A full hydraulic crawler type directional drilling rig

Abstract

The present application relates to the technical fields of coal mine drilling machine, and provides a tracked full-hydraulic directional drilling machine, which comprises a base and a rack body vertically arranged on the base, a power device for driving a drill rod is arranged on the rack body, the rack body can rotate to drive the power device to adjust the height inclination angle; the rack body is divided into a front end close to a drilling point and a rear end away from the drilling point along a drilling direction, the rear end of the rack body is provided with a swing driving device; one end of a buffer rod is hingedly arranged on the base; a clamping frame is arranged below the front end of the rack body and extends obliquely away from the rear end of the rack body, so that the reaction force of the drill rod drilling on the swing driving device is dispersed and transmitted to the base through the buffer rod, the vibration is avoided from being directly transmitted to the base or the core components of the rack body, the influence of the vibration on the power device and the swing driving device is reduced, the stability of the drill rod drilling is improved, the drilling deviation caused by the vibration is avoided, and the risk of fatigue damage of the components is further reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine drilling machines, in particular to a tracked full-hydraulic directional drilling machine. BACKGROUND

[0002] Coal mine drilling machines are commonly used for underground roadway excavation, coal seam exploration and gas extraction. A traditional coal mine drilling machine usually comprises a rack body, a power device, a rotating cylinder and a moving cylinder. The rack body is used to assemble the power device, which mainly consists of a main motor, a transmission, a chuck and a main shaft. The main motor provides rotary power, which is transmitted to the main shaft after the speed is adjusted by the transmission. The chuck is used to clamp and rotate the drill pipe synchronously to achieve cutting and drilling of coal or rock layers. To adapt to different drilling angles such as horizontal drilling and inclined drilling, the rotating cylinder drives the rack body to rotate around the hinge point through the extension and retraction of the piston rod. The power device is arranged on the rack body through a guide rail or a sliding groove. The moving cylinder is connected between the rack body and the power device and drives the linear movement of the power device along the rack body through the extension and retraction of the moving cylinder, so as to adjust the feed rate and drilling depth of the drill pipe and meet the operation requirements of different drilling depths.

[0003] In actual drilling operations, the drill pipe needs to be subjected to high-intensity cutting and extrusion with the coal seam and rock layer, generating drilling reaction force and high-frequency vibration. On the one hand, the drill pipe will be subjected to an opposite axial thrust during rotary cutting, and the force varies dynamically with the hardness of the rock layer and the looseness of the coal seam. On the other hand, the non-uniformity of the rock layer, the high-speed rotary eccentricity of the drill pipe and the impact load during cutting will cause high-frequency vibration of the entire machine. These reaction forces and vibrations will be transmitted to the power device and then to the rotating cylinder.

[0004] The rotating cylinder is hinged to the rack body through a pin, and the hinge point is the weak force point of the entire machine. The vibration during drilling will be transmitted to the hinge pin and the cylinder barrel of the rotating cylinder through the rack body, causing the wear between the pin and the shaft hole to be aggravated. Long-term vibration impact can easily cause the pin to deform and break, or the weld at the hinge of the cylinder barrel to crack. In addition, the radial component of the drilling reaction force will cause the cylinder barrel of the rotating cylinder to bear additional bending moment load. This bending moment will destroy the force balance inside the cylinder, causing eccentric wear between the piston rod and the cylinder barrel, accelerating the failure of the sealing element, ultimately affecting the pitching rotation accuracy of the rack body, and even causing the cylinder to fail to extend and retract normally, forcing the construction to be interrupted.

[0005] Due to narrow operation space and poor maintenance environment in underground coal mine, the fault maintenance of the rotating oil cylinder not only consumes time and effort, but also delays the tunneling period and increases the construction cost. Meanwhile, the deviation caused by the damage of the oil cylinder may lead to the deviation of the drill rod and the sticking of the drill, which threatens the safety of the construction personnel. Therefore, the structure design of the rotating oil cylinder in the traditional coal mine drilling machine directly bears the drilling reaction force and vibration load, which has the limitations of poor durability and high failure rate, and is difficult to adapt to the long-term and high-intensity drilling operation requirements in the underground coal mine. Therefore, it is urgent to optimize the stress transmission path and buffer protection structure of the oil cylinder. SUMMARY

[0006] To overcome the above defects, the embodiments of the present application provide a tracked full-hydraulic directional drilling machine, which solves the technical problem that the structure design of the rotating oil cylinder in the coal mine drilling machine directly bears the drilling reaction force and vibration load, which has the limitations of poor durability and high failure rate, and is difficult to adapt to the long-term and high-intensity drilling operation requirements in the underground coal mine.

[0007] According to one aspect, at least one embodiment of the present application provides a tracked full-hydraulic directional drilling machine, comprising: a base and a rack body vertically arranged on the base, the rack body is provided with a power device for driving a drill rod, and the rack body can rotate to drive the power device to adjust the inclination angle;

[0008] The rack body is divided into a front end close to a drilling point and a rear end away from the drilling point along the drilling direction, and the rear end of the rack body is provided with a swing driving device;

[0009] A buffer rod is hingedly arranged at one end on the base, and the hinged end is located below the rack body;

[0010] A clamping frame is arranged below the front end of the rack body and extends obliquely away from the rear end of the rack body, and the clamping frame is used for clamping the buffer rod to disperse and transmit the reaction force of the drill rod drilling on the swing driving device to the base through the buffer rod.

[0011] For example, in the tracked full-hydraulic directional drilling machine provided by at least one embodiment of the present application, the hinged end is located between the clamping frame and the swing driving device, so that one end of the buffer rod extends towards the drilling direction;

[0012] The clamping frame is configured to be clamped and connected with the rod part of the buffer rod away from the hinged end when the rack body is rotated to an elevation angle, and to be clamped and connected with the rod part of the buffer rod close to the hinged end when the rack body is rotated to a depression angle.

[0013] For example, in the tracked full-hydraulic directional drilling machine provided by at least one embodiment of the present application, the rack body is arranged on the base in a lifting manner;

[0014] The clamping frame is configured to be clamped with the rod part of the buffer rod away from the hinged end when the rack body is lifted, and to be clamped with the rod part of the buffer rod close to the hinged end when the rack body is lowered.

[0015] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the rack body comprises an angle adjusting base rotatably arranged on the base and a moving base movably arranged on the angle adjusting base in the drilling direction.

[0016] The clamping frame is arranged below the front end of the moving base.

[0017] The compensation driving member is arranged on the angle adjusting base and is used to drive the moving base to move.

[0018] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the rack body further comprises a power base movably arranged on the moving base in the drilling direction, and the power base is used to carry the power device for driving the drill rod.

[0019] The propulsion driving member is arranged on the moving base and is used to drive the power base to move, and the driving direction of the propulsion driving member is parallel to the driving direction of the compensation driving member.

[0020] The clamping frame is used to clamp the buffer rod so as to disperse and transmit the reaction force of the drill rod drilling to the base through the buffer rod.

[0021] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the angle adjusting base is arranged on the base in a lifting manner, the angle adjusting base comprises a rotating disc and a base body arranged on the rotating disc, and the base body has a guide groove for the moving base to move.

[0022] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the extension direction of the guide groove forms an angle with the radial direction of the rotating disc, and the guide groove is used to guide the eccentric movement of the moving base relative to the rotating shaft of the rotating disc.

[0023] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the guide groove is located on the side of the rotating shaft of the rotating disc close to the base.

[0024] For example, in the track-type full-hydraulic directional drilling rig provided by at least one embodiment of the present application, the base further comprises a base platform and a lifting frame arranged on the base platform in a lifting manner, the angle adjusting base is rotatably arranged on the lifting frame, and the swing driving device is arranged on the lifting frame and is used to drive the angle adjusting base to rotate in the vertical direction.

[0025] The base is arranged on the base platform in a horizontal rotating manner.

[0026] For example, in a tracked fully hydraulic directional drilling rig provided in at least one embodiment of the present invention, the clamping frame has a clamping part for clamping the buffer rod, and the clamping part is a bearing structure.

[0027] The beneficial effects of this invention are as follows:

[0028] In this invention, one end of the buffer rod is hinged to the base and located below the frame. The clamping frame extends obliquely away from the rear end of the frame. This oblique extension creates an angle between the force transmission direction and the reaction force direction, preventing additional bending moments during force transmission and ensuring that the force is efficiently distributed to the base along a preset path, thus improving the overall stability of the machine. Furthermore, the buffer rod and base are hinged together. When the frame rotates to adjust the tilt angle, the buffer rod can rotate adaptively around the hinged end. The clamping frame swings synchronously with the frame while maintaining its connection to the buffer rod. This ensures the flexibility of tilt angle adjustment and allows for rigid force transmission by locking the clamping frame after adjustment. The hinged structure and rigid force transmission characteristics of the buffer rod can partially absorb high-frequency vibrations during drilling, preventing direct transmission of vibrations to the base or core components of the frame. This reduces the impact of vibrations on the power unit and the swing drive device, improving the stability of the drill rod drilling, preventing borehole deviation caused by vibration, and further reducing the risk of component fatigue damage. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of the present invention and these drawings without any creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a tracked fully hydraulic directional drilling rig according to one embodiment of the present invention;

[0031] Figure 2 for Figure 1 The embodiment shows a structural schematic diagram of the base, lifting frame, angle adjustment seat, moving seat, power seat, clamping frame, buffer rod, power device and drill rod;

[0032] Figure 3 for Figure 1 A schematic diagram of the structure of the base, lifting frame, angle adjustment seat and buffer rod in the embodiment;

[0033] Figure 4 for Figure 1 The embodiment shows a structural schematic diagram of the movable seat, power seat, clamping frame, power unit, and drill pipe;

[0034] Figure 5State schematic diagram of low horizontal directional drilling example of the present application;

[0035] Figure 6 State schematic diagram of high horizontal directional drilling example of the present application;

[0036] Figure 7 State schematic diagram of vertical angle directional drilling example of the present application;

[0037] Figure 8 State schematic diagram of horizontal angle directional drilling example of the present application;

[0038] Figure 9 Structure schematic diagram of turntable, seat body, guide slot and worm mounting portion in an embodiment of the present application. Figure 1

[0039] In the figure: 100, base; 200, base; 210, lifting frame; 300, rack body; 310, angle adjusting seat; 311, turntable; 312, seat body; 313, guide slot; 320, moving seat; 330, power seat; 400, buffer rod; 410, hinged end; 500, clamping frame; 510, clamping portion; 600, power device; 700, compensation driving member; 800, advancing driving member; 900, swing driving device; 910, worm wheel mounting portion; 920, worm mounting portion; 1000, drilling direction; 1100, drill rod. DETAILED DESCRIPTION

[0040] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0041] In order to make the drawing simple, only the parts related to the present application are shown in each drawing, which does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the parts with the same structure or function is shown, or only one of them is marked. In this text, “one” not only means “only one”, but also means “more than one”, and “several” includes “two” and “more than two”.

[0042] In this text, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection” and “connection” should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] ​In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0044] In the description of the present embodiment, the terms "upper", "lower", "left", "right", and other orientation or position relationships shown in the drawings are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0045] In addition, in the description of the present application, the terms "first", "second", and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] As shown in Figure 1 , it shows a track type full hydraulic directional drilling rig in an embodiment of the present application, which includes a base 200 and a rack body 300 arranged on the base 200, defining that the rack body 300 is divided into a front end close to a drilling point and a rear end away from the drilling point along a drilling direction 1000. In the present example, as shown in Figure 1 , Figure 5 and Figure 6 , the rack body 300 is arranged on the base 200 by oil cylinder driving lifting, which can adjust the horizontal drilling height of a drill rod 1100, and the rack body 300 can be vertically rotated by a swing driving device 900 arranged at the rear end of the rack body 300, the axis of the rotation shaft of the rack body 300 is arranged along the vertical direction perpendicular to the drilling direction 1000, i.e. the horizontal direction, to ensure that the rack body 300 can drive the power device 600 to adjust the inclination angle along the vertical plane when the rack body 300 rotates, and the power device 600 is arranged on the rack body 300, which is a related component for driving the drill rod 1100 to drill, including a main motor, a transmission and a chuck.

[0047] Specifically, the rack body 300 can be one of the above-mentioned whole or the plurality of components included in the present example. In the present example, as shown in Figures 1-4As shown, the base 200 is provided with a lifting frame 210, which can be driven to lift up and down by an oil cylinder and a matching guide rod. The lifting manner can be various, which is not limited here. The frame body 300 includes an angle adjusting seat 310 rotatably arranged on the lifting frame 210, a moving seat 320 movably arranged on the angle adjusting seat 310 along the drilling direction 1000, and a power seat 330 movably arranged on the moving seat 320 along the drilling direction 1000, which is used to carry the power device 600 for driving the drill rod 1100. The lifting frame 210 is provided with an oscillation driving device 900, which can be driven by a motor, an oil cylinder or a worm gear. As preferred, the worm gear is selected in the example. The lifting frame 210 is provided with a worm gear mounting portion 910 and a worm rod mounting portion 920 for mounting the worm gear. The oscillation driving device 900 can drive the angle adjusting seat 310 to rotate and drive the moving seat 320 and the power seat 330 to oscillate, so as to drive the power device 600 to adjust the height inclination angle, i.e. the drilling inclination angle of the drill rod 1100. The moving seat 320 is movably arranged on the angle adjusting seat 310 along the drilling direction 1000, which can be driven to move by a compensation driving member 700, such as an oil cylinder, which is arranged on the angle adjusting seat 310 and has a moving end connected with the moving seat 320, and is used to drive the moving seat 320 to move. The moving seat 320 and the power seat 330 are synchronously moved, so that the drill rod 1100 on the power seat 330 is abutted against the mine wall or rock wall. The power seat 330 is movably arranged on the moving seat 320 along the drilling direction 1000, which can be driven to move by a propulsion driving member 800, such as an oil cylinder, which is arranged on the moving seat 320 and has a moving end connected with the power seat 330, and is used to drive the power seat 330 to move on the moving seat 320. The moving seat 320 can be provided with a guide rail or a guide groove, and a guide rod is arranged to stably guide the movement. The power seat 330 is individually moved, so as to perform the drilling propulsion of the drill rod 1100.

[0048] In the example, two buffer rods 400 are arranged vertically to the drilling direction 1000, one end of each buffer rod 400 is connected to the hinge seat on the base 200 through a pin shaft, the hinge seat can be welded or bolted to the upper surface of the base 200 and is located below the rack body 300. The clamping frame 500 is welded or bolted to the front end of the rack body 300, the clamping frame 500 has a clamping part 510 which can be a tile structure, the clamping part 510 is located below the front end of the rack body 300 and the clamping frame 500 extends obliquely away from the rear end of the rack body 300, when the angle adjusting seat 310 drives the moving seat 320 to swing, the clamping frame 500 below the front end of the moving seat 320 swings synchronously, the clamping frame 500 drives the free end of the buffer rod 400 to move synchronously, the buffer rod 400 rotates adaptively around the hinge end 410 of the base 200, at this time the clamping relationship between the clamping frame 500 and the buffer rod 400 remains stable, ensuring the pre-connected state of the force transmission path during the angle adjustment process. During the angle adjustment process, the tile structure needs to be loosened to cancel the rigid clamping with the buffer rod 400, but the connection state is maintained so that the buffer rod 400 can move with the moving seat 320, after the angle adjustment is completed, the tile structure is locked to realize the rigid clamping between the clamping frame 500 and the buffer rod 400.

[0049] Based on the above example, after the clamping frame 500 clamps the buffer rod 400, the drilling rod 1100 drilling reaction force is transmitted to the rack body 300 through the power device 600, part of the force is transmitted to the buffer rod 400 through the clamping frame 500, and then dispersed to the base 200 by the buffer rod 400, so that the originally concentrated reaction force acting on the swing driving device 900 is diverted, reducing the stress load of the swing driving device 900, reducing the risk of wear, deformation or failure of the swing driving device 900 due to long-term bearing of concentrated load, prolonging the service life of the swing driving device 900.

[0050] The buffer rod 400 is hinged at one end to the base 200 below the rack body 300, and the clamping frame 500 extends obliquely away from the rear end of the rack body 300. The oblique extension structure forms a reasonable angle between the force transmission direction and the reaction force direction, avoids additional bending moments during force transmission, ensures efficient dispersion of force along the preset path to the base 200, improves the overall stress stability, and connects the buffer rod 400 and the base 200 by hinging. When the rack body 300 is rotated to adjust the inclination angle, the buffer rod 400 can be adaptively rotated around the hinge end 410, and the clamping frame 500 swings synchronously with the rack body 300 while maintaining the connection state with the buffer rod 400, which does not affect the flexibility of inclination angle adjustment and can achieve rigid force transmission through the clamping frame 500 after adjustment. The hinged structure and rigid force transmission characteristics of the buffer rod 400 can partially absorb high-frequency vibrations during drilling, avoid direct transmission of vibrations to the core components of the base 200 or the rack body 300, reduce the impact of vibrations on the power device 600 and the swing driving device 900, improve the stability of the drill pipe 1100 during drilling, avoid drilling deviation caused by vibrations, and further reduce the risk of component fatigue damage. It should be noted that if the clamping frame 500 is arranged in front of the front end of the rack body 300 instead of below, and does not form a preset inclination angle with the rack body 300, the arrangement of the clamping frame 500 in front of the front end forms a large angle between the force transmission direction and the bearing direction of the base 200, making it difficult to effectively disperse the reaction force to the base 200. Most of the reaction force will still be concentrated and transmitted to the swing driving device 900 at the rear end of the rack body 300, resulting in wear and deformation risks of the swing driving device 900.

[0051] Specifically, referring to the drilling states of four different angles shown in Figures 5-8 for stress analysis, such as Figure 5As shown, the drill rod 1100 is in a low-position horizontal drilling state. The buffer rod 400 extends upwards from the bottom towards the drilling point. In this example, when the moving seat 320 is at this height, the horizontal angle of the buffer rod 400 is approximately 5°. Taking this as an example, the pressure along the axial direction of the buffer rod 400 after the reaction force is decomposed is high. Based on the trigonometric function cos5°, it can be deduced that the force transmission path is almost a horizontal straight line, which can reduce the energy loss caused by the vertical component force and directly and efficiently transmit it to the base 200 through the hinge end 410. At the same time, the clamping frame 500 is connected to the rod part of the buffer rod 400 near the hinge end 410, which shortens the lever arm of the force transmission to a minimum, reduces the bending moment borne by the buffer rod 400, avoids bending deformation of the rod body due to eccentric load, and ensures that the reaction force is smoothly and without additional stress diverted from the front end of the frame body 300 to the base 200. When the drill rod 1100 is in a low-position horizontal state, the front end of the frame body 300 is relatively low and is prone to horizontal movement due to the drilling reaction force. The small-angle buffer rod 400 provides rigid support in the horizontal direction, which can resist the horizontal reaction force and suppress the horizontal displacement of the front end of the frame body 300. Combined with the high rigidity brought by the short lever arm, the amount of movement of the front end of the frame body 300 is controlled within a small range, ensuring the overall stability of the machine during low-position drilling.

[0052] like Figure 6 As shown, the drill rod 1100 is in a high-level horizontal drilling state. The buffer rod 400 extends from bottom to top near the drilling point. In this example, when the moving seat 320 is at this height, the horizontal angle of the buffer rod 400 is approximately 30°. Taking this as an example, after the reaction force is transmitted to the buffer rod 400 through the clamping frame 500, it can be decomposed into a pressure along the axial direction of the buffer rod 400 and a component force perpendicular to the rod body. The axial pressure accounts for approximately 86%. Based on the trigonometric function cos30°, it can be obtained that the force is efficiently transmitted to the base 200 through the hinge end 410 of the buffer rod 400 with minimal force transmission loss. At the same time, the clamping frame 500 is connected to the rod part of the buffer rod 400 near the hinge end 410, which shortens the lever arm of force transmission, reduces the bending moment of the buffer rod 400, avoids deformation of the rod body due to eccentric loading, and ensures that the reaction force is smoothly diverted from the front end of the frame 300 to the base 200 without generating additional stress. Based on this example, when the drill pipe 1100 is in a high, horizontal position, the front end of the moving seat 320 tends to sink due to the weight of the power unit 600 and the drilling reaction force, resulting in a concentrated force at the rear end. In this design, the 30° inclined buffer rod 400 provides an upward supporting force to the front end of the frame body 300. This force can offset part of the sinking load at the front end of the frame body 300, while simultaneously diverting most of the horizontal reaction force to the base 200 through the buffer rod 400. This effectively reduces wear and fatigue damage to the gears and bearings inside the swing drive device 900, extending its service life. Furthermore, the buffer rod 400, extending upwards towards the drilling point, forms a triangular support structure with the front end of the frame body 300. The rigidity of this triangular structure can suppress the horizontal swaying and vertical vibration of the front end of the frame body 300 during drilling.Figure 6 As shown, when the drill rod 1100 is from low to high, the clamping position of the clamp frame 500 and the buffer rod 400 is further away from the hinged end 410 of the buffer rod 400, and in the high position horizontal state, the front end of the rack body 300 is lifted in height, and the front end sinking moment formed by the weight of the power device 600 and the drilling reaction force is increased. The clamping position away from the hinged end 410 can synchronously extend the support arm of the buffer rod 400 to the front end of the rack body 300, the support moment is positively related to the length of the arm, and after the arm is extended, the upward support component force of the buffer rod 400 can be converted into a larger anti-sinking moment, which is used to weaken the sinking trend of the front end of the rack body 300 and avoid the hole deviation caused by the too long force arm in the high position.

[0053] It should be noted that in an existing drilling rig scheme, when the drill rod 1100 is in a high position horizontal state, the buffer rod 400 is inclined and extends from bottom to top away from the drilling point, the buffer rod 400 is close to vertical, the axial component force occupies a high proportion, and the reaction force is mainly converted into the bending moment of the buffer rod 400, the force transmission loss is large, and effective shunting is difficult to achieve. In terms of load of the swing driving device 900, the support component force of the buffer rod 400 in the scheme offsets part of the load of the front end of the rack body 300, so that the driving device only bears the foundation angle adjusting load; in the traditional scheme, because there is no effective support component force, the reaction force of the drill rod 1100 drilling is almost all concentrated on the swing driving device 900, and long-term bearing of the concentrated load is easy to cause internal gear wear, shaft deformation and shortening of component life. In terms of overall structure stability, the triangular support structure of the scheme can effectively inhibit the horizontal shaking and vertical sinking of the front end of the rack body 300, the displacement amount of the rack body 300 is small, and the drilling process is stable; in the traditional scheme, the vertical arrangement of the buffer rod 400 cannot form effective support, the front end of the rack body 300 is easy to produce horizontal movement and vertical sinking due to the reaction force, the structure stability is poor, and the continuity of the drilling process is affected. In terms of vibration absorption effect, the 30° angle of the scheme prolongs the vibration attenuation path, and part of the high-frequency vibration can be absorbed; in the traditional scheme, the buffer rod 400 is arranged close to vertical, the vibration is transmitted along the rod body, there is no buffer space, the vibration amplitude is large, and the whole machine resonance is easy to be caused, which aggravates the fatigue damage of the core components. In terms of service life of the buffer rod 400, the force of the buffer rod 400 in the scheme is mainly axial pressure, the bending moment is small, the rod body and the hinged pin shaft are uniformly worn, and the service life is long; in the traditional scheme, the buffer rod 400 bears a large bending moment, the rod body is easy to bend and deform, the pin shaft and the shaft hole are severely eccentric, the failure rate is high, and frequent maintenance and replacement are required.

[0054] As Figure 7As shown, this is the drilling state of drill rod 1100 at an elevation angle. In this example, the elevation angle of drill rod 1100 is 45°, and the horizontal angle of buffer rod 400 is about 85°. Taking this as an example, the horizontal angle of buffer rod 400 is about 85°, so after the reaction force is transmitted to buffer rod 400, the vertical upward support force accounts for a relatively high proportion, about 98%. Based on the trigonometric function sin80°, it can be obtained that the vertical upward force used to counteract the reaction force of drill rod 1100 is used to offset the oblique component of the self-weight of power unit 600, effectively suppressing the upward tendency of the front end of frame body 300 caused by drilling at an elevation angle, and still having a certain horizontal force diversion efficiency. At the same time, at an elevation angle of 45°, the cutting impact between drill rod 1100 and rock strata is more intense, and the vibration frequency and amplitude are higher than in the horizontal state. The combination of the 80° included angle of the buffer rod 400 and the long lever arm provides more room for the buffer rod 400 to swing around the hinge end 410. At the same time, the long lever arm design extends the vibration transmission path, allowing the vibration to gradually attenuate during transmission and preventing the vibration from being directly transmitted to the power unit 600 and the drill rod 1100. This effectively reduces problems such as loosening of the drill rod 1100 clamping and borehole deviation caused by vibration, ensuring the straightness and depth accuracy of the borehole during elevation drilling.

[0055] like Figure 8 As shown, this is the drill rod 1100 in the depressed angle state. In this example, the drill rod 1100 has a depressed angle of 30°, and the horizontal angle of the buffer rod 400 is also approximately 30°. This allows the horizontal rearward component of the reaction force to be transmitted to the base 200 in the form of axial pressure. Simultaneously, the clamping position is closest to the hinge end 410, minimizing the lever arm of the buffer rod 400. The high rigidity of the short lever arm counteracts the forward tilting tendency of the front end of the frame 300 caused by the horizontal reaction force, preventing the front end from shifting horizontally. In the depressed angle state, the front end of the frame 300 is close to the base 200, and horizontal shifting can easily cause the drill rod 1100 to collide with the mine wall or cause borehole deviation. The rigid support of the short lever arm can control the horizontal displacement of the front end within a small range, ensuring that the drill rod 1100 drills stably along the preset depressed angle direction, guaranteeing the accuracy of the borehole trajectory.

[0056] Furthermore, the buffer rod 400 can be segmented to increase or decrease in length, flexibly adapting to different drilling angles and heights, ensuring effective clamping and force transmission efficiency between the clamping frame 500 and the buffer rod 400. Simultaneously, its disassembly facilitates transportation and maintenance in confined downhole spaces, enhancing equipment versatility. The base 200 is horizontally rotatable on the platform 100, allowing adjustment of the horizontal drilling direction 1000 without moving the entire machine. This adapts to different drilling layout requirements, reduces equipment relocation time, improves construction efficiency, and accommodates the drilling orientation adjustment needs of complex downhole operating scenarios.

[0057] Furthermore, such as Figure 9As shown, the rotating disc 311 of the angle adjusting seat 310 rotates vertically along a horizontal axis perpendicular to the drilling direction 1000, and the guide groove 313 is located above or below the rotating shaft of the rotating disc 311, i.e. the guide groove 313 is higher or lower than the rotating shaft of the rotating disc 311. In this example, Figure 9 As shown, the rotating disc 311 of the angle adjusting seat 310 rotates vertically along a horizontal axis perpendicular to the drilling direction 1000, and the guide groove 313 is located above or below the rotating shaft of the rotating disc 311, i.e. the guide groove 313 is higher or lower than the rotating shaft of the rotating disc 311. In this example,

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A tracked, fully hydraulic directional drilling rig, characterized in that, include: The base (200), the frame body (300) vertically swinging on the base (200), and the swing drive device (900) for driving the frame body (300) to swing vertically, the frame body (300) is provided with a power device (600) for driving the drill rod (1100) forward, and the frame body (300) is used to drive the power device (600) to swing vertically to adjust the pitch angle of the drill rod (1100); A buffer rod (400) is hinged to the base (200) and extends forward; A clamping frame (500) is disposed on the front side of the frame body (300). The clamping frame (500) is used to clamp the buffer rod (400). The buffer rod (400) is used to disperse and transmit the reaction force of the drill rod (1100) to the swing drive device (900) to the base (200). The clamping frame (500) includes two clamping parts (510), which are capable of moving towards each other to clamp the drill rod (1100); When the frame body (300) swings to the upward position, the clamping frame (500) clamps the front part of the buffer rod (400). When the frame body (300) swings to the downward position, the clamping frame (500) clamps the rear part of the buffer rod (400).

2. The tracked fully hydraulic directional drilling rig according to claim 1, characterized in that, The frame body (300) is elliptical and mounted on the base (200); After the frame body (300) is raised, the clamping frame (500) clamps the rear part of the buffer rod (400). After the frame body (300) is lowered, the clamping frame (500) clamps the front part of the buffer rod (400).

3. A tracked, fully hydraulic directional drilling rig according to claim 2, characterized in that, The frame body (300) includes an angle adjustment seat (310) rotatably mounted on the base (200) and a movable seat (320) movably mounted on the angle adjustment seat (310). The angle adjustment seat (310) is used to adjust the pitch angle of the drill rod (1100), and the movable seat (320) is used to drive the drill rod (1100) to abut against the rock wall. The clamping frame (500) is disposed below the front end of the movable base (320); A compensation drive (700) is disposed on the angle adjustment seat (310) for driving the moving seat (320) to move relative to the angle adjustment seat (310).

4. A tracked, fully hydraulic directional drilling rig according to claim 3, characterized in that, A power base (330) for mounting the power unit (600) is movably disposed on the movable base (320); A propulsion drive (800) is disposed on the movable seat (320) for driving the power seat (330) to move so as to drive the drill rod (1100) to drill. The buffer rod (400) is used to disperse and transmit the reaction force of the drill rod (1100) to the base (200) on the swing drive device (900), the compensation drive (700) and the propulsion drive (800).

5. A tracked, fully hydraulic directional drilling rig according to claim 4, characterized in that, The driving direction of the propulsion drive (800) is parallel to the driving direction of the compensation drive (700).

6. A tracked, fully hydraulic directional drilling rig according to claim 5, characterized in that, The angle adjustment seat (310) is raised and lowered on the base (200). The angle adjustment seat (310) includes a turntable (311) and a seat body (312) disposed on the turntable (311). The seat body (312) has a guide groove (313) for the movable seat (320) to move. The turntable (311) is used to drive the seat body (312) to swing vertically to adjust the pitch angle of the drill rod (1100).

7. A tracked, fully hydraulic directional drilling rig according to claim 6, characterized in that, The guide groove (313) is set above or below the axis of the turntable (311).

8. A tracked, fully hydraulic directional drilling rig according to claim 7, characterized in that, The guide groove (313) is set below the axis of the turntable (311).

9. A tracked, fully hydraulic directional drilling rig according to claim 3, characterized in that, Also includes: The base (100) and the lifting frame (210) are lifted and lowered on the base (100). The angle adjustment seat (310) is rotatably mounted on the lifting frame (210). The swing drive device (900) is mounted on the lifting frame (210) and is used to drive the angle adjustment seat (310) to rotate vertically. The base (200) is horizontally rotatably mounted on the platform (100).

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