Roadway long-hole automatic drilling boom, single-arm drill carriage and construction method

Abstract

The present application aims to disclose a roadway long-hole automatic drilling arm, a single-arm drilling rig and a construction method, and relates to the technical field of coal mine roadway tunneling, comprising a drilling arm, a drilling rod storage assembly and a drilling rod transfer assembly with the center line located on the same plane; the drilling rod storage assembly comprises a first rotary oil cylinder, a support disc, a first center shaft, a first rotary disc and a second rotary disc, a plurality of first magnetic blocks are arranged around the first rotary disc, a plurality of second magnetic blocks are arranged around the second rotary disc, the bottom of the drilling rod is supported on the support disc, the upper end of the drilling rod is adsorbed on the first magnetic blocks, and the lower end of the drilling rod is adsorbed on the second magnetic blocks; the drilling rod transfer assembly comprises a second center shaft, a second rotary oil cylinder and a drilling rod gripper, the second rotary oil cylinder drives the drilling rod gripper to clamp the drilling rod from the drilling rod storage assembly and drives the drilling rod to a position capable of being connected with the power head of the drilling arm, and the beneficial effect is that the full-automatic drilling rod supply is realized, and the deep-hole drilling efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway excavation technology, and in particular to an automatic drilling arm for deep holes in roadways, a single-arm drilling rig, and a construction method. Background Technology

[0002] When temporary support is carried out in coal mine roadways, deep holes need to be drilled for subsequent anchoring or anchoring. At present, there is a lack of automation in drilling deep holes in roadways, especially how to automate the supply of drill rods, which is one of the technical problems that urgently need to be solved.

[0003] Therefore, there is an urgent need to develop an automatic drilling arm, a single-arm drilling rig, and a construction method for deep holes in tunnels. Summary of the Invention

[0004] The purpose of this invention is to disclose an automatic drilling arm for deep holes in tunnels, a single-arm drilling rig, and a construction method.

[0005] The first objective of this invention is to provide an automatic drilling arm for deep holes in tunnels.

[0006] The second objective of this invention is to provide a fully automatic single-arm drilling rig.

[0007] The third objective of this invention is to provide a fully automated single-arm deep hole construction process.

[0008] To achieve the first objective mentioned above, the present invention provides an automatic drilling arm for deep holes in roadways, comprising a drilling arm with its center lines located on the same plane, a drill rod storage assembly, and a drill rod transfer assembly;

[0009] The drill rod storage assembly includes a first rotary cylinder, a support plate, a first central shaft, and a first turntable and a second turntable arranged parallel to each other on the first central shaft. A plurality of first magnetic blocks are arranged around the first turntable, and a plurality of second magnetic blocks are arranged around the second turntable. A plurality of drill rods are arranged around the first turntable and the second turntable. The bottom of the drill rod is supported on the support plate, the upper end of the drill rod is attracted to the first magnetic block, and the lower end of the drill rod is attracted to the second magnetic block.

[0010] The drill pipe transfer assembly includes a second central shaft, a second rotary cylinder, and a drill pipe gripper. The second rotary cylinder drives the drill pipe gripper to pick up the drill pipe from the drill pipe storage assembly and drive the drill pipe to a position where it can dock with the power head of the drill arm.

[0011] Preferably, the centerlines of the first central axis, the second central axis, and the power head are located in the same plane.

[0012] Preferably, a support is provided at the bottom of the drill arm, and a drill pipe storage assembly and a drill pipe transfer assembly are provided above the support.

[0013] Preferably, the first turntable is provided with a first positioning groove, and the second turntable is provided with a second positioning groove;

[0014] The upper and lower ends of the drill rod are respectively positioned in the first positioning groove and the second positioning groove.

[0015] Preferably, the drill pipe gripper includes a U-shaped base, a telescopic component, and a gripper assembly. The telescopic component is installed in the U-shaped base and drives the gripper assembly to move. The gripper assembly includes a gripper cylinder and a gripper, and the gripper grips the drill pipe.

[0016] Preferably, the telescopic assembly includes a guide post, a telescopic frame, and a first telescopic cylinder and a second telescopic cylinder installed on both sides of the telescopic frame, wherein the first telescopic cylinder and the second telescopic cylinder drive the telescopic frame to move along the guide post.

[0017] Preferably, the gripper cylinder is mounted on the telescopic frame, and the gripper includes a first gripper, a first connecting rod, a second gripper, and a second connecting rod. The first gripper and the second gripper are hinged to the telescopic rod of the gripper cylinder. The first end of the first connecting rod is hinged to a first pin, and the second end of the first connecting rod is hinged to the bend of the first gripper. The first end of the second connecting rod is hinged to a second pin, and the second end of the second connecting rod is hinged to the bend of the second gripper.

[0018] The gripper cylinder drives the first gripper and the second gripper to open and close;

[0019] A long strip-shaped first clamping block is provided at the end of the first clamping hand, and a long strip-shaped second clamping block is provided at the end of the second clamping hand. The first clamping block and the second clamping block cooperate to clamp the drill rod.

[0020] Based on the same inventive principle, in order to achieve the second inventive objective mentioned above, the present invention provides a fully automatic single-arm drilling rig, including a chassis and a multi-degree-of-freedom telescopic arm mounted on the chassis, wherein the automatic deep hole drilling arm of the first invention is mounted on the multi-degree-of-freedom telescopic arm.

[0021] Preferably, the multi-degree-of-freedom telescopic boom includes a first slewing assembly, a pitch cylinder, a telescopic boom, a second slewing assembly, and a third slewing assembly;

[0022] The first slewing assembly is mounted on top of the chassis, and the pitch cylinder drives the telescopic boom to pitch with the first slewing assembly as the fulcrum.

[0023] The second rotary assembly drives the third rotary assembly to rotate along the vertical axis;

[0024] The third rotary assembly drives the drill arm to rotate along a horizontal axis.

[0025] Based on the same inventive principle, and to achieve the third inventive objective mentioned above, this invention provides a fully automated single-arm deep hole drilling process, employing the automatic drilling arm for deep holes in roadways described in the first invention, comprising the following steps:

[0026] Position the borehole;

[0027] The drill rod is picked up from the drill rod storage assembly by the drill rod transfer assembly and rotated 180° to a position where it can dock with the power head of the drill arm;

[0028] The drill arm connects to the drill rod and begins drilling.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] (1) The present invention creatively sets the center lines of the drill arm, drill rod storage assembly and drill rod transfer assembly on the same plane. On the one hand, it simplifies the structure of the automatic drill arm. On the other hand, the drill rod transfer assembly, through the coordinated actions of moving the drill rod gripper, opening and closing the drill rod gripper and rotating the drill rod gripper, drives the drill rod gripper to the drill rod storage assembly to clamp the drill rod and drive the drill rod to a position that can dock with the power head of the drill arm, thereby realizing fully automatic drill rod supply and improving the efficiency of drilling deep holes.

[0031] (2) The fully automatic single-arm drilling rig is equipped with only one telescopic arm, which can adapt to narrow tunnels. The telescopic arm has the ability to rotate left and right, pitch up and drive the drilling arm to swing along the vertical and horizontal axes, so that the drilling arm can face the tunnel side and the tunnel top, and the working range is wide. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of the fully automatic single-arm drilling rig of the present invention. Figure 1 .

[0033] Figure 2 This is a three-dimensional structural diagram of the fully automatic single-arm drilling rig of the present invention. Figure 2 .

[0034] Figure 3 This is a three-dimensional structural diagram of the fully automatic single-arm drilling rig of the present invention. Figure 3 .

[0035] Figure 4 This is a three-dimensional structural diagram of the automatic drilling arm for deep holes in tunnels according to the present invention.

[0036] Figure 5 This is a three-dimensional structural diagram of the drill pipe gripper of the present invention.

[0037] Figure 6 This is a schematic diagram of the extended state of the gripper assembly of the present invention.

[0038] Figure 7 This is a schematic diagram of the gripper assembly of the present invention in the open state.

[0039] Figure 8 This is a cross-sectional view of the drill pipe gripper of the present invention.

[0040] Figure 9 This is a three-dimensional structural diagram of the U-shaped base of the present invention.

[0041] Figure 10 For the present invention Figure 1 Schematic diagram of section AA.

[0042] Figure 11 This is a schematic diagram of the fully automated single-arm deep hole construction process of the present invention.

[0043] The components include: 1. Drill arm; 11. Power head; 12. Support; 2. Drill pipe storage assembly; 21. First rotary cylinder; 22. Support plate; 23. First central shaft; 24. First turntable; 241. First magnetic block; 242. First positioning slot; 25. Second turntable; 251. Second magnetic block; 252. Second positioning slot; 3. Drill pipe transfer assembly; 31. Second central shaft; 32. Second rotary cylinder; 33. Drill pipe gripper; 331. U-shaped base; 332. Telescopic assembly; 3321. Guide post; 3322. Telescopic frame; 3323. First telescopic cylinder; 3324. Second telescopic cylinder; 333. Gripper assembly; 3331. Gripper cylinder; 3332. 3333, First gripper; 3334, First connecting rod; 3335, Second gripper; 3336, Second connecting rod; 3337, First pin; 3338, Second pin; 3339, First clamping block; 3330, Second clamping block; 34, Third central shaft; 35, Fixing plate; 4, Drill pipe; 5, Chassis; 51, First track; 52, Second track; 53, First telescopic hydraulic cylinder; 54, First telescopic slide; 55, Second telescopic hydraulic cylinder; 56, Second telescopic slide; 6, Multi-degree-of-freedom telescopic boom; 61, First slewing assembly; 62, Pitch cylinder; 63, Telescopic boom; 64, Second slewing assembly; 65, Third slewing assembly. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0046] The specific implementation process of the present invention will be described below through several embodiments. Example 1

[0047] See Figures 4 to 9 This embodiment discloses a specific implementation of an automatic drilling arm for deep holes in roadways.

[0048] Automatic drilling arm for deep holes in tunnels, see Figures 4 to 9 An automatic drilling arm for deep holes in tunnels includes a drill arm 1 with its centerline on the same plane, a drill rod storage assembly 2, and a drill rod transfer assembly 3. The drill rod transfer assembly 3 is located between the drill arm 1 and the drill rod storage assembly 2. The drill rod storage assembly 2 includes a first rotary cylinder 21, a support plate 22, a first central shaft 23, and a first turntable 24 and a second turntable 25 arranged parallel to the first central shaft 23. A plurality of first magnetic blocks 241 are arranged around the first turntable 24, and a plurality of second magnetic blocks 251 are arranged around the second turntable 25. A plurality of drill rods 4 are arranged around the first turntable 24 and the second turntable 25. The bottom of the drill rod 4 is supported by the support plate 22, the upper end of the drill rod 4 is attracted to the first magnetic block 241, and the lower end of the drill rod 4 is attracted to the second magnetic block 25. The second magnetic block 251 attracts the drill rod 4 parallel to the first central axis 23, with the drill rod 4 evenly placed around the first turntable 24 and the second turntable 25. The first rotary cylinder 21 drives the first turntable 24 and the second turntable 25 to rotate via the first central axis 23, driving one drill rod 4 to a predetermined position with each rotation. The drill rod transfer assembly 3 includes a second central axis 31, a second rotary cylinder 32, and a drill rod gripper 33. The second rotary cylinder 32 is mounted on top of the second central axis 31 and drives the drill rod gripper 33 to rotate as a whole. The second rotary cylinder 32 drives the drill rod gripper 33 to grasp the drill rod 4 from the drill rod storage assembly 2 and drive the drill rod 4 to a position where it can dock with the power head 11 of the drill arm 1. See also Figure 4A third central shaft 34 is provided above the drill pipe gripper 33. The third central shaft 34 and the second central shaft 31 are axially aligned. The third central shaft 34 and the drill pipe gripper 33 are rotatably connected. A fixing plate 35 is provided between the top of the third central shaft 34 and the first central shaft 23 to ensure the overall stability of the drill pipe storage assembly 2 and the drill pipe transfer assembly 3.

[0049] Specifically, this embodiment creatively sets the center lines of the drill arm 1, the drill rod storage assembly 2, and the drill rod transfer assembly 3 on the same plane, simplifying the structure of the automatic drill arm. Specifically, the center lines of the first central shaft 23, the second central shaft 31, and the power head 11 are located on the same plane; a bracket 12 is provided at the bottom of the drill arm 1, and the drill rod storage assembly 2 and the drill rod transfer assembly 3 are provided above the bracket 12. The second central shaft 31 is installed on the horizontal part of the bracket 12, and the first rotary cylinder 21 is installed on the horizontal part of the bracket 12. The bracket 12 connects the drill arm 1, the drill rod storage assembly 2, and the drill rod transfer assembly 3 into a whole; the first turntable 24 is provided with a first positioning groove 242, and the second turntable 25 is provided with a second positioning groove 252. The upper end and the lower end of the drill rod 4 are respectively positioned in the first positioning groove 242 and the second positioning groove 252.

[0050] See Figures 4 to 9The working principle of the drill pipe gripper 33 is as follows: The drill pipe gripper 33 includes a U-shaped base 331, a telescopic component 332, and a gripper assembly 333. The telescopic component 332 is installed in the U-shaped base 331 and drives the gripper assembly 333 to move. The telescopic component 332 includes a guide post 3321, a telescopic frame 3322, and a first telescopic cylinder 3323 and a second telescopic cylinder 3324 installed on both sides of the telescopic frame 3322. The fulcrum of the first telescopic cylinder 3323 and the second telescopic cylinder 3324 is the U-shaped base 331. Telescopic cylinder 3323 and second telescopic cylinder 3324 drive the telescopic frame 3322 to move along the guide post 3321, thereby driving the gripper assembly 333 to move, giving the gripper assembly 333 translational capability; the gripper assembly 333 includes a gripper cylinder 3331 and a gripper 3332, the gripper 3332 grips the drill rod 4, the fulcrum of the gripper cylinder 3331 is located at the telescopic frame 3322, that is, the gripper cylinder 3331 is installed on the telescopic frame 3322, and the gripper 3332 includes a first gripper 3333 and a first connecting rod 333. 4. A second gripper 3335 and a second connecting rod 3336; the first gripper 3333 and the second gripper 3335 are hinged to the telescopic rod of the gripper cylinder 3331; the first end of the first connecting rod 3334 is hinged to the first pin 3337, and the second end of the first connecting rod 3334 is hinged to the bend of the first gripper 3333; the first end of the second connecting rod 3336 is hinged to the second pin 3338, and the second end of the second connecting rod 3336 is hinged to the bend of the second gripper 3335; the gripper cylinder 33... 31 drives the first gripper 3333 and the second gripper 3335 to open and close, giving the first gripper 3333 and the second gripper 3335 the ability to open and close; a long strip-shaped first clamping block 3339 is provided at the end of the first gripper 3333, the first clamping block 3339 is parallel to the drill rod 4, and a long strip-shaped second clamping block 3330 is provided at the end of the second gripper 3335, the second clamping block 3330 is parallel to the drill rod 4, the first clamping block 3339 and the second clamping block 3330 cooperate to clamp the drill rod 4.The working process of the drill pipe gripper 33 is as follows: First, the drill pipe storage assembly 2 rotates a drill pipe 4 to face the gripper 3332; Second, the gripper cylinder 3331 drives the first gripper 3333 and the second gripper 3335 to open; Third, the first telescopic cylinder 3323 and the second telescopic cylinder 3324 drive the gripper assembly 333 to move closer to the drill pipe storage assembly 2, so that the first clamping block 3339 and the second clamping block 3330 are aligned with the drill pipe 4; Fourth, the gripper cylinder 3331 drives the first gripper 3333 and the second gripper 3335 to close, so that the first clamping block 3339 and the second clamping block 3330 grip the drill pipe 4; Fifth, the first telescopic cylinder 3323 and the second telescopic cylinder 3324 drive the gripper assembly 333 to move away from the drill pipe storage assembly 2, i.e., return to its original position; Sixth, the second rotary cylinder... Step 32 drives the drill rod gripper 33 to rotate 180°, so that the drill rod 4, held by the first clamping block 3339 and the second clamping block 3330, is aligned with the center line of the power head 11 of the drill arm 1; Step 7, the first telescopic cylinder 3323 and the second telescopic cylinder 3324 drive the gripper assembly 333 to move closer to the drill arm 1, so that the center line of the drill rod 4 coincides with the center line of the power head 11; Step 8, the power head 11 rotates at a lower speed and docks with the bottom of the drill rod 4; Step 9, the gripper cylinder 3331 drives the first gripper 3333 and the second gripper 3335 to open and release the drill rod 4; Step 10, the first telescopic cylinder 3323 and the second telescopic cylinder 3324 drive the gripper assembly 333 to move away from the drill arm 1, i.e., return to its original position; Step 11, the power head 11 starts drilling operations; The operation is repeated in a cycle from Step 1 to Step 11.

[0051] It should be noted that steps one through eleven are the sequence of operations: positioning, taking drill rods, transferring drill rods, installing drill rods, and drilling. After the deep hole is drilled, the drill rods are pulled out one by one and placed in drill rod storage component 2 in the reverse order of steps one through eleven. This will not be described in detail again.

[0052] In this embodiment, the drill rod transfer assembly 3, through the coordinated actions of moving the drill rod gripper 33, opening and closing the drill rod gripper 33, and rotating the drill rod gripper 33, drives the second rotary cylinder 32 to drive the drill rod gripper 33 to clamp the drill rod 4 from the drill rod storage assembly 2 and drive the drill rod 4 to a position that can dock with the power head 11 of the drill arm 1, thereby realizing fully automatic drill rod supply and improving the efficiency of deep hole drilling. Example 2

[0053] See Figures 1 to 3 This embodiment discloses a specific implementation of a fully automatic single-arm drilling rig.

[0054] Fully automatic single-arm drilling rig, see Figures 1 to 3The system includes a chassis 5 and a multi-degree-of-freedom telescopic arm 6 mounted on the chassis 5. The automatic deep-hole drilling arm described in Embodiment 1 is mounted on the multi-degree-of-freedom telescopic arm 6. The multi-degree-of-freedom telescopic arm 6 includes a first rotary assembly 61, a pitch cylinder 62, a telescopic arm 63, a second rotary assembly 64, and a third rotary assembly 65. The first rotary assembly 61 is mounted above the chassis 5 and located near the front end of the chassis 5, allowing the drilling arm to approach the left or right side of the tunnel, or to drill at different positions on the top of the tunnel. The pitch cylinder 62 drives the telescopic arm 63 to pitch using the first rotary assembly 61 as a fulcrum, thereby changing the height position of the drilling arm 1 and enabling it to drill at different heights in the tunnel. The second rotary assembly 64 drives the third rotary assembly 65 to rotate along a vertical axis, causing the drilling arm 1 to swing left and right. The third rotary assembly 65 drives the drilling arm 1 to rotate along a horizontal axis, allowing the drilling arm 1 to switch between drilling on the tunnel side and the top of the tunnel.

[0055] This embodiment of the fully automatic single-arm drilling rig is equipped with only one telescopic boom 63, which can adapt to narrow tunnels. The telescopic boom 63 has overall left and right rotation, overall pitch, and can drive the drill arm 1 to swing along the vertical and horizontal axes, allowing the drill arm 1 to face the tunnel walls and top, providing a wide working range. To further adapt to narrow tunnels, the chassis 5 adopts a telescopic chassis, see details below. Figure 10 The telescopic chassis includes a first track 51 and a second track 52. The first track 51 is equipped with a first telescopic hydraulic cylinder 53, which drives the first track 51 to move along a first telescopic slide column 54. The second track 52 is equipped with a second telescopic hydraulic cylinder 55, which drives the second track 52 to move along a second telescopic slide column 56.

[0056] The multi-degree-of-freedom telescopic arm 6 of the fully automatic single-arm drilling rig disclosed in this embodiment drives the automatic drilling arm for deep holes in tunnels described in Embodiment 1. The technical solution with the same part as that in Embodiment 1 is described in Embodiment 1 and will not be repeated here. Example 3

[0057] See Figure 11 This embodiment discloses a specific implementation of a fully automated single-arm deep hole construction process.

[0058] The fully automated single-arm deep hole drilling process uses the automatic drilling arm for deep holes in roadways described in Example 1. (See also...) Figure 11 This includes the following steps:

[0059] Step S1: Locate the drilling position; Specifically, adjust the position of the power head 11 of the drill arm 1 using the multi-degree-of-freedom telescopic arm 6 of the fully automatic single-arm drilling rig described in Embodiment 2, so that the power head 11 is aligned with the drilling position.

[0060] Step S2: The drill rod is gripped from the drill rod storage assembly by the drill rod transfer assembly and rotated 180° to a position where it can dock with the power head of the drill arm; specifically, refer to steps one to eleven of the working principle of the drill rod gripper 33 in Embodiment 1;

[0061] Step S3: Drill arm 1 connects to drill rod 4 and begins drilling.

[0062] The fully automated single-arm deep hole construction process disclosed in this embodiment adopts the automatic drilling arm for deep holes in roadways described in Embodiment 1. The technical solution with the same parts as in Embodiment 1 is described in Embodiment 1 and will not be repeated here.

Claims

1. An automatic drilling arm for deep holes in tunnels, characterized in that, This includes the drill arm, drill pipe storage assembly, and drill pipe transfer assembly, all with their centerlines on the same plane. The drill rod storage assembly includes a first rotary cylinder, a support plate, a first central shaft, and a first turntable and a second turntable arranged parallel to each other on the first central shaft. A plurality of first magnetic blocks are arranged around the first turntable, and a plurality of second magnetic blocks are arranged around the second turntable. A plurality of drill rods are arranged around the first turntable and the second turntable. The bottom of the drill rod is supported on the support plate, the upper end of the drill rod is attracted to the first magnetic block, and the lower end of the drill rod is attracted to the second magnetic block. The drill pipe transfer assembly includes a second central shaft, a second rotary cylinder, and a drill pipe gripper. The second rotary cylinder drives the drill pipe gripper to pick up the drill pipe from the drill pipe storage assembly and drive the drill pipe to a position where it can dock with the power head of the drill arm. The drill pipe gripper picks up the drill pipe and rotates it 180° to the position where it docks with the power head. The centerlines of the first central axis, the second central axis, and the power head are located in the same plane.

2. The automatic deep-hole drilling arm for roadways as described in claim 1, characterized in that, A support is provided at the bottom of the drill arm, and a drill pipe storage assembly and a drill pipe transfer assembly are provided above the support.

3. The automatic drilling arm for deep holes in roadways as described in claim 2, characterized in that, The first turntable is provided with a first positioning groove, and the second turntable is provided with a second positioning groove; The upper and lower ends of the drill rod are respectively positioned in the first positioning groove and the second positioning groove.

4. The automatic deep-hole drilling arm for roadways as described in any one of claims 1-3, characterized in that, The drill pipe gripper includes a U-shaped base, a telescopic assembly, and a gripper assembly. The telescopic assembly is installed in the U-shaped base and drives the gripper assembly to move. The gripper assembly includes a gripper cylinder and a gripper, and the gripper grips the drill pipe.

5. The automatic drilling arm for deep holes in roadways as described in claim 4, characterized in that, The telescopic assembly includes a guide post, a telescopic frame, and a first telescopic cylinder and a second telescopic cylinder installed on both sides of the telescopic frame. The first telescopic cylinder and the second telescopic cylinder drive the telescopic frame to move along the guide post.

6. The automatic drilling arm for deep holes in roadways as described in claim 5, characterized in that, The gripper cylinder is mounted on the telescopic frame. The gripper includes a first gripper, a first connecting rod, a second gripper, and a second connecting rod. The first gripper and the second gripper are hinged to the telescopic rod of the gripper cylinder. The first end of the first connecting rod is hinged to a first pin, and the second end of the first connecting rod is hinged to the bend of the first gripper. The first end of the second connecting rod is hinged to a second pin, and the second end of the second connecting rod is hinged to the bend of the second gripper. The gripper cylinder drives the first gripper and the second gripper to open and close; A long strip-shaped first clamping block is provided at the end of the first clamping hand, and a long strip-shaped second clamping block is provided at the end of the second clamping hand. The first clamping block and the second clamping block cooperate to clamp the drill rod.

7. A fully automatic single-arm drilling rig, characterized in that, The system includes a chassis and a multi-degree-of-freedom telescopic boom mounted on the chassis, wherein the automatic deep-hole drilling arm for tunnels as described in any one of claims 1-6 is mounted on the multi-degree-of-freedom telescopic boom.

8. The fully automatic single-arm drilling rig as described in claim 7, characterized in that, The multi-degree-of-freedom telescopic boom includes a first slewing assembly, a pitch cylinder, a telescopic boom, a second slewing assembly, and a third slewing assembly; The first slewing assembly is mounted on top of the chassis, and the pitch cylinder drives the telescopic boom to pitch with the first slewing assembly as the fulcrum. The second rotary component drives the third rotary component to rotate along the vertical axis; The third rotary assembly drives the drill arm to rotate along a horizontal axis.

9. A fully automated single-arm deep hole drilling process, characterized in that, The automatic drilling arm for deep holes in roadways, as described in any one of claims 1-6, comprises the following steps: Position the borehole; The drill rod is picked up from the drill rod storage assembly by the drill rod transfer assembly and rotated 180° to a position where it can dock with the power head of the drill arm; The drill arm connects to the drill rod and begins drilling.

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