Mining drilling machine capable of automatically loading and unloading drill rod

Abstract

The invention discloses a mining drilling machine capable of automatically loading and unloading a drilling rod, and belongs to the field of mining drilling machines. The mining drilling machine comprises a drilling main machine, a loading and unloading mechanical arm and an auxiliary grabbing mechanical arm, and the drilling main machine comprises a sliding seat, a drilling rod clamping device and a drilling power head; the auxiliary grabbing manipulator is mounted on the sliding seat; the auxiliary grabbing manipulator is provided with an auxiliary clamping jaw capable of reciprocating between a first position and a second position. In the process of assembling and disassembling the drill rod, the auxiliary grabbing mechanical arm is used for conducting auxiliary clamping and coaxial positioning on the drill rod, the assembling and disassembling efficiency and stability of the drill rod are improved, and the butt joint precision and stability during rod assembling are improved; and meanwhile, in the drilling process, the auxiliary grabbing mechanical arm can exit from the moving path of the drilling power head, under the condition that the effective drilling stroke is guaranteed, the overall structure of the drilling main machine is simpler, the size is more compact, and the moving flexibility and operation convenience of the drilling machine in a narrow space can be improved.

Description

Technical Field

[0001] This invention relates to the field of mining drilling rig technology, and more specifically, to a mining drilling rig with automatic loading and unloading of drill rods. Background Technology

[0002] A tunnel drilling rig is a specialized piece of equipment used for underground tunnel drilling operations. It has a wide range of applications and can meet various engineering needs. Specifically, this equipment can complete drilling tasks for various engineering holes, such as gas drainage holes, grouting and fire extinguishing holes, coal seam water injection holes, and geological exploration holes. In industries such as coal mine gas extraction and geological exploration, tunnel drilling rigs have become indispensable tools.

[0003] With the technological development of mining equipment, tunnel drilling rigs are gradually adopting automatic drill rod loading and unloading technology to replace manual drill rod loading and unloading operations, thereby reducing workload and improving operational safety. Existing automatic drill rod loading and unloading technologies mainly use multi-degree-of-freedom robotic arms to perform drill rod picking and placing actions. Examples include "A Double-Rotation Automated Drill Rig Main Unit" (published on September 25, 2020) in Chinese Patent Publication No. CN111706255A and "A Six-Axis Serial Robotic Arm Compliant Drill Rod Loading and Unloading System and Method" (published on March 10, 2023) in Chinese Patent Publication No. CN115773075A. While multi-degree-of-freedom robotic arms are flexible, their complex structure and large space requirements often lead to difficulties in maneuvering in narrow tunnels, resulting in relatively low efficiency in gripping and placing drill rods. In addition, the application of multi-degree-of-freedom robotic arms on drilling rigs occupies a large space, which hinders the compact and miniaturized design of tunnel drilling rigs. Especially under the current technological background, tunnel drilling rigs have higher requirements for small size, flexible movement and convenient transportation, which makes the limitations of existing designs increasingly prominent.

[0004] To address the aforementioned shortcomings of multi-degree-of-freedom robotic arms in drill rod loading and unloading technology, Chinese Patent Publication No. CN112814565A (published May 18, 2021) and Chinese Patent Publication No. CN220539574U (published February 27, 2024) disclose an "Automatic Drill Rod Loading and Unloading Device and Drill Rig," which employs a flip-grip manipulator to grasp and place drill rods. Compared to the aforementioned multi-degree-of-freedom robotic arms, these manipulators are more compact and have higher work efficiency. However, given that the drilling rig needs to perform drilling operations at different angles and postures during operation, the drill rods in the drill rod box are usually placed horizontally. In this case, the flip-grip manipulator must rotate between horizontal and inclined positions to complete the drill rod replacement task. During this process, ensuring that the drill rod grasped by the flip-grip manipulator remains coaxial with the drilling rig is extremely difficult, often requiring repeated adjustments to achieve precise alignment. This inevitably leads to a reduction in rod replacement efficiency, thus affecting the overall operation progress.

[0005] In order to ensure the coaxiality of the drill rod and the drilling host in the aforementioned patented technology, two sets of clamps (front clamp and rear clamp) need to be set at the front end of the drilling host. The rear clamp is an open clamp structure. During the process of installing the drill rod by the flip-gripping manipulator, the drill rod is first placed into the rear clamp and clamped by the rear clamp, adjusting the drill rod to a coaxial state with the drilling power head. Then, the drilling power head moves towards the drill rod and connects with it. After the rear clamp releases the drill rod, the drilling power head drives the drill rod through the front clamp to drill. After drilling is completed, the front clamp clamps the tail of the drill rod to prepare for connection with the next drill rod. The drilling power head then resets to the rear to prepare for the next drill rod to be installed. For specific operation process, please refer to "A Fully Automatic Tunnel Drilling Machine" published in Chinese Patent Publication No. CN207892528U (publication date: September 21, 2018). It is evident from the drill pipe loading and unloading actions described above that, due to the addition of a rear clamp between the front clamp and the drilling head, the rear clamp occupies a certain portion of the drilling head's travel distance. For drill pipes of the same length, the maximum distance between the front clamp and the drilling head needs to be increased during the drilling stroke. Furthermore, the rear clamp is installed near the front clamp and can only clamp the drill pipe from the end. To prevent the drill pipe from tilting due to cantilever, the rear clamp needs to maintain a certain clamping length, resulting in a larger width. All of these factors contribute to a bulky and complex structure for the drilling rig, with a large overall length, hindering flexible movement and turning within the tunnel and making it difficult to rotate the entire rig to adjust the drilling angle and attitude.

[0006] Given the aforementioned shortcomings of existing tunnel drilling rigs, it is necessary to improve them to enhance the efficiency of automatic drill rod loading and unloading, ensure the compact structure and minimized size of the rigs, improve their flexibility and convenience in operating in confined spaces, and better meet the actual needs of tunnel construction. Summary of the Invention

[0007] 1. The technical problem that the invention aims to solve

[0008] The purpose of this invention is to overcome the aforementioned shortcomings of the existing technology and provide a mining drilling rig with automatic drill rod loading and unloading. By adopting the technical solution of this invention, an auxiliary gripping manipulator is installed on the drilling host to cooperate with the drill rod loading and unloading manipulator. During the loading and unloading process, the auxiliary gripping manipulator assists in clamping and coaxially positioning the drill rod, improving the efficiency and stability of drill rod loading and unloading. Simultaneously, during drilling, the auxiliary gripping manipulator can exit the movement path of the drilling power head. While ensuring effective drilling distance, this makes the overall structure of the drilling host simpler and the size more compact, which is beneficial for improving the drilling rig's mobility and operational convenience in confined spaces.

[0009] In addition, the mining drilling rig with automatic drill rod loading and unloading, through the coaxial rotation of the drilling host slide and the loading and unloading manipulator, combined with the drill rod positioning mechanism that can be adjusted in multiple directions, makes its overall layout more reasonable and compact, and the drill rod loading and unloading actions are connected smoothly and efficiently, which greatly improves the drilling rig's operating efficiency and overall performance.

[0010] 2. Technical Solution

[0011] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0012] The present invention provides a mining drilling rig for automatically loading and unloading drill rods, comprising a drilling host and a loading and unloading manipulator for loading and unloading drill rods onto and off the drilling host. The drilling host includes a slide, a drill rod holder mounted on one end of the slide, and a drilling power head capable of moving coaxially on the slide relative to the drill rod holder.

[0013] It also includes an auxiliary gripping manipulator located on one side of the drilling main unit, the auxiliary gripping manipulator being mounted on a slide to move synchronously with the slide; the auxiliary gripping manipulator having auxiliary grippers capable of reciprocating between a first position and a second position, wherein:

[0014] In the first position, the auxiliary gripper moves outside the movement path of the drilling power head, enabling the drilling power head to move toward the drill pipe holder;

[0015] In the second position, the auxiliary gripper moves between the drill pipe holder and the drilling power head, and the gripping position of the auxiliary gripper on the drill pipe is on the rotation axis of the drilling power head, which is used to assist in clamping and coaxially positioning the drill pipe when loading and unloading it.

[0016] Furthermore, the auxiliary gripping manipulator is located on the opposite side of the loading and unloading manipulator, and the auxiliary gripper moves between the first position and the second position in a swinging manner.

[0017] Furthermore, the auxiliary gripper is mounted on the swing arm, the swing arm is hinged to the swing arm seat, the swing arm seat is fixed to the slide block, and a swing drive cylinder for driving the swing arm movement is hinged between the swing arm seat and the swing arm.

[0018] Furthermore, the auxiliary gripper includes an upper gripper and a lower gripper arranged opposite to each other. The upper gripper has a gripper arm extending downwards. Both the gripper arm of the upper gripper and the lower gripper are slidably engaged on a swing arm. A synchronizing link is rotatably mounted on the swing arm. One end of the synchronizing link is hinged to the gripper arm of the upper gripper, and the other end is hinged to the lower gripper, so that the upper and lower grippers can open and close synchronously. The swing arm is also equipped with a gripper drive cylinder. The drive end of the gripper drive cylinder is connected to the gripper arm of the upper gripper or the lower gripper. The operation of the swing drive cylinder and the gripper drive cylinder is controlled by a sequence valve.

[0019] Furthermore, the slide of the drilling host is mounted on the lifting platform via a first rotary reducer, and the loading and unloading robot is mounted on the lifting platform via a second rotary reducer; wherein the rotation axis of the first rotary reducer is coaxial with the rotation axis of the second rotary reducer.

[0020] Furthermore, the lifting seat is mounted on a rotary table via a lifting drive mechanism. The rotary table is also equipped with a drill rod storage mechanism. A drill rod positioning mechanism is also provided between the drill rod storage mechanism and the loading and unloading robot. The drill rod positioning mechanism is mounted on the lifting seat so as to move up and down synchronously with the lifting seat.

[0021] Furthermore, the drill pipe positioning mechanism includes a lifting bracket capable of moving up and down on the lifting seat, a drill pipe bracket slidably mounted on the lifting bracket, and a horizontal adjusting cylinder for adjusting the left and right positions of the drill pipe bracket between the lifting bracket and the drill pipe bracket, and at least one end of the drill pipe bracket has a movable alignment push plate.

[0022] Furthermore, the rotary table is mounted on the traveling chassis via a third rotary reducer. The drill rod storage mechanism includes a drill rod box and a drill rod pick-and-place manipulator for transferring drill rods between the drill rod box and the drill rod positioning mechanism. The drill rod box has several rows of drill rod stacking slots. The drill rod pick-and-place manipulator includes a lateral movement control component, a lifting control component, and pick-and-place grippers. The pick-and-place grippers are mounted on the lifting control component, which is mounted on the lateral movement control component. The lateral movement control component drives the pick-and-place grippers to move along the arrangement direction of the drill rod stacking slots. The lifting control component adopts a chain stroke multiplication structure driven by a hydraulic cylinder.

[0023] Furthermore, the drilling power head includes a transmission box and a hydraulic chuck mounted on the transmission box. The bottom of the transmission box is slidably mounted on the slide rail of the slide block and connected to the feed mechanism provided on the slide block for driving the drilling power head to move on the slide block. The hydraulic chuck adopts a double-acting multi-jaw structure with clamping oil circuit and release oil circuit. The feed mechanism adopts a chain stroke multiplication structure driven by a hydraulic cylinder.

[0024] Furthermore, a hydraulic support column is provided on one side of the slide block, and the hydraulic support column is mounted on the slide block via an adjustable-angle rotary table.

[0025] 3. Beneficial effects

[0026] Compared with existing known technologies, the technical solution provided by this invention has the following significant advantages:

[0027] (1) A mining drilling rig for automatically loading and unloading drill rods, comprising a drilling host and a loading / unloading manipulator for loading and unloading drill rods onto and off the drilling host. The drilling host includes a slide, a drill rod holder mounted on one end of the slide, and a drilling power head capable of coaxially moving on the slide relative to the drill rod holder. It also includes an auxiliary gripping manipulator located on one side of the drilling host, mounted on the slide to move synchronously with the slide. The auxiliary gripping manipulator has auxiliary grippers capable of reciprocating between a first position and a second position. By setting the auxiliary gripping manipulator on the drilling host, the rig can automatically load and unload drill rods onto and off the drill rods. With the assistance of a loading and unloading robot, the drill rods are clamped and coaxially positioned during loading and unloading, improving the efficiency and stability of drill rod loading and unloading, and enhancing the docking accuracy and smoothness during loading. Simultaneously, the auxiliary gripping robot can exit the movement path of the drilling power head during drilling, ensuring effective drilling distance while simplifying the overall structure and making the dimensions of the drilling rig more compact. This allows for maximum drilling depth without increasing the length of the drilling rig, improving the rig's mobility and operational convenience in confined spaces.

[0028] (2) An automatic loading and unloading mining drilling rig is invented, wherein the auxiliary gripping manipulator is located on the opposite side of the loading and unloading manipulator, and the auxiliary gripper moves between the first position and the second position in a swinging manner. The auxiliary gripping manipulator and the loading and unloading manipulator are set opposite to each other, avoiding spatial conflict between the two in operation. The swinging action of the auxiliary gripping manipulator has a simple structure and the action is stable and fast.

[0029] (3) An automatic loading and unloading mining drilling machine is invented, wherein the auxiliary gripper is mounted on the swing arm, the swing arm is hinged on the swing arm seat, the swing arm seat is fixed on the slide seat, and a swing drive cylinder for driving the swing arm movement is hinged between the swing arm seat and the swing arm. The auxiliary gripping manipulator has high structural strength, good gripping stability, and high swing angle control accuracy, and good consistency in gripping the drill rod each time.

[0030] (4) An automatic loading and unloading mining drilling rig of the invention includes an auxiliary gripper comprising an upper gripper and a lower gripper arranged opposite to each other. The upper gripper has a gripper arm extending downwards towards the lower gripper. The gripper arm and the lower gripper are slidably fitted on a swing arm. A synchronous connecting rod is rotatably mounted on the swing arm so that the upper gripper and the lower gripper can open and close synchronously. The relative opening and closing movement of the upper gripper and the lower gripper can ensure that the center position of the drill rod remains unchanged, thereby improving the positioning accuracy during rod loading. Moreover, it has the ability to clamp and position drill rods of different outer diameters, which can meet the clamping and positioning needs of drill rods of different diameters. In addition, the action process of the swing drive cylinder and the gripper drive cylinder is controlled by a sequence valve, which can realize the automated process of "swinging to position first and then clamping" or "releasing first and then swinging out", making the control more convenient.

[0031] (5) An automatic loading and unloading mining drilling rig is invented in which the sliding seat of the drilling host is mounted on the lifting seat through the first rotary reducer, and the loading and unloading manipulator is mounted on the lifting seat through the second rotary reducer; wherein, the rotation axis of the first rotary reducer and the rotation axis of the second rotary reducer are coaxial; on the one hand, sharing the same rotation center can save space and is conducive to the miniaturization of the whole machine; on the other hand, the coaxial rotation design ensures that the drilling host and the loading and unloading manipulator always maintain an alignment relationship when the angle is adjusted, which makes it easier to control the rotation of the loading and unloading manipulator and improve the coordination accuracy.

[0032] (6) A mining drilling rig for automatic loading and unloading of drill rods is invented, wherein the lifting seat is installed on the rotary table through a lifting drive mechanism, and a drill rod storage mechanism is also provided on the rotary table. A drill rod positioning mechanism is also provided between the drill rod storage mechanism and the loading and unloading manipulator. The drill rod positioning mechanism is installed on the lifting seat so as to move up and down synchronously with the lifting seat. The drill rod positioning mechanism moves up and down synchronously with the lifting seat to ensure the synchronization of the two actions and avoid the problem that the lifting position of the drill rod positioning mechanism and the lifting height of the lifting seat cannot match.

[0033] (7) An automatic loading and unloading mining drilling rig of the invention, wherein the drilling rod positioning mechanism includes a lifting bracket that can move up and down on a lifting seat, a drilling rod bracket that is horizontally slidably provided on the lifting bracket, and a horizontal adjusting cylinder for adjusting the left and right positions of the drilling rod bracket is provided between the lifting bracket and the drilling rod bracket, and at least one end of the drilling rod bracket has a movable alignment push plate; the drilling rod bracket can be adjusted in multiple directions, which is convenient for cooperating with loading and unloading manipulators in different positions, eliminating the misalignment problem caused by height difference and horizontal position difference, and improving the positioning accuracy of the drill rod in the middle.

[0034] (8) An automatic drilling rig for loading and unloading drill rods is invented. Its drill rod storage mechanism includes a drill rod box and a drill rod picking and placing manipulator for transferring drill rods between the drill rod box and the drill rod positioning mechanism. The drill rod box has several rows of drill rod stacking slots. The drill rod picking and placing manipulator includes a lateral movement control component, a lifting control component, and picking and placing grippers. The picking and placing grippers are mounted on the lifting control component, which is mounted on the lateral movement control component. The lateral movement control component drives the picking and placing grippers to move along the arrangement direction of the drill rod stacking slots. The lifting control component adopts a chain stroke multiplication structure driven by a hydraulic cylinder. The drill rod picking and placing manipulator has a simple and compact structure. It can achieve long-distance lifting and lowering with a short-stroke hydraulic cylinder, saving vertical space and further improving the overall structural compactness and size minimization of the drilling rig.

[0035] (9) An automatic loading and unloading mining drilling rig is invented, wherein the drilling power head includes a transmission box and a hydraulic chuck mounted on the transmission box. The bottom of the transmission box is slidably mounted on the slide rail of the slide block and connected to the feed mechanism located on the slide block. The hydraulic chuck adopts a double-acting multi-jaw structure with clamping oil circuit and release oil circuit, which can realize quick clamping and loosening, and is more suitable for high-frequency loading and unloading of rods. The feed mechanism adopts a chain stroke multiplication structure driven by a cylinder, which realizes long stroke propulsion in a limited space, making the drilling host structure more compact.

[0036] (10) A mining drilling rig with automatic loading and unloading of drill rods is invented, wherein a hydraulic support column is provided on one side of the slide. The hydraulic support column is installed on the slide via an adjustable-angle rotary table. During drilling, the support column extends out and abuts against the roadway wall or ground, which can effectively absorb vibration and resist drilling reaction force, and prevent the drilling host from shaking. Furthermore, the rotary table allows the support column to adjust its angle within a certain range, which can adapt to complex terrain and achieve drilling support at the best angle and position. Attached Figure Description

[0037] Figure 1 A schematic diagram of the overall structure of a mining drilling rig that automatically loads and unloads drill rods;

[0038] Figure 2 A schematic diagram of the main structure of a mining drilling rig with automatic drill rod loading and unloading for the present invention;

[0039] Figure 3 This is a schematic diagram of the cooperative structure between the drilling host and the auxiliary gripping robot in the invention;

[0040] Figure 4 This is a schematic diagram illustrating the principle of the auxiliary gripping robot switching between the first and second positions in the invention.

[0041] Figure 5 This is a three-dimensional structural diagram of the auxiliary grasping robotic arm in the invention;

[0042] Figure 6 This is a cross-sectional view of the auxiliary gripping robot in the invention.

[0043] Figure 7 This is a schematic diagram of the auxiliary gripper in the auxiliary grasping manipulator of the invention;

[0044] Figure 8 This is a schematic diagram of the rotating structure of the drilling main unit and the loading and unloading robot in the invention;

[0045] Figure 9 This is a schematic diagram showing the disassembled rotating structure of the drilling main unit and the loading / unloading robot in the invention;

[0046] Figure 10 This is a schematic diagram of the cooperative structure of the loading and unloading robot, the drilling host, and the drill pipe positioning mechanism in the invention.

[0047] Figure 11 This is a three-dimensional structural diagram of the drill pipe positioning mechanism in the invention from one angle.

[0048] Figure 12 This is a three-dimensional structural diagram of the drill pipe positioning mechanism in the invention from another angle.

[0049] Figure 13 This is a three-dimensional structural diagram of the drill rod handling robot in the invention, taken from one angle.

[0050] Figure 14 This is a three-dimensional structural diagram of the drill pipe handling robot in the invention from another angle.

[0051] Figure 15 This is a schematic diagram of the components of the drilling power head in the invention;

[0052] Figure 16 This is a cross-sectional structural diagram of the drilling power head in the invention.

[0053] Explanation of the labels in the diagram:

[0054] 100. Drilling main unit; 11. Slide block; 11-1. Slide rail; 12. Drill rod holder; 13. Drilling power head; 13-1. Transmission box; 13-1-1. Shaft gear; 13-1-2. First-stage large gear; 13-1-3. Second-stage small gear; 13-1-4. Second-stage large gear; 13-1-5. Output shaft; 13-1-5A. First oil inlet channel; 13-1-5B. Second oil inlet channel; 13-1-6. Double-hole oil fitting sleeve; 13-2. Hydraulic chuck; 13-2A. Clamping hydraulic chamber; 13-2B. Releasing hydraulic chamber; 13-2-1. Inner conical piston; 13-2-2. Claw assembly; 13-3. Drilling hydraulic motor; 14. Feed mechanism; 15. Hydraulic support column; 15-1. Rotary table;

[0055] 200. Loading / unloading robot; 21. Rotary base; 22. Tilting base; 23. Tilting hydraulic motor; 24. Tilting limit component; 25. Limit pin; 26. Telescopic control cylinder; 27. Loading / unloading gripper cylinder; 28. Loading / unloading gripper;

[0056] 300. Auxiliary gripper; 31. Auxiliary gripper; 31-1. Upper gripper; 31-1a. Grip arm; 31-2. Lower gripper; 31-3. Synchronous linkage; 31-4. Gripper drive cylinder; 31-5. Slider; 31-6. Central shaft; 32. Swing arm; 33. Swing arm base; 34. Swing drive cylinder;

[0057] 400. Lifting seat; 41. First rotary reducer; 42. Second rotary reducer; 43. Rotary mounting seat; 43-1. Bushing part; 43-2. ​​Flange mounting part;

[0058] 500. Lifting drive mechanism; 51. Lifting hydraulic cylinder; 52. Lifting guide column;

[0059] 600. Rotary table; 61. Third rotary reducer;

[0060] 700. Drill pipe storage mechanism; 71. Drill pipe box; 71-1. Drill pipe stacking slot; 72. Drill pipe picking and placing robot; 72-1. Lateral movement control assembly; 72-1-1. Lateral movement bracket; 72-1-2. Lateral movement slide; 72-1-3. Rack; 72-1-4. Lateral movement gear; 72-1-5. Lateral movement hydraulic motor; 72-1-6. Lateral movement displacement sensor; 72-2. Lifting control assembly; 72-2-1. Lifting slide; 72-2-2. Lifting drive cylinder; 72-2-3. Secondary lifting guide rail; 72-2-4. Secondary lifting arm; 72-2-5. Lifting displacement sensor; 72-2-6. Transmission chain; 72-3. Picking and placing gripper; 72-4. Drill pipe contact switch;

[0061] 800. Drill pipe positioning mechanism; 81. Lifting support; 82. Drill pipe bracket; 82-1. Support plate; 82-1a. Centering groove; 83. Horizontal adjustment cylinder; 84. Movable alignment push plate; 84-1. Alignment cylinder; 85. Lifting adjustment cylinder; 86. Lifting guide rod;

[0062] 900, chassis;

[0063] Z1, rotation axis; Z2, rotation axis of the first rotary reducer; Z3, rotation axis of the second rotary reducer; S1, first position; S2, second position. Detailed Implementation

[0064] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0065] [Example]

[0066] Combination Figures 1 to 4 As shown, a mining drilling rig for automatically loading and unloading drill rods according to this embodiment includes a drilling host 100, a loading and unloading manipulator 200 for loading and unloading drill rods to and from the drilling host 100, and an auxiliary gripping manipulator 300 disposed on one side of the drilling host 100. The drilling host 100 includes a slide 11, a drill rod holder 12 mounted on one end of the slide 11, and a drilling power head 13 that can move coaxially with the drill rod holder 12 on the slide 11. The loading / unloading robot 200 is used for automatically adding or removing drill rods. During the adding and unloading process, the auxiliary gripping robot 300 can assist in clamping and positioning the drill rods on the drilling host 100. For example, during the adding process, the loading / unloading robot 200 feeds a drill rod into the drilling host 100. At this time, the auxiliary gripping robot 300 clamps the drill rod and automatically positions it, improving the coaxiality between the drill rod and the drilling host 100, which facilitates subsequent drill rod clamping and docking. During the unloading process, the auxiliary gripping robot 300 can first clamp the removed drill rod, waiting for the loading / unloading robot 200 to grab and transfer it, improving the smoothness and continuity of the unloading action. Specifically... The auxiliary gripping robot 300 is mounted on the slide 11 to move synchronously with the slide 11, thus eliminating the need for secondary adjustments to the position of the auxiliary gripping robot 300 after the drilling angle of the drilling host 100 has been adjusted. The auxiliary gripping robot 300 has an auxiliary gripper 31 capable of reciprocating between a first position S1 and a second position S2, wherein, for example... Figure 4 As shown:

[0067] In the first position S1, the auxiliary gripper 31 moves outside the movement path of the drilling power head 13, allowing the drilling power head 13 to move towards the drill pipe holder 12 without interfering with the movement stroke of the drilling power head 13, facilitating drill pipe drilling or unscrewing; in the second position S2, the auxiliary gripper 31 moves between the drill pipe holder 12 and the drilling power head 13, and the gripping position of the auxiliary gripper 31 on the rotation axis Z1 of the drilling power head 13 is used to assist in clamping and coaxially positioning the drill pipe during loading and unloading. Unlike existing technologies, by installing an auxiliary gripping manipulator 300 on the drilling rig 100 to cooperate with the drill rod loading and unloading manipulator 200, the auxiliary gripping manipulator 300 assists in clamping and coaxially positioning the drill rod during loading and unloading, improving the efficiency and stability of drill rod loading and unloading, and enhancing the docking accuracy and smoothness during rod loading. At the same time, during drilling, the auxiliary gripping manipulator 300 can exit the movement path of the drilling power head 13, making the overall structure of the drilling rig 100 simpler and more compact while ensuring effective drilling distance. This allows for the achievement of maximum drilling depth without increasing the length of the drilling rig 100, which is beneficial for improving the mobility and ease of operation of the drilling rig in confined spaces.

[0068] Reference Figures 1 to 4 As shown, in this embodiment, the auxiliary gripping robot 300 is located on the opposite side of the loading / unloading robot 200. The auxiliary gripping robot 300 and the loading / unloading robot 200 are arranged opposite each other to avoid spatial conflict during operation. The auxiliary gripper 31 moves between the first position S1 and the second position S2 in a swinging manner. The swinging motion structure is simple, and the motion is smooth and fast. Specifically, as shown... Figure 5 and Figure 6 As shown, the aforementioned auxiliary gripper 31 is mounted on the swing arm 32, which is hinged to the swing arm seat 33. The swing arm seat 33 is fixed to the slide block 11. A swing drive cylinder 34 for driving the swing arm 32 is hinged between the swing arm seat 33 and the swing arm 32. The extension and retraction of the swing drive cylinder 34 causes the swing arm 32 to swing relative to the swing arm seat 33. Using this auxiliary gripping robot 300, the structure has high strength, good gripping stability, and high precision in swing angle control, resulting in good consistency in gripping the drill rod each time. Furthermore, as... Figure 6 and Figure 7As shown, the auxiliary gripper 31 includes an upper gripper 31-1 and a lower gripper 31-2 arranged opposite to each other. The upper gripper 31-1 has a gripper arm 31-1a extending towards the lower gripper 31-2. The gripper arm 31-1a of the upper gripper 31-1 and the lower gripper 31-2 are both slidably engaged on the swing arm 32. A synchronous connecting rod 31-3 is rotatably mounted on the swing arm 32. One end of the synchronous connecting rod 31-3 is hinged to the gripper arm 31-1a of the upper gripper 31-1, and the other end is hinged to the lower gripper 31-2, so that the upper gripper 31-1 and the lower gripper 31-2 can open and close synchronously. The swing arm 32 is also provided with a gripper drive cylinder 31-4. The drive end of the gripper drive cylinder 31-4 is connected to the gripper arm 31-1a of the upper gripper 31-1 or the lower gripper 31-2. Specifically, the center of the synchronizing link 31-3 is rotatably mounted on the swing arm 32 via the central shaft 31-6. Both ends of the synchronizing link 31-3 are provided with sliding grooves, and sliders 31-5 are installed within these grooves. The claw arm 31-1a of the upper jaw 31-1 and the lower jaw 31-2 are rotatably connected to their corresponding sliders 31-5 via pins. When the jaw drive cylinder 31-4 drives the upper jaw 31-1 or the lower jaw 31-2 to move, the synchronizing link 31-3 can drive the other jaw to move synchronously, thereby achieving relative opening and closing motion of the upper jaw 31-1 and the lower jaw 31-2. This auxiliary jaw 31 design, compared to traditional V-shaped jaws, ensures that the drill pipe center position remains unchanged, improving the positioning accuracy during pipe loading. Furthermore, it is adaptable to clamping and positioning drill pipes of different outer diameters, meeting the clamping and positioning needs of drill pipes of different diameters. In addition, the movement process of the swing drive cylinder 34 and the gripper drive cylinder 31-4 is controlled by a sequence valve, which can realize an automated process of "swinging into position first and then clamping" or "releasing first and then swinging out", making the control more convenient.

[0069] Reference Figure 8 and Figure 9As shown, in this embodiment of the mining drilling rig with automatic drill rod loading and unloading, the sliding block 11 of the drilling host 100 is mounted on the lifting platform 400 via a first rotary reducer 41, and the loading and unloading manipulator 200 is mounted on the lifting platform 400 via a second rotary reducer 42; wherein, the rotation axis Z2 of the first rotary reducer 41 and the rotation axis Z3 of the second rotary reducer 42 are coaxial. On the one hand, sharing the same rotation center can save space and is conducive to the miniaturization of the whole machine; on the other hand, the coaxial rotation design ensures that the drilling host 100 and the loading and unloading manipulator 200 always maintain an alignment relationship when adjusting the angle, which makes it easier to control the rotation of the loading and unloading manipulator 200 and improves the coordination accuracy. Specifically, a rotary mounting base 43 is fixedly installed on the lifting seat 400. The rotary mounting base 43 has a bushing part 43-1 and a flange mounting part 43-2. ​​The second rotary reducer 42 is sleeved on the outside of the bushing part 43-1 and fixedly connected to the lifting seat 400. The first rotary reducer 41 is fixed on the flange mounting part 43-2. ​​The rotary mounting base 43 realizes the coaxial installation of the first rotary reducer 41 and the second rotary reducer 42, which makes it easy to ensure the coaxiality of the two and facilitates assembly and manufacturing. During installation, the second rotary reducer 42 can be first fixed to the lifting seat 400 with bolts. Then, the bushing part 43-1 of the rotary mounting seat 43 can be inserted into the inner hole of the second rotary reducer 42 and fixed to the lifting seat 400 with bolts. After that, the loading and unloading robot 200 can be installed on the drive plate of the second rotary reducer 42. Finally, the first rotary reducer 41 can be fixed to the flange mounting part 43-2 of the rotary mounting seat 43 with bolts, and the slide 11 can be fixed to the drive plate of the first rotary reducer 41 with bolts.

[0070] The aforementioned lifting seat 400 is used to adjust the height of the drilling machine 100. For example... Figure 1 , Figure 2 and Figure 10As shown, the lifting seat 400 is mounted on the rotary table 600 via a lifting drive mechanism 500. The lifting drive mechanism 500 includes a lifting hydraulic cylinder 51 and a lifting guide column 52. The lower end of the lifting guide column 52 is fixed on the rotary table 600, and the lifting seat 400 is slidably mounted on the lifting guide column 52. The lifting hydraulic cylinder 51 adopts an inverted structure, and one set is provided on each side of the lifting seat 400. Specifically, the cylinder body of the lifting hydraulic cylinder 51 is fixed on the lifting seat 400, and the piston rod of the lifting hydraulic cylinder 51 is hinged on the rotary table 600. The height of the lifting seat 400 is adjusted by the synchronous extension and retraction of the two sets of lifting hydraulic cylinders 51. The rotary table 600 is also provided with a drill rod storage mechanism 700. A drill rod positioning mechanism 800 is provided between the drill rod storage mechanism 700 and the loading and unloading robot 200. The drill rod positioning mechanism 800 is mounted on the lifting seat 400 so as to move synchronously with the lifting seat 400. The drill pipe positioning mechanism 800 rises and falls synchronously with the lifting seat 400 to ensure the synchronization of their movements and avoid the problem of mismatch between the rising and falling position of the drill pipe positioning mechanism 800 and the rising height of the lifting seat 400.

[0071] like Figures 10 to 12 As shown, in this embodiment, the drill pipe positioning mechanism 800 serves as a temporary storage and positioning mechanism for the drill pipe. It includes a lifting bracket 81 capable of moving up and down on the lifting seat 400. A drill pipe bracket 82 is horizontally slidably mounted on the lifting bracket 81. A horizontal adjusting cylinder 83 for adjusting the left and right positions of the drill pipe bracket 82 is provided between the lifting bracket 81 and the drill pipe bracket 82. At least one end of the drill pipe bracket 82 has a movable alignment push plate 84. This drill pipe bracket 82 can be adjusted in multiple directions, facilitating coordination with the loading and unloading robot 200 in different positions, eliminating misalignment problems caused by height and horizontal position differences, and improving the positioning accuracy of the drill pipe. Specifically, a lifting guide rod 86 is installed on the lifting seat 400, and a lifting bracket 81 is slidably installed on the lifting guide rod 86. A lifting adjustment cylinder 85 is provided between the lifting seat 400 and the lifting bracket 81. The height of the lifting bracket 81 is adjusted by the extension and retraction of the lifting adjustment cylinder 85, and the left and right positions of the drill rod bracket 82 are adjusted by the extension and retraction of the horizontal adjustment cylinder 83. Two sets of support plates 82-1 are fixed on the drill rod bracket 82. The support plates 82-1 are provided with centering grooves 82-1a, which are roughly "V" shaped, to determine the center position of the drill rod and to lift the middle part of the drill rod for easy gripping. A movable alignment push plate 84 is installed on the alignment cylinder 84-1. The alignment cylinder 84-1 pulls the movable alignment push plate 84 to move towards each other, thereby aligning the ends of the drill rod and facilitating accurate loading and unloading of the drill rod.

[0072] like Figure 8 and Figure 10As shown, the aforementioned loading and unloading robot 200 has left and right rotation, forward and backward tilting, and telescopic movements. Specifically, it includes a rotary base 21, a tilting base 22, a tilting hydraulic motor 23, a tilting limiter 24, a limit pin 25, a telescopic control cylinder 26, a loading and unloading gripper cylinder 27, and loading and unloading grippers 28. The rotary base 21 is mounted on the drive plate of the aforementioned second rotary reducer 42, and the second rotary reducer 42 controls the left and right rotation of the rotary base 21. The tilting base 22 is rotatably mounted on the rotary base 21, and one end of the rotating shaft of the tilting base 22 is connected to the tilting hydraulic motor. The hydraulic motor 23 drives the tilting seat 22 to tilt back and forth. A tilting limiter 24 is provided at the other end of the rotating shaft of the tilting seat 22, and a limit pin 25 is provided on the rotary seat 21. The tilting position is limited by the cooperation of the tilting limiter 24 and the limit pin 25. The telescopic control cylinder 26 is installed on the tilting seat 22. The drive end of the telescopic control cylinder 26 is connected to the loading and unloading jaw cylinder 27. The loading and unloading jaw 28 is installed at the end of the loading and unloading jaw cylinder 27 and is driven by the loading and unloading jaw cylinder 27 to open and close. The loading and unloading jaw 28 can realize the transfer of drill rod between the drill rod positioning mechanism 800 and the drilling host 100 through the combined motion of rotation, tilting and telescopic movement.

[0073] like Figure 1 and Figure 2 As shown, in this embodiment of the mining drilling rig with automatic drill rod loading and unloading, the rotary table 600 is mounted on the traveling chassis 900 via a third rotary reducer 61. The traveling chassis 900 adopts a tracked traveling mechanism and is equipped with a hydraulic station, enabling full hydraulic control. The drill rod storage mechanism 700 includes a drill rod box 71 and a drill rod handling robot 72 for transferring drill rods between the drill rod box 71 and the drill rod positioning mechanism 800. The drill rod box 71 is fixed on the rotary table 600 and has several rows of drill rod stacking slots 71-1 for horizontally storing drill rods. The drill rod handling robot 72 is used to remove drill rods from the drill rod box 71 and place them on the drill rod bracket 82, or to place drill rods from the drill rod bracket 82 into the corresponding drill rod stacking slots 71-1 in the drill rod box 71. (Refer to...) Figure 13 and Figure 14As shown, the drill pipe handling robot 72 includes a lateral movement control component 72-1, a lifting control component 72-2, and a handling gripper 72-3. The handling gripper 72-3 is mounted on the lifting control component 72-2, which is mounted on the lateral movement control component 72-1. The lateral movement control component 72-1 drives the handling gripper 72-3 to move along the arrangement direction of the drill pipe stacking slots 71-1. The lifting control component 72-2 employs a chain stroke multiplication structure driven by a hydraulic cylinder. Using this drill pipe handling robot 72 results in a simple and compact structure, enabling long-distance lifting and lowering using a short-stroke hydraulic cylinder, saving vertical space, and further improving the overall structural compactness and minimization of the drilling rig. Specifically, the lateral movement control assembly 72-1 adopts a gear and rack transmission mechanism, which includes a lateral movement bracket 72-1-1, a lateral movement slide 72-1-2, a rack 72-1-3, a lateral movement gear 72-1-4, a lateral movement hydraulic motor 72-1-5, and a lateral movement displacement sensor 72-1-6. The lateral movement bracket 72-1-1 is fixed to one side of the drill pipe box 71, the lateral movement slide 72-1-2 is slidably mounted on the lateral movement bracket 72-1-1, and the rack 72-1-3 is horizontally fixed on the lateral movement control assembly 72-1-4. On the moving bracket 72-1-1, a transverse hydraulic motor 72-1-5 is mounted on a transverse slide 72-1-2. A transverse gear 72-1-4 is mounted on the output shaft of the transverse hydraulic motor 72-1-5, and the transverse gear 72-1-4 meshes with a rack 72-1-3. The transverse hydraulic motor 72-1-5 drives the transverse gear 72-1-4 to rotate, thereby causing the transverse gear 72-1-4 to roll on the rack 72-1-3, thus driving the transverse slide 72-1-2 to move laterally. A transverse displacement sensor 72-1-6 is mounted on the transverse bracket 72-1-1 to detect the movement position of the transverse slide 72-1-2.The lifting control assembly 72-2 includes a lifting slide 72-2-1, a lifting drive cylinder 72-2-2, a secondary lifting guide rail 72-2-3, a secondary lifting arm 72-2-4, a lifting displacement sensor 72-2-5, and a transmission chain 72-2-6. The lifting slide 72-2-1 is slidably mounted on the aforementioned transverse slide 72-1-2. The cylinder body of the lifting drive cylinder 72-2-2 is fixed to the transverse slide 72-1-2, and the piston rod end is connected to the upper part of the lifting slide 72-2-1. The extension and retraction movement of the lifting drive cylinder 72-2-2 can drive the lifting slide 72-2-1 to move up and down. A secondary lifting guide rail is provided on one side of the lifting slide 72-2-1. The secondary lifting arm 72-2-4 is slidably mounted on the secondary lifting guide rail 72-2-3. A set of sprockets is provided at the top and bottom of the lifting slide 72-2-1. A transmission chain 72-2-6 is wound around the upper and lower sprockets and is connected to the transverse slide 72-1-2 and the secondary lifting arm 72-2-4 respectively. A pick-and-place gripper 72-3 is installed at the lower end of the secondary lifting arm 72-2-4. A drill rod contact switch 72-4 is also installed on the pick-and-place gripper 72-3. When the pick-and-place gripper 72-3 moves down to grab the drill rod, the drill rod contact switch 72-4 contacts the drill rod and generates a signal, controlling the pick-and-place gripper 72-3 to grab the drill rod. A lifting displacement sensor 72-2-5 is installed between the lifting slide 72-2-1 and the transverse slide 72-1-2 to detect the lifting position. When the lifting drive cylinder 72-2-2 drives the lifting slide 72-2-1 to move up and down, the positional change between the lifting slide 72-2-1 and the transverse slide 72-1-2 causes the transmission chain 72-2-6 to move on the sprocket, thereby driving the secondary lifting arm 72-2-4 on the other side to move up and down. The vertical movement distance of the secondary lifting arm 72-2-4 is twice the vertical movement distance of the lifting slide 72-2-1, thus doubling the lifting stroke of the pick-and-place gripper 72-3.

[0074] like Figures 1 to 3 as well as Figure 10As shown, in this embodiment, the drilling power head 13 includes a transmission box 13-1 and a hydraulic chuck 13-2 mounted on the transmission box 13-1. The bottom of the transmission box 13-1 is slidably mounted on the slide rail 11-1 of the slide block 11 and connected to the feed mechanism 14 provided on the slide block 11, for driving the drilling power head 13 to move on the slide block 11. The hydraulic chuck 13-2 is used to clamp or release the drill rod, and the transmission box 13-1 is used to drive the hydraulic chuck 13-2 to rotate forward and backward, thereby driving the drill rod to rotate forward and backward. The feed mechanism 14 adopts a chain stroke multiplication structure driven by a cylinder, achieving long-stroke propulsion within a limited space, making the drilling host structure more compact. The structural principle of this chain stroke multiplication structure is the same as the lifting multiplication principle of the lifting control component 72-2 described above, and will not be described in detail here. The hydraulic chuck 13-2 adopts a double-acting multi-jaw structure with clamping and releasing oil circuits, enabling rapid clamping and releasing, making it more suitable for high-frequency rod loading and unloading operations. See details... Figure 15 and Figure 16As shown, the transmission box 13-1 adopts a two-stage gear reducer, including a shaft gear 13-1-1, a primary large gear 13-1-2, a secondary small gear 13-1-3, a secondary large gear 13-1-4, and an output shaft 13-1-5 installed inside the box. The shaft gear 13-1-1 is the input shaft, which is connected to the drilling hydraulic motor 13-3. The shaft gear 13-1-1 meshes with the primary large gear 13-1-2. The secondary small gear 13-1-3 is coaxially and fixedly connected with the primary large gear 13-1-2. The secondary small gear 13-1-3 meshes with the secondary large gear 13-1-4. The secondary large gear 13-1-4 is fixed on the output shaft 13-1-5, realizing the reduction and torque increase of the output shaft 13-1-5. The hydraulic chuck 13-2 is coaxially and fixedly connected to the output shaft 13-1-5. It contains an inner conical piston 13-2-1 and a jaw assembly 13-2-2. The jaw assembly 13-2-2 is located inside the inner conical piston 13-2-1. The movement of the inner conical piston 13-2-1 enables the jaws in the jaw assembly 13-2-2 to come together or separate, thereby clamping or releasing the drill pipe. The inner conical piston 13-2-1 forms a clamping hydraulic chamber 13-2A ​​and a releasing hydraulic chamber 13-2B within the hydraulic chuck 13-2. The output shaft 13-1-5 has a first oil inlet channel 13-1-5A that communicates with the clamping hydraulic chamber 13-2A ​​and a second oil inlet channel 13-1-5B that communicates with the releasing hydraulic chamber 13-2B. A double-hole oil distribution sleeve 13-1-6 is provided at the tail of the output shaft 13-1-5 for sealing and rotation. The double-hole oil distribution sleeve 13-1-6 has an interface A that communicates with the first oil inlet channel 13-1-5A and an interface B that communicates with the second oil inlet channel 13-1-5B. Interface A, the first oil inlet channel 13-1-5A, and the clamping hydraulic chamber 13-2A ​​constitute a locking control oil circuit. Interface B, the second oil inlet channel 13-1-5B, and the release hydraulic chamber 13-2B constitute a release control oil circuit. By controlling the oil supply to the locking control oil circuit, the jaw assembly 13-2-2 can be driven to clamp the drill rod. By controlling the oil supply to the release control oil circuit, the jaw assembly 13-2-2 can be driven to release the drill rod. Compared with existing single-acting hydraulic chucks, the double-acting multi-jaw structure can achieve rapid clamping and releasing of the drill rod, with higher operating efficiency and reliability.

[0075] return Figure 3 As shown, in this embodiment, a hydraulic support column 15 is also provided on one side of the slide block 11. The hydraulic support column 15 is installed on the slide block 11 via an adjustable rotary table 15-1. The rotary table 15-1 can be adjusted manually or by a hydraulic motor. During drilling, the support column can extend and abut against the tunnel wall or ground, effectively absorbing vibration and resisting drilling reaction force, preventing the drilling host from shaking. Furthermore, the rotary table 15-1 allows the support column to adjust its angle within a certain range, adapting to complex terrain and achieving drilling support at the optimal angle and position.

[0076] To further understand the working principle of the mining drilling rig with automatic drill rod loading and unloading of the present invention, the following is combined with... Figures 1 to 4 The drilling pipe loading and unloading process of the present invention is described as follows:

[0077] During drill rod loading, the drill rods are arranged in the drill rod stacking slots 71-1 of the drill rod box 71. The transverse hydraulic motor 72-1-5 drives the pick-and-place chuck 72-3 to move above the corresponding drill rod. The lifting drive cylinder 72-2-2 drives the pick-and-place chuck 72-3 to move downward. When the drill rod contact switch 72-4 sends a contact signal, the pick-and-place chuck 72-3 clamps the drill rod. The lifting drive cylinder 72-2-2 drives the pick-and-place chuck 72-3, along with the drill rod, to rise. The transverse hydraulic motor 72-1-5 then moves it above the drill rod bracket 82, placing the retrieved drill rod on the two sets of support plates 82-1 of the drill rod bracket 82. Then, according to the height of the drilling host 100, the lifting adjustment cylinder 85 moves the drill rod bracket 82 to the corresponding height. At the same time, the movable alignment push plate 84 aligns the drill rods on the support plates 82-1. If necessary, the left and right positions of the drill rods can be adjusted by the horizontal adjustment cylinder 83. Subsequently, the tilting hydraulic motor 23 drives the loading and unloading chuck 28 to tilt towards the drill rod bracket 82, and the telescopic control cylinder 26 drives the loading and unloading chuck 28 to extend forward and grab the drill rod on the drill rod bracket 82; the tilting hydraulic motor 23 rotates in the opposite direction to lift the drill rod, and at the same time the second rotary reducer 42 drives the loading and unloading chuck 28 to rotate, adjusting the angle of the drill rod to be consistent with the drilling angle of the drilling host 100; the tilting hydraulic motor 23 continues to tilt and drive the drill rod to move to the rotation axis Z1 of the drilling host 100; at the same time, the swing drive cylinder 34 drives the auxiliary chuck 31 to swing to the rotation axis Z1 of the drilling power head 13, clamping the drill rod transferred by the loading and unloading manipulator 200, and eliminating the error between the rotation angle of the loading and unloading manipulator 200 and the tilt angle of the drilling host 100. Subsequently, the jaw assembly 13-2-2 inside the hydraulic chuck 13-2 opens, and the feed mechanism 14 drives the drilling power head 13 to connect with the drill rod and clamp it by the hydraulic chuck 13-2. The auxiliary jaw 31 releases the drill rod and resets. The feed mechanism 14 drives the drilling power head 13, together with the drill rod, to move towards the drill rod holder 12. At the same time, the drilling hydraulic motor 13-3 drives the drill rod to rotate and drill. After one drill rod is drilled, the drill rod holder 12 clamps the drill rod that has been drilled. The feed mechanism 14 drives the drilling power head 13 to reset backward. Repeating the above rod loading action allows the next drill rod to be connected with the drill rod that has been drilled and drilling to continue.

[0078] During the unloading process, the drilling power head 13 drives the drill rod to rotate while being driven backward by the feed mechanism 14. When a section of drill rod completely passes the drill rod holder 12, the drill rod holder 12 clamps the previous section of drill rod, and the drilling power head 13 rotates in the opposite direction to remove the drill rod. Then, the swing drive cylinder 34 drives the auxiliary chuck 31 to swing and clamp the removed drill rod, and the hydraulic chuck 13-2 releases the drill rod at the same time. Subsequently, the loading and unloading chuck 28 flips over and extends forward to clamp the drill rod, the auxiliary chuck 31 releases the drill rod and resets, the loading and unloading chuck 28 drives the drill rod to rotate to a horizontal state, flips it over and places it on the drill rod bracket 82, and the drill rod pick-and-place robot 72 puts the drill rod on the drill rod bracket 82 back into the drill rod box 71. At the same time, the drilling power head 13 continues to remove the next section of drill rod until all drill rods are put back into the drill rod box 71.

[0079] This invention discloses an automatic drill rod loading and unloading mining drilling rig. By incorporating an auxiliary gripping manipulator on the drilling main unit to cooperate with the drill rod loading and unloading manipulator, the auxiliary gripping manipulator assists in clamping and coaxially positioning the drill rods during loading and unloading, improving the efficiency and stability of drill rod loading and unloading. Simultaneously, during drilling, the auxiliary gripping manipulator can exit the movement path of the drilling power head. While ensuring effective drilling distance, this results in a simpler overall structure and more compact size for the drilling main unit, improving the rig's mobility and operational convenience in confined spaces. Furthermore, this automatic drill rod loading and unloading mining drilling rig, through the coaxial rotation of the drilling main unit's slide and the loading and unloading manipulator, combined with a multi-directionally adjustable drill rod positioning mechanism, achieves a more rational and compact overall layout. The drill rod loading and unloading actions are seamless and efficient, significantly improving the rig's operational efficiency and overall performance.

[0080] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A mining drilling rig for automatically loading and unloading drill rods, comprising a drilling host (100) and a loading / unloading manipulator (200) for loading and unloading drill rods onto and off the drilling host (100), wherein the drilling host (100) comprises a slide (11), a drill rod holder (12) mounted on one end of the slide (11), and a drilling power head (13) capable of coaxially moving on the slide (11) relative to the drill rod holder (12); characterized in that: It also includes an auxiliary gripping manipulator (300) located on one side of the drilling host (100), the auxiliary gripping manipulator (300) being mounted on a slide (11) to move synchronously with the slide (11); the auxiliary gripping manipulator (300) has an auxiliary gripper (31) capable of reciprocating between a first position (S1) and a second position (S2), wherein: In the first position (S1), the auxiliary gripper (31) moves outside the movement path of the drilling power head (13), so that the drilling power head (13) can move toward the drill pipe holder (12); In the second position (S2), the auxiliary gripper (31) moves between the drill pipe holder (12) and the drilling power head (13), and the gripping position of the auxiliary gripper (31) on the rotation axis (Z1) of the drilling power head (13) is used to assist in clamping and coaxially positioning the drill pipe when loading and unloading it.

2. The mining drilling rig with automatic drill rod loading and unloading according to claim 1, characterized in that: The auxiliary gripping manipulator (300) is located on the opposite side of the loading and unloading manipulator (200), and the auxiliary gripper (31) moves between the first position (S1) and the second position (S2) in a swinging manner.

3. The mining drilling rig with automatic drill rod loading and unloading according to claim 2, characterized in that: The auxiliary gripper (31) is mounted on the swing arm (32), the swing arm (32) is hinged on the swing arm seat (33), the swing arm seat (33) is fixed on the slide (11), and a swing drive cylinder (34) for driving the swing arm (32) is hinged between the swing arm seat (33) and the swing arm (32).

4. The mining drilling rig with automatic drill rod loading and unloading according to claim 3, characterized in that: The auxiliary gripper (31) includes an upper gripper (31-1) and a lower gripper (31-2) arranged opposite to each other. The upper gripper (31-1) has a gripper arm (31-1a) extending towards the lower gripper (31-2). The gripper arm (31-1a) of the upper gripper (31-1) and the lower gripper (31-2) are both slidably engaged on a swing arm (32). A synchronizing link (31-3) is rotatably mounted on the swing arm (32). One end of the synchronizing link (31-3) is connected to the gripper arm of the upper gripper (31-1). (31-1a) is hinged to the upper claw (31-1) and the lower claw (31-2) is hinged to the lower claw (31-2) so that the upper claw (31-1) and the lower claw (31-2) can open and close synchronously. The swing arm (32) is also provided with a gripper drive cylinder (31-4). The drive end of the gripper drive cylinder (31-4) is connected to the claw arm (31-1a) of the upper claw (31-1) or the lower claw (31-2). The movement process of the swing drive cylinder (34) and the gripper drive cylinder (31-4) is controlled by a sequence valve.

5. The mining drilling rig with automatic drill rod loading and unloading according to claim 1, characterized in that: The slide (11) of the drilling host (100) is mounted on the lifting seat (400) via the first rotary reducer (41), and the loading and unloading robot (200) is mounted on the lifting seat (400) via the second rotary reducer (42); wherein the rotation axis (Z2) of the first rotary reducer (41) is coaxial with the rotation axis (Z3) of the second rotary reducer (42).

6. The mining drilling rig with automatic drill rod loading and unloading according to claim 5, characterized in that: The lifting seat (400) is mounted on the rotary table (600) via a lifting drive mechanism (500). The rotary table (600) is also provided with a drill rod storage mechanism (700). A drill rod positioning mechanism (800) is also provided between the drill rod storage mechanism (700) and the loading and unloading robot (200). The drill rod positioning mechanism (800) is mounted on the lifting seat (400) so as to move up and down synchronously with the lifting seat (400).

7. The mining drilling rig with automatic drill rod loading and unloading according to claim 6, characterized in that: The drill pipe positioning mechanism (800) includes a lifting bracket (81) that can move up and down on the lifting seat (400). A drill pipe bracket (82) is horizontally slidably provided on the lifting bracket (81). A horizontal adjusting cylinder (83) for adjusting the left and right position of the drill pipe bracket (82) is provided between the lifting bracket (81) and the drill pipe bracket (82). At least one end of the drill pipe bracket (82) has a movable alignment push plate (84).

8. The mining drilling rig with automatic drill rod loading and unloading according to claim 6, characterized in that: The rotary table (600) is mounted on the traveling chassis (900) via a third rotary reducer (61). The drill rod storage mechanism (700) includes a drill rod box (71) and a drill rod picking and placing robot (72) for transferring drill rods between the drill rod box (71) and the drill rod positioning mechanism (800). The drill rod box (71) has several rows of drill rod stacking slots (71-1). The drill rod picking and placing robot (72) includes a lateral movement control component (72-1) and a lifting control component. The assembly (72-2) and the pick-and-place gripper (72-3) are mounted on the lifting control assembly (72-2), which is mounted on the transverse control assembly (72-1). The transverse control assembly (72-1) drives the pick-and-place gripper (72-3) to move along the arrangement direction of the drill pipe stacking slot (71-1). The lifting control assembly (72-2) adopts a chain stroke multiplication structure driven by a hydraulic cylinder.

9. The mining drilling rig with automatic drill rod loading and unloading according to any one of claims 1 to 8, characterized in that: The drilling power head (13) includes a transmission box (13-1) and a hydraulic chuck (13-2) mounted on the transmission box (13-1). The bottom of the transmission box (13-1) is slidably mounted on the slide rail (11-1) of the slide block (11) and connected to the feed mechanism (14) provided on the slide block (11) for driving the drilling power head (13) to move on the slide block (11). The hydraulic chuck (13-2) adopts a double-acting multi-jaw structure with clamping oil circuit and release oil circuit. The feed mechanism (14) adopts a chain stroke multiplication structure driven by a hydraulic cylinder.

10. The mining drilling rig with automatic drill pipe loading and unloading according to any one of claims 1 to 8, characterized in that: A hydraulic support column (15) is also provided on one side of the slide (11), and the hydraulic support column (15) is installed on the slide (11) through an adjustable angle rotary table (15-1).

Images