Full-automatic rock drilling equipment and application thereof

Abstract

The invention relates to the technical field of geotechnical engineering equipment, in particular to full-automatic rock drilling equipment and application thereof, and aims to solve the problems that in the current rock drilling process, due to the fact that the rock drilling equipment lacks a structure for rapidly determining the drilling position and automatically controlling drilling of a drill rod, the operation of the drilling process is complicated, and the overall efficiency and quality of rock drilling are finally reduced. A mechanical arm of the rock drilling equipment is connected with a rock drilling power device, a drill rod, a drill bit, a three-dimensional scanner and a laser range finder in a sliding mode, the three-dimensional scanner and the laser range finder are both connected to a controller, automatic drilling positioning is achieved by conducting morphology scanning on a rock surface, and then staged construction is conducted in an automatic low-impact reciprocating mode and a high-impact drilling mode; by means of laser ranging and drilling depth feedback, deviation of a drill bit and whether a drilled hole collapses or not are judged in real time, so that automatic control over the whole drilling process is completed, drilling positioning, dynamic drilling control and drilling quality detection can be completed without manual intervention, and the precision and efficiency of rock drilling operation are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering equipment technology, specifically to a fully automatic rock drilling device and its application. Background Technology

[0002] Current rock drilling operations typically rely on manual marking of borehole locations according to design drawings, followed by drilling using a drilling rig or drilling machine. However, due to the often irregular curved surfaces of tunnels, manual positioning is time-consuming and inaccurate, frequently introducing deviations and affecting blasting results. Furthermore, traditional drilling processes lack intelligent control. When encountering uneven working surfaces, manual control is generally required to first activate low-impact and reciprocating drilling to create a borehole opening on the face. After opening, manual switching to high-impact mode is then performed, often maintaining a constant impact mode throughout the entire drilling process, making it impossible to optimize drilling strategies based on rock resistance and drilling depth. Simultaneously, existing equipment lacks real-time borehole deviation monitoring and post-drilling quality inspection functions. Borehole deviations or wall collapses can only be addressed manually afterward, resulting in low efficiency and compromised safety. Summary of the Invention

[0003] This invention provides a fully automatic rock drilling device and its application to solve the problems mentioned above.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A fully automatic rock drilling device includes a loader platform, a robotic arm connected to the loader platform, a rock drilling power unit slidably connected to the top of the robotic arm, a drill rod connected to the rock drilling power unit, a drill bit at the end of the drill rod away from the rock drilling power unit, a 3D scanner and a laser rangefinder located below the drill rod, and both the 3D scanner and the laser rangefinder are connected to a controller located on the loader platform.

[0005] Furthermore, the top of the robotic arm is provided with a guide rail, and a connecting block is slidably provided inside the guide rail, and the rock drilling power device and the connecting block are fixedly connected.

[0006] Furthermore, a rod protector is fixedly installed on the top of the guide rail away from the rock drilling power device, the drill rod passes through the rod protector, and the laser rangefinder is installed on the side of the rod protector.

[0007] Furthermore, the 3D scanner is positioned at the bottom of the guide rail, away from the rock drilling power unit.

[0008] The application of a fully automatic rock drilling device includes the following steps: Step 1: Start the 3D scanner for rock mass morphology scanning, perform a 3D scan of the rock mass to be drilled, and obtain rock surface morphology data.

[0009] Step 2: Automatically determine the drilling location based on the rock surface data, and drive the drill rod to align with the drilling location using the rock drilling power device.

[0010] Step 3: The controller starts the low-impact reciprocating drilling mode to perform hole drilling.

[0011] Step 4: When the preset drilling time or depth is reached, the controller automatically switches to high-impact drilling mode to increase rock breaking force and continue drilling, while collecting borehole depth information.

[0012] Step 5: Use a laser rangefinder and depth signal to determine if the drill bit has deviated, and correct the drill rod posture in real time to start drilling again.

[0013] Step 6: After drilling is completed, stop the drilling machine and use a laser rangefinder to check the depth and wall thickness of the borehole to determine the patency of the borehole.

[0014] The present invention has the following beneficial effects: This invention provides a fully automatic rock drilling equipment and its application. The mechanical arm of the rock drilling equipment is slidably connected to a rock drilling power unit, drill rod, drill bit, 3D scanner, and laser rangefinder. Both the 3D scanner and laser rangefinder are connected to a controller. Automatic borehole positioning is achieved by scanning the rock surface. Then, the equipment is constructed in stages using two modes: automatic low-impact reciprocating drilling and high-impact drilling. By utilizing the feedback of laser ranging and drilling depth, the deviation of the drill bit and whether the borehole has collapsed are judged in real time, thereby completing the full-process automated control of drilling. Borehole positioning, dynamic drilling control, and borehole quality inspection can be completed without manual intervention, which greatly improves the accuracy and efficiency of rock drilling operations. This solves the problem that in the current rock drilling process, the lack of rapid borehole location determination and automatic drill rod drilling control structure in the rock drilling equipment makes the drilling process complicated and ultimately reduces the overall efficiency and quality of rock drilling.

[0015] This invention improves drilling positioning accuracy by replacing manual alignment with three-dimensional topographic scanning and automatic calculation of borehole coordinates, significantly reducing hole deviation and rework caused by human positioning errors. It also improves drilling efficiency by automatically switching between low-impact reciprocating drilling and high-impact drilling modes, ensuring both opening quality and increased drilling speed during the drilling phase. Online detection of drill deviation and borehole collapse enhances operational reliability; real-time comparison of laser ranging and drilling depth identifies drill bit offset and borehole collapse, improving construction reliability. Finally, it features fully automated control, with an intelligent controller making real-time decisions on positioning, drilling, and switching based on topographic and ranging data, significantly reducing the number of on-site operators and their workload. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall device structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the drilling structure of the present invention.

[0018] Figure 3 This is a schematic diagram illustrating the effect of step one in the application of the present invention.

[0019] Figure 4 This is a schematic diagram illustrating the effect of step two in the application of the present invention.

[0020] Figure 5 This is a schematic diagram illustrating the effect of step three in the application of the present invention.

[0021] Figure 6 This is a schematic diagram illustrating the effect of step four in the application of the present invention.

[0022] Figure 7 This is a schematic diagram illustrating the effect of step five in the application of the present invention.

[0023] Figure 8 This is a schematic diagram illustrating the effect of step six in the application of the present invention.

[0024] The meanings of the reference numerals in the attached figures are as follows: 1. Rock drilling power unit; 2. Drill rod; 3. Rod protector; 4. Drill bit; 5. Connecting block; 6. Guide rail; 7. 3D scanner; 8. Laser rangefinder; 9. Robotic arm; 10. Controller; 11. Loader platform; 12. Rock mass. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, a fully automatic rock drilling device includes a loader platform 11, a mechanical arm 9 connected to the loader platform 11, a rock drilling power unit 1 slidably connected to the top of the mechanical arm 9, a drill rod 2 connected to the rock drilling power unit 1, a drill bit 4 provided at the end of the drill rod 2 away from the rock drilling power unit 1, a three-dimensional scanner 7 and a laser rangefinder 8 provided below the drill rod 2, and both the three-dimensional scanner 7 and the laser rangefinder 8 are connected to a controller (10) located on the loader platform 11.

[0027] The top of the robotic arm 9 is equipped with a guide rail 6, and a connecting block 5 is slidably mounted inside the guide rail 6. The rock drilling power device 1 and the connecting block 5 are fixedly connected.

[0028] A rod guard 3 is fixedly installed on the top of the guide rail 6, which is away from the rock drilling power device 1. The drill rod 2 passes through the rod guard 3, and the laser rangefinder 8 is installed on the side of the rod guard 3.

[0029] The 3D scanner 7 is located at the bottom of the guide rail 6, away from the rock drilling power unit 1.

[0030] The loader platform 11 can be a rock drilling rig, excavator, or muck scraper, or it can be customized independently.

[0031] The 3D scanner 7 can quickly scan the working face of the rock mass 12 to obtain rock surface morphology data, and connect to the intelligent controller 10 to transmit morphology parameters to the controller 10. The controller 10 then analyzes and calculates the appropriate drilling location and drilling parameters.

[0032] The measuring position of the laser rangefinder 8 is slightly larger than the diameter of the drill bit 4. Since the hole diameter of the drill bit 4 will be slightly larger than the diameter of the drill bit 4 when drilling, the measuring position is slightly larger than the diameter of the drill bit 4 so that the measuring laser will not be blocked by the drill bit 4. The laser rangefinder 8 is connected to the intelligent controller 10 and can transmit the measuring data to the controller 10. The intelligent controller 10 analyzes and calculates whether the hole is deviated or whether there is a hole collapse.

[0033] The robotic arm 9 is controlled by the intelligent controller 10. The controller 10 analyzes the data transmitted by the 3D scanner 7 and the laser rangefinder 8, and intelligently controls the connecting block 5, the robotic arm 9 and the loader platform 11 to complete the drilling operation.

[0034] During actual drilling operations: First, the loader platform 11 moves to the working face of the rock mass 12, and the 3D scanner 7 quickly scans the working face of the rock mass 12 to obtain rock surface morphology data and transmits the morphology parameters to the intelligent controller 10. The intelligent controller 10 analyzes and calculates the appropriate drilling location.

[0035] Second, the intelligent controller 10 controls the robotic arm 9 to fix the guide rail 6 on the working face of the rock mass 12.

[0036] Third, the intelligent controller 10 controls the rock drilling power unit 1 to automatically start low-impact and reciprocating drilling to complete the hole opening operation.

[0037] Fourth, after the drilling operation is completed, the intelligent controller 10 controls the rock drilling power device 1 to automatically start high impact and perform rapid drilling. At the same time, the intelligent controller 10 collects the drilling depth data of the rock drilling power device 1.

[0038] Fifth, during the drilling process, the laser rangefinder 8 continuously collects drilling data and transmits it to the intelligent controller 10. The intelligent controller 10 compares the laser rangefinder data with the drilling depth data collected in step four, analyzes whether the borehole is deviated, and corrects the drilling rig posture or re-drills if necessary.

[0039] Sixth, after drilling is completed, the laser rangefinder 8 measures the hole depth again to determine whether the hole has collapsed.

Claims

1. A fully automatic rock drilling rig comprising a loader platform (11) to which a robot arm (9) is connected, characterized in that: The top of the mechanical arm (9) is slidingly connected with a rock drilling power device (1), the rock drilling power device (1) is connected with a drill rod (2), the end of the drill rod (2) away from the rock drilling power device (1) is provided with a drill bit (4), the lower part of the drill rod (2) is provided with a three-dimensional scanner (7) and a laser range finder (8), and the three-dimensional scanner (7) and the laser range finder (8) are connected to a controller (10) arranged at the loader platform (11).

2. A fully automatic rock drilling rig according to claim 1, characterized in that The top of the mechanical arm (9) is provided with a guide rail (6), the guide rail (6) is slidingly matched with a connecting block (5), and the rock drilling power device (1) and the connecting block (5) are fixedly connected.

3. A fully automatic rock drilling rig according to claim 2, characterized in that The top of the guide rail (6) away from the rock drilling power device (1) is fixedly provided with a pole guard (3), the drill rod (2) penetrates the pole guard (3), and the laser range finder (8) is arranged at the side of the pole guard (3).

4. A fully automatic rock drilling rig according to claim 1, characterized in that The three-dimensional scanner (7) is arranged at the bottom of the guide rail (6) away from the rock drilling power device (1).

5. Any fully automatic rock drilling rig according to claims 1 - 4, further comprising an application of a fully automatic rock drilling rig, characterized in that, Comprising the following steps: Step 1, starting the three-dimensional scanner (7) for scanning the appearance of the rock mass (12), three-dimensionally scanning the rock mass (12) to be drilled, and obtaining rock surface appearance data; Step 2, automatically determining the drilling position according to the rock surface data, and aligning the drill rod (2) to the drilling position through the rock drilling power device (1); Step 3, the controller (10) starts the low-impact reciprocating drilling mode to perform opening drilling; Step 4, when the preset drilling time or depth is reached, the controller (10) automatically switches to the high-impact drilling mode to increase the rock breaking force to continue drilling, and collects the drilling depth information; Step 5, whether the drill bit (4) is offset is judged by the laser range finder (8) and the depth signal, and the drill rod (2) posture is corrected in real time to drill again; Step 6, after drilling is completed, the drilling machine is stopped, the depth and hole wall of the drill hole are detected by the laser range finder (8), and the smoothness of the drill hole is judged.

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