamic adjustment of the drilling path, and solves the problems of lacking environmental perception and obstacle avoidance capabilities, being difficult to move flexibly in narrow or variable coal mine roadways, and having operation blind spots and safety hazards.
[0005] To achieve the above object, the present invention provides the following technical solution: A power head drill with an automatic drilling path correction function, including a drill rig body. A self-propelled chassis is arranged at the bottom of the drill rig body. A drilling head is arranged at one end of the top of the drill rig body. A drill pipe body passes through the drilling head. A signal processing host computer is arranged on one side above the drill rig body. A PLC control cabinet is arranged on one side of the signal processing host computer. An induction type power head is arranged on the drill rig body. A hydraulic motor is arranged on the induction type power head. A braking and calibration manipulator is arranged on one side of the induction type power head. One end of the braking and calibration manipulator is arranged on the drill rig body. An automatic drill pipe lifting frame is arranged on the side of the drill rig body. The braking and calibration manipulator is located above the automatic drill pipe lifting frame.
[0006] Preferably, the self - propelled chassis includes crawlers, a driving source for driving is arranged inside the crawlers, multiple groups of ultrasonic radars are arranged around the crawlers, an infrared vision imager is arranged on the drill bit, induction chip tag identifiers are arranged on both sides of the crawlers, the induction chip tag identifiers are located between adjacent ultrasonic radars, multiple groups of evenly - distributed induction chip tags are arranged on the inner wall of the coal mine roadway, and the induction chip tag identifiers are used to receive signals from the induction chip tags.
[0007] Preferably, a rotating shaft is arranged at the center of the top of the self - propelled chassis, an angle encoder is arranged on the rotating shaft, the angle encoder is used to identify and judge signals from the infrared vision imager, the ultrasonic radars and the induction chip tag identifiers, the angle encoder simultaneously receives signals from the signal - processing host computer and the PLC control cabinet, and the rotation angle of the rotating shaft is plus or minus 90 degrees.
[0008] Preferably, a deflection frame is arranged on the drill rig body, a sliding rail is arranged on the deflection frame, a sliding plate is slidably arranged on the sliding rail, the induction - type power head is arranged on the sliding plate, upper pull rods are arranged on both sides of the deflection frame, one end of the upper pull rod is provided with a lower pull rod, and one end of the lower pull rod is arranged on the drill rig body.
[0009] Preferably, an oil cylinder body is arranged between the lower pull rod and the upper pull rod, a locking piston is arranged inside the oil cylinder body, a locking block is arranged inside the oil cylinder body, and the oil cylinder body is connected to the hydraulic motor through an oil pipe.
[0010] Preferably, a telescopic cylinder is arranged on the drill rig body, one end of the telescopic cylinder is connected to one side of the deflection frame, a deflection plate is arranged on the drill rig body, an inclination encoder is arranged on one side of the deflection plate, the inclination encoder is located on one side of the telescopic cylinder, the inclination encoder is used to control the telescopic cylinder to extend and retract, and the deflection angle of the deflection plate is from - 15 degrees to + 30 degrees.
[0011] Preferably, the induction - type power head includes a gear transmission box, a hydraulic brake is arranged on one side of the gear transmission box, a relative encoder is arranged on one side of the gear transmission box, a chuck shaft is arranged on one side of the bottom of the gear transmission box, a sensor support is arranged on the chuck shaft, a drill pipe body penetrates through the chuck shaft, and a detachable water tail is arranged on the other side of the gear transmission box.
[0012] Preferably, a connecting clamping ring and a fixing ring are arranged at one end inside the chuck shaft. A rotation stopping pin is arranged inside the chuck shaft. A floating water tail is slidably arranged inside the chuck shaft. A spline is arranged on one side of the floating water tail. A return spring is arranged at one end of the floating water tail. The drill pipe body penetrates through the inside of the chuck shaft. A connecting screw thread is arranged inside one end of the chuck shaft. A rubber sleeve is arranged on the connecting screw thread. A chuck is arranged inside one end of the chuck shaft. The chuck is used for clamping the drill pipe body.
[0013] Compared with the prior art, the present invention provides a power head drill with an automatic drilling path correction function, having the following beneficial effects: 1. For this power head drill with an automatic drilling path correction function, during the drilling process, drilling data is collected in real time by sensors and uploaded to the signal processing host computer. By combining software calculations, the current formation type such as rock formation or coal seam is judged, and the corresponding propulsion speed is automatically matched. The drill has a self-checking function and can automatically start the hole washing program according to the pressure change in the drill hole. At the same time, the hole condition is dynamically analyzed through flow feedback and the drilling parameters are adjusted to ensure the stability and accuracy of the drill hole path. If a path deviation occurs, the system automatically drives the braking calibration manipulator to correct the angle of the drill pipe and keep the drilling direction consistent. Through the integration of signal acquisition, path analysis and mechanical automatic correction devices, the automatic judgment and dynamic adjustment of the drilling path are realized, significantly improving the intelligent level of the drilling operation. It can match the propulsion speed in real time according to different formations, and adaptively adjust the operation parameters according to the pressure and flow changes in the hole, effectively improving the drilling efficiency and construction safety. The braking calibration manipulator cooperates with the induction type power head to quickly correct the drill pipe deviation during the drilling process, greatly reducing the human operation error, and is especially suitable for directional drilling tasks in complex geological areas.
[0014] 2. This type of power head drill with an automatic drilling path correction function uses a servo motor type drive source to drive the crawler for the walking and propulsion of the drill. Multiple groups of ultrasonic radars are evenly distributed around the crawler to sense the information of surrounding obstacles in real time and achieve active obstacle avoidance. The infrared vision imager installed on the drill bit can visually identify the front environment during the walking process. A 360-degree obstacle detection and protection is formed through the ultrasonic radar to improve the operation safety of the equipment. The infrared vision imager can identify the risks ahead and assist in the monitoring of the equipment status, enhancing the intelligent perception ability and assisting in judging the operation status of the equipment and the path risks. Inductive chip label readers are arranged on both sides of the crawler to identify the inductive chip labels evenly arranged on the inner wall of the coal mine roadway, obtain the absolute position of the drill in the roadway, and the inductive chip label readers combine with the inductive chip labels on the inner wall of the roadway to achieve position feedback. Together with the angle encoder and the signal processing system, a three-dimensional electronic positioning system is constructed to ensure the real-time correction and precise navigation of the drill path. A rotating shaft installed at the center of the top of the crawler is equipped with an angle encoder, which can achieve a rotation of plus or minus 90 degrees. The angle encoder comprehensively receives the signals from the infrared vision imager, ultrasonic radar, inductive chip label reader, as well as the upper computer and the PLC control cabinet, and identifies the real-time orientation and traveling direction of the drill, so as to achieve precise positioning and dynamic adjustment in the three-dimensional space. At the same time, the crawler is driven by a servo motor brake, which can dynamically feedback the walking speed and distance, effectively ensuring the continuity, controllability and accuracy of the movement process of the drill.
[0015] 3. This kind of power head drill with an automatic drilling path correction function. The induction type power head realizes power output through a hydraulic motor driving a gearbox, and is equipped with a hydraulic brake to lock the hydraulic motor in the non-working state to prevent the main shaft from slipping. The power head is installed on a sliding plate, and the sliding plate slides along the sliding rail to achieve the linear displacement of the power head in the drilling direction. A sensor support is provided at the front end main shaft of the power head to detect in real time whether the drill pipe exists and whether it contacts the drill pipe body, and cooperate with the braking and calibration manipulator to automatically find and grasp the drill pipe at any position. The relative encoder set on the gearbox is used to monitor the rotation direction, speed and rotation angle of the power head to achieve precise control. The power head is also connected to the oil cylinder body and communicates with the hydraulic motor through an oil pipe. The locking piston set in the oil cylinder body cooperates with the locking block to complete the locking and release of the upper and lower pull rods. To achieve angle adjustment, a deflection frame and a deflection plate are provided on the drill rig body, and the deflection is driven by a telescopic cylinder. The inclination encoder is used to monitor and control the angle adjustment range of the deflection plate from -15 degrees to +30 degrees to assist in fine adjustment of the drilling direction and path correction; The induction type power head has a compact structure and highly integrated functions, realizes efficient drive through a hydraulic motor, and can adjust multiple speeds in cooperation with the gearbox to meet the torque requirements under different drilling conditions. The main shaft braking system can effectively prevent the drill pipe body from slipping in the non-working state and improve operation safety. The built-in sensor support and relative encoder enable the system to have the ability to perceive the speed, direction, rotation angle and the state of the drill pipe body in real time, automatically judge the contact state of the drill pipe body and intelligently grab it, greatly improving the automation level of the drill rig. By controlling the deflection angle through the inclination encoder, and cooperating with the sliding rail, the upper pull rod and the lower pull rod, the induction type power head completes the positioning adjustment in three-dimensional space, enhancing the drilling path correction ability, and is suitable for high-precision directional drilling operations under complex geological conditions.
[0016] 4. This kind of power head drill with an automatic drilling path correction function has a chuck shaft as the main shaft housing of the induction type power head, which is integrated with the structure of the induction type power head, playing the role of integrating transmission and clamping. A rotation stop pin is provided inside the chuck shaft to stably transmit the torque of the power head to the floating water tail. One side of the floating water tail is connected to the main shaft through a spline, achieving reliable transmission while having the ability of axial sliding. A return spring is set at its end to provide continuous pre-pressure to the floating water tail, making it in a floating and pressing state. The drill pipe body penetrates the chuck shaft. When the drill pipe is connected, the floating water tail is pressed into a certain stroke. The floating water tail is connected by splines and has the ability of axial sliding, forming a constant pressure floating structure in cooperation with the return spring. Through the rotation of the chuck shaft, the connecting thread is docked and locked with the drill pipe body, effectively reducing the tensile stress on the connecting thread. It can achieve adaptive adjustment through passive compression when the drill pipe body is connected, avoiding the high tensile force brought by the traditional push type structure. A rubber sleeve and a chuck are also set at one end of the chuck shaft. The chuck clamps and fixes the drill pipe body. The connecting clamping ring and the fixed ring are used for overall positioning and reaction force transmission, facilitating the forward pushing operation of the induction type power head. This structure realizes the automatic floating adjustment during the connection process of the drill pipe body through sliding combination and elastic pre-tightening; the overall structure enhances the reliability and durability of the drilling connection mechanism, and is especially suitable for high-intensity drilling working conditions with frequent rod connection. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 is a first perspective three-dimensional structure schematic diagram of the present invention; Figure 2 is a second perspective three-dimensional structure schematic diagram of the present invention; Figure 3 is a three-dimensional structure schematic diagram of the rotating shaft of the present invention; Figure 4 is a three-dimensional structure schematic diagram of the telescopic cylinder of the present invention; Figure 5 is a three-dimensional structure schematic diagram of the oil cylinder body of the present invention; Figure 6 is a three-dimensional structure schematic diagram of the gearbox of the present invention; Figure 7 is a three-dimensional structure schematic diagram of the detachable water tail of the present invention; Figure 8 is a partially cut-away three-dimensional structure schematic diagram of the chuck shaft of the present invention.
[0018] In the figure: 1. Drill rig body; 2. Self-propelled chassis; 3. Signal processing host computer; 4. PLC control cabinet; 5. Inductive power head; 6. Hydraulic motor; 7. Brake calibration manipulator; 8. Automatic drill pipe lifting frame; 9. Sliding rail; 10. Sliding plate; 11. Infrared vision imager; 12. Ultrasonic radar; 13. Inductive chip label identifier; 14. Crawler; 15. Inductive chip label; 16. Rotating shaft; 17. Angle encoder; 18. Inclination encoder; 19. Telescopic cylinder; 20. Deflection plate; 21. Deflection frame; 22. Cylinder body; 23. Locking piston; 24. Locking block; 25. Lower pull rod; 26. Upper pull rod; 27. Gearbox; 28. Hydraulic brake; 29. Relative encoder; 30. Sensor support; 31. Chuck shaft; 32. Connecting clamp ring; 33. Fixed ring; 34. Anti-rotation pin; 35. Return spring; 36. Spline; 37. Floating water tail; 38. Connecting screw thread; 39. Rubber sleeve; 40. Chuck jaw; 41. Drill pipe body; 42. Removable water tail. Specific implementation mode
[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0020] As introduced in the background technology, there are deficiencies in the prior art. To solve the above technical problems, the present application proposes a power head drill rig with an automatic drilling path correction function.
[0021] In a typical implementation mode of the present application, as Figures 1 - 8As shown in the figure, a power head drill with an automatic drilling path correction function includes a drill rig body 1. A self-propelled chassis 2 is provided at the bottom of the drill rig body 1. A drilling head is provided at one end of the top of the drill rig body 1. A drill pipe body 41 passes through the drilling head. A signal processing host computer 3 is provided on one side above the drill rig body 1. A PLC control cabinet 4 is provided on one side of the signal processing host computer 3. An inductive power head 5 is provided on the drill rig body 1. A hydraulic motor 6 is provided on the inductive power head 5. A braking and calibration manipulator 7 is provided on one side of the inductive power head 5. One end of the braking and calibration manipulator 7 is provided on the drill rig body 1. An automatic drill pipe lifting frame 8 is provided on the side of the drill rig body 1. The braking and calibration manipulator 7 is located above the automatic drill pipe lifting frame 8. During the drilling process, drilling data is collected in real time through sensors and uploaded to the signal processing host computer 3. By combining software calculations, the current formation type such as rock formation or coal seam is judged, and the corresponding propulsion speed is automatically matched. The drill rig has a self-check function and can automatically start the hole washing program according to the pressure change in the drill hole. At the same time, the hole condition is dynamically analyzed through flow feedback and the drilling parameters are adjusted to ensure the stability and accuracy of the drill hole path. If there is a path deviation, the system automatically drives the braking and calibration manipulator 7 to correct the angle of the drill pipe and keep the drilling direction consistent. By integrating signal acquisition, path analysis and mechanical automatic correction devices, the automatic judgment and dynamic adjustment of the drilling path are realized, significantly improving the intelligent level of the drilling operation. It can match the propulsion speed in real time according to different formations, and adaptively adjust the operation parameters according to the pressure and flow changes in the hole, effectively improving the drilling efficiency and construction safety. The braking and calibration manipulator 7 works with the inductive power head 5 and can quickly correct the deviation of the drill pipe during the drilling process, greatly reducing the human operation error, and is especially suitable for directional drilling tasks in complex geological areas.
[0022] As a preferred implementation manner in this embodiment, refer to the attached Figures 1 - 4, the self-propelled chassis 2 includes crawlers 14. A driving source for driving is provided inside the crawlers 14. A plurality of groups of ultrasonic radars 12 are arranged around the crawlers 14. An infrared vision imager 11 is provided on the drill bit. Inductive chip label recognizers 13 are arranged on both sides of the crawlers 14. The inductive chip label recognizers 13 are located between adjacent ultrasonic radars 12. A plurality of groups of evenly distributed inductive chip labels 15 are arranged on the inner wall of the coal mine roadway. The inductive chip label recognizers 13 are used to receive the signals on the inductive chip labels 15; A rotating shaft 16 is arranged at the center of the top of the self-propelled chassis 2. An angle encoder 17 is arranged on the rotating shaft 16. The angle encoder 17 is used to identify and judge the signals of the infrared vision imager 11, the ultrasonic radars 12 and the inductive chip label recognizers 13. The angle encoder 17 simultaneously receives the signals of the signal processing host computer 3 and the PLC control cabinet 4. The rotation angle of the rotating shaft 16 is plus or minus 90 degrees; The self-propelled chassis 2 uses a servo motor type driving source to drive the crawlers 14 to realize the walking and propulsion of the drill rig. A plurality of groups of ultrasonic radars 12 are evenly arranged around the crawlers 14 in the front, back, left and right directions to sense the surrounding obstacle information in real time and realize active obstacle avoidance. The infrared vision imager 11 arranged on the drill bit can visually recognize the front environment during the walking process. Through the ultrasonic radars 12, 360-degree obstacle detection and protection are formed, improving the operation safety of the equipment. The infrared vision imager 11 can recognize the risks ahead and assist in the monitoring of the equipment status, enhancing the intelligent perception ability, assisting in judging the operation status of the equipment and the path risks. Inductive chip label recognizers 13 are arranged on both sides of the crawlers 14 to identify the inductive chip labels 15 evenly arranged on the inner wall of the coal mine roadway, obtain the absolute position of the drill rig in the roadway. The inductive chip label recognizers 13 combine with the inductive chip labels 15 on the inner wall of the roadway to realize position feedback, cooperate with the angle encoder 17 and the signal processing system to construct a three-dimensional electronic positioning system, ensuring the real-time correction and precise navigation of the drill rig path. The rotating shaft 16 arranged at the center of the top of the crawlers 14 is equipped with an angle encoder 17, which can rotate plus or minus 90 degrees. The angle encoder 17 comprehensively receives the signals of the infrared vision imager 11, the ultrasonic radars 12, the inductive chip label recognizers 13, the signal processing host computer 3 and the PLC control cabinet 4, identifies the real-time orientation and traveling direction of the drill rig, so as to realize precise positioning and dynamic adjustment in the three-dimensional space; At the same time, the crawlers 14 are driven by a servo motor brake, which can dynamically feedback the walking speed and distance, effectively ensuring the continuity, controllability and precision of the movement process of the drill rig.
[0023] As a preferred implementation manner in this embodiment, refer to the appendix Figure 4 and Figure 5, a deflection frame 21 is provided on the drilling rig body 1, a sliding rail 9 is provided on the deflection frame 21, a sliding plate 10 is slidably provided on the sliding rail 9, an inductive power head 5 is provided on the sliding plate 10, upper pull rods 26 are provided on both sides of the deflection frame 21, a lower pull rod 25 is provided at one end of the upper pull rod 26, and one end of the lower pull rod 25 is provided on the drilling rig body 1; an oil cylinder body 22 is provided between the lower pull rod 25 and the upper pull rod 26, a locking piston 23 is provided in the oil cylinder body 22, a locking block 24 is provided in the oil cylinder body 22, and the oil cylinder body 22 is connected to a hydraulic motor 6 through an oil pipe; a telescopic cylinder 19 is provided on the drilling rig body 1, one end of the telescopic cylinder 19 is connected to one side of the deflection frame 21, a deflection plate 20 is provided on the drilling rig body 1, an inclination encoder 18 is provided on one side of the deflection plate 20, the inclination encoder 18 is located on one side of the telescopic cylinder 19, the inclination encoder 18 is used to control the telescopic cylinder 19 to expand and contract, and the deflection angle of the deflection plate 20 is from -15 degrees to +30 degrees; the inductive power head 5 includes a gearbox 27, a hydraulic brake 28 is provided on one side of the gearbox 27, a relative encoder 29 is provided on one side of the gearbox 27, a chuck shaft 31 is provided on one side of the bottom of the gearbox 27, a sensor support 30 is provided on the chuck shaft 31, a drill pipe body 41 passes through the chuck shaft 31, and a detachable water tail 42 is provided on the other side of the gearbox 27; the inductive power head 5 drives the gearbox 27 through the hydraulic motor 6 to achieve power output, and is equipped with a hydraulic brake 28 to lock the hydraulic motor 6 in a non-working state to prevent the main shaft from slipping. The inductive power head 5 is installed on the sliding plate 10, and the sliding plate 10 slides along the sliding rail 9 to achieve the linear displacement of the inductive power head 5 in the drilling direction. A sensor support 30 is provided at the front end main shaft of the inductive power head 5, which can detect in real time whether the drill pipe exists and whether it contacts the drill pipe body 41, and cooperate with the braking and calibration manipulator 7 to automatically find and grab the drill pipe at any position. The relative encoder 29 provided on the gearbox 27 is used to monitor the rotation direction, rotation speed and rotation angle of the power head to achieve precise control. The inductive power head 5 is also connected to the oil cylinder body 22 and communicates with the hydraulic motor 6 through an oil pipe. The locking piston 23 provided in the oil cylinder body 22 cooperates with the locking block 24 to complete the locking and release of the lower pull rod 25 and the upper pull rod 26. To achieve angle adjustment, a deflection frame 21 and a deflection plate 20 are provided on the drilling rig body 1 and are driven to deflect by the telescopic cylinder 19. The inclination encoder 18 is used to monitor and control the angle adjustment range of the deflection plate 20 from -15 degrees to +30 degrees to assist in fine adjustment of the drilling direction and path correction; the inductive power head 5 has a compact structure and highly integrated functions, is efficiently driven through the hydraulic motor 6, and can adjust multiple rotation speeds in cooperation with the gearbox 27 to meet the torque requirements under different drilling conditions. The main shaft braking system can effectively prevent the drill pipe body 41 from slipping in a non-working state and improve the operation safety.The built-in sensor support 30 and the relative encoder 29 enable the system to have the ability to sense the rotational speed, direction, rotation angle and the state of the drill pipe body 41 in real time, automatically judge the contact state of the drill pipe body 41 and intelligently grab it, greatly improving the automation level of the drill rig. The deflection angle is controlled by the inclination encoder 18, and in cooperation with the sliding rail 9, the upper pull rod 25 and the lower pull rod 26, the induction type power head 5 is positioned and adjusted in three-dimensional space, enhancing the drilling path correction ability, and is applicable to high-precision directional drilling operations under complex geological conditions.
[0024] As a preferred implementation mode in this embodiment, refer to the attached Figure 7 and Figure 8 At one end inside the chuck shaft 31, a connecting clamping ring 32 and a fixing ring 33 are provided. A rotation stopping pin 34 is arranged inside the chuck shaft 31. A floating water tail 37 is slidably arranged inside the chuck shaft 31. A spline 36 is arranged on one side of the floating water tail 37. A return spring 35 is arranged at one end of the floating water tail 37. The drill pipe body 41 passes through the inside of the chuck shaft 31. A connecting thread 38 is arranged inside one end of the chuck shaft 31. A rubber sleeve 39 is arranged on the connecting thread 38. A claw 40 is arranged inside one end of the chuck shaft 31. The claw 40 is used for clamping the drill pipe body 41. The chuck shaft 31 serves as the main shaft housing of the induction type power head 5 and is integrated with the structure of the induction type power head 5, playing the role of integrating transmission and clamping. A rotation stopping pin 34 is arranged inside the chuck shaft 31, which is used to stably transmit the torque of the power head to the floating water tail 37. One side of the floating water tail 37 is connected to the main shaft through a spline 36, realizing reliable transmission while having the ability of axial sliding. A return spring 35 is arranged at its end to provide continuous pre-pressure to the floating water tail 37, making it in a floating and pressing state. The drill pipe body 41 passes through the chuck shaft 31. When the drill pipe is connected, the floating water tail 37 is pressed into a certain stroke. The floating water tail 37 is connected by a spline 36 and has the ability of axial sliding, and forms a constant pressure floating structure in cooperation with the return spring 35. The connecting thread 38 is docked and locked with the drill pipe body 41 by the rotation of the chuck shaft 31, thereby effectively reducing the tensile stress on the connecting thread 38. It can achieve adaptive adjustment through passive compression when the drill pipe body 41 is connected, avoiding the high tensile force brought by the traditional push type structure. A rubber sleeve 39 and a claw 40 are also arranged at one end of the chuck shaft 31. The claw 40 clamps and fixes the drill pipe body 41. The connecting clamping ring 32 and the fixing ring 33 are used for overall positioning and reaction force transmission, facilitating the forward pushing operation of the induction type power head 5. This structure realizes the automatic floating adjustment during the connection process of the drill pipe body 41 through sliding combination and elastic pre-tightening; the overall structure enhances the reliability and durability of the drilling connection mechanism, and is especially suitable for high-intensity drilling working conditions with frequent rod connection.
[0025] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A power head drill with an automatic drilling path correction function, comprising a drill rig body (1), characterized in that: A self-propelled chassis (2) is provided at the bottom of the drill rig body (1). A drilling head is provided at one end of the top of the drill rig body (1). A drill pipe body (41) passes through the drilling head. A signal processing host computer (3) is provided on one side above the drill rig body (1). A PLC control cabinet (4) is provided on one side of the signal processing host computer (3). An induction type power head (5) is provided on the drill rig body (1). A hydraulic motor (6) is provided on the induction type power head (5). A braking and calibration manipulator (7) is provided on one side of the induction type power head (5). One end of the braking and calibration manipulator (7) is provided on the drill rig body (1). An automatic drill pipe lifting frame (8) is provided on the side of the drill rig body (1). The braking and calibration manipulator (7) is located above the automatic drill pipe lifting frame (8).
2. The power head drill with an automatic drilling path correction function according to claim 1, characterized in that: The self-propelled chassis (2) includes crawlers (14). A driving source for driving is provided inside the crawlers (14). A plurality of groups of ultrasonic radars (12) are provided around the crawlers (14). An infrared vision imager (11) is provided on the drilling head. Inductive chip tag identification devices (13) are provided on both sides of the crawlers (14). The inductive chip tag identification devices (13) are located between adjacent ultrasonic radars (12). A plurality of groups of evenly distributed inductive chip tags (15) are provided on the inner wall of the coal mine roadway. The inductive chip tag identification devices (13) are used to receive signals from the inductive chip tags (15).
3. The power head drill with an automatic drilling path correction function according to claim 2, characterized in that: A rotating shaft (16) is provided at the center of the top of the self-propelled chassis (2). An angle encoder (17) is provided on the rotating shaft (16). The angle encoder (17) is used to identify and judge signals from the infrared vision imager (11), the ultrasonic radars (12), and the inductive chip tag identification devices (13). The angle encoder (17) simultaneously receives signals from the signal processing host computer (3) and the PLC control cabinet (4). The rotating angle of the rotating shaft (16) is plus or minus 90 degrees.
4. The power head drill with an automatic drilling path correction function according to claim 3, characterized in that: A deflection frame (21) is provided on the drill rig body (1). A sliding rail (9) is provided on the deflection frame (21). A sliding plate (10) is slidably provided on the sliding rail (9). The induction type power head (5) is provided on the sliding plate (10). Upper pull rods (26) are provided on both sides of the deflection frame (21). One end of the upper pull rods (26) is provided with lower pull rods (25). One end of the lower pull rods (25) is provided on the drill rig body (1).
5. The power head drill with an automatic drilling path correction function according to claim 4, characterized in that: An oil cylinder body (22) is provided between the lower pull rods (25) and the upper pull rods (26). A locking piston (23) is provided inside the oil cylinder body (22). A locking block (24) is provided inside the oil cylinder body (22). The oil cylinder body (22) is connected to the hydraulic motor (6) through an oil pipe.
6. The power head drill with an automatic drilling path correction function according to claim 5, characterized in that: A telescopic cylinder (19) is provided on the drill rig body (1). One end of the telescopic cylinder (19) is connected to one side of the deflection frame (21). A deflection plate (20) is provided on the drill rig body (1). An inclination encoder (18) is provided on one side of the deflection plate (20). The inclination encoder (18) is located on one side of the telescopic cylinder (19). The inclination encoder (18) is used to control the telescopic movement of the telescopic cylinder (19). The deflection angle of the deflection plate (20) ranges from -15 degrees to +30 degrees.
7. The power head drill with an automatic drilling path correction function according to claim 6, characterized in that: The induction power head (5) includes a gearbox (27). A hydraulic brake (28) is provided on one side of the gearbox (27). A relative encoder (29) is provided on one side of the gearbox (27). A chuck shaft (31) is provided on one side of the bottom of the gearbox (27). A sensor support (30) is provided on the chuck shaft (31). A drill pipe body (41) passes through the chuck shaft (31). A detachable water tail (42) is provided on the other side of the gearbox (27).
8. The power head drill with an automatic drilling path correction function according to claim 7, characterized in that: A connecting clamping ring (32) and a fixing ring (33) are provided at one end inside the chuck shaft (31). A rotation stopping pin (34) is provided inside the chuck shaft (31). A floating water tail (37) is slidably provided inside the chuck shaft (31). A spline (36) is provided on one side of the floating water tail (37). A return spring (35) is provided at one end of the floating water tail (37). The drill pipe body (41) passes through the inside of the chuck shaft (31). A connecting thread (38) is provided inside one end of the chuck shaft (31). A rubber sleeve (39) is provided on the connecting thread (38). A chuck (40) is provided inside one end of the chuck shaft (31). The chuck (40) is used to clamp the drill pipe body (41).