Impact mine coal roadway tunneling pressure relief drilling three-arm drill rig equipment

Abstract

The application discloses a three-arm drill rig equipment for pressure relief drilling in coal roadway excavation of impact mine, which comprises a running chassis, a vehicle body platform installed on the running chassis and three drill arm units installed on the vehicle body platform, each drill arm unit comprises a main machine and an angle adjusting unit, and further comprises a drill rod connecting mechanism; the drill rod connecting mechanism is arranged on the angle adjusting unit and comprises a rod storage box fixedly installed on the angle adjusting unit, a vertically extending rod storage channel is formed in the rod storage box, the rod storage channel is provided with a rod inlet at the top and a rod outlet at the bottom, and a rod conveying mechanism is slidably arranged at the bottom of the rod storage box and used for receiving the falling drill rod from the rod outlet and clamping and conveying the drill rod to a rod connecting position between the power head of the main machine and the in-hole drill rod.

Description

Technical Field

[0001] This invention relates to the field of underground drilling equipment technology in coal mines, specifically to a three-arm drilling rig for pressure relief drilling in coal roadways of impact mines. Background Technology

[0002] Rockburst is one of the most serious dynamic hazards in deep coal mining. Large-diameter borehole depressurization technology, due to its advantages such as rapid construction and minimal disturbance to the surrounding rock, has become the main prevention and control method for rockburst mines in my country.

[0003] Currently, underground pressure relief drilling in coal mines mainly uses single-arm crawler hydraulic drilling rigs, which can only drill one hole at a time. After completing one hole, the rig must be manually moved and re-stabilized repeatedly before the next hole can be drilled, resulting in extremely low efficiency and severely restricting the speed of tunnel excavation. Regarding rod changing operations, 2-3 workers are required to manually lift the drill rod in narrow, slippery tunnels to complete alignment, coupling, and other procedures, which is labor-intensive and carries high safety risks. Existing automatic rod changing devices generally use independent multi-degree-of-freedom robotic arms to grab and transport drill rods, which are complex in structure and costly. Furthermore, the drill rod storage box is independently installed on the drilling rig platform, requiring complex coordinate transformations to complete docking when the drill arm is adjusted at a large angle, making it difficult to adapt to the harsh underground environment.

[0004] Therefore, it is necessary to provide a three-arm drilling rig for pressure relief drilling in coal roadway excavation in impact mines to solve the problems mentioned in the background art. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a three-arm drilling rig for pressure relief drilling in coal roadway excavation in impact mines, comprising a traveling chassis, a vehicle platform mounted on the traveling chassis, and three drilling arm units mounted on the vehicle platform. Each drilling arm unit includes a main unit and an angle adjustment unit, and also includes a drill rod connection mechanism.

[0006] The drill pipe splicing mechanism is mounted on the angle adjustment unit and includes:

[0007] A rod storage box is fixedly installed on the angle adjustment unit. The rod storage box has a vertically extending rod storage channel inside. The rod storage channel has a rod inlet at the top and a rod outlet at the bottom.

[0008] The rod conveying mechanism is slidably disposed at the bottom of the rod storage box, and is used to receive the drill rod falling from the rod outlet and clamp and convey the drill rod to the rod receiving position between the power head of the main unit and the drill rod in the hole.

[0009] Preferably, the storage box is further provided with a push bar mechanism;

[0010] The pusher mechanism includes a plurality of first pushers slidably disposed on both sides of the storage channel, and a second pusher slidably disposed on both sides of the storage channel and located between two adjacent first pushers;

[0011] Both the first push bar and the second push bar are arranged along the length direction of the storage box and are slidably disposed along the width direction of the storage box.

[0012] Preferably, the pusher mechanism is configured as follows:

[0013] Two adjacent first push bars located on the same side of the rod storage channel are respectively clamped at the upper and lower parts of the same drill rod, and the second push bar is clamped at the middle part of the drill rod.

[0014] Preferably, there are two rod conveying mechanisms arranged symmetrically, located on both sides of the rod outlet at the bottom of the rod storage channel;

[0015] Each of the conveying rod mechanisms includes a fixed base and a push plate that is horizontally slidably disposed within the fixed base. Multiple support plate units are fixedly disposed on the push plate along the length direction. Each support plate unit includes two horizontally extending support plates that are symmetrically disposed above and below the push plate. A rotating rod is fixedly disposed at the front end of each support plate.

[0016] Preferably, a first arc-shaped plate and a second arc-shaped plate are rotatably mounted on the two rotating rods respectively. One end of the first arc-shaped plate and the second arc-shaped plate are hinged to each other to form a hinge end. The hinge end of the first arc-shaped plate and the second arc-shaped plate, as well as the free end of the first arc-shaped plate and the second arc-shaped plate, are all provided with clamping cylinders. The three clamping cylinders can form three clamping points in the vertical direction: upper, middle, and lower.

[0017] Preferably, a first elastic bar is connected between the two clamping cylinders located at the upper and lower ends, and the first elastic bar is used to apply an elastic force that pulls the two clamping cylinders together.

[0018] A second elastic band is connected between the two support plates, the second elastic band being used to limit the initial position of the clamp located in the middle.

[0019] Preferably, both the first and second arc-shaped plates are provided with arc-shaped grooves, and the rotating rod is slidably engaged with the arc-shaped grooves;

[0020] When the drill rod falls from the storage channel between the two rod feeding mechanisms, the maximum outer diameter of the drill rod can be compressed by the upper and / or lower clamps. Through the linkage of the rotating rod and the arc-shaped rotating groove, the clamp located in the middle is contracted towards the axis of the drill rod, allowing the two rod feeding mechanisms to allow the drill rod to slide into the clamping position from top to bottom and preventing the drill rod from coming out from below.

[0021] Preferably, at least one hydraulic drive mechanism is provided between the fixed base and the push plate, and a compression spring is connected between the fixed base and the push plate.

[0022] Preferably, the angle adjustment unit includes:

[0023] An azimuth adjustment mechanism, connected to the vehicle platform, is used to adjust the tilt angle of the main unit;

[0024] A lifting mechanism is used to adjust the height of the opening in the main unit;

[0025] The host turntable is fixedly connected to the host;

[0026] An angled rotary reducer is used to drive the main turntable to rotate;

[0027] The storage box is fixedly connected to the main turntable.

[0028] Compared with the prior art, the present invention provides a three-arm drilling rig for pressure relief drilling in coal roadway excavation in impact mines, which has the following beneficial effects:

[0029] In this invention, three drill arm units can simultaneously perform large-diameter pressure relief drilling. After one machine is moved and stabilized, three holes can be completed at the same time. The hole spacing between the two main units can be flexibly adjusted through the sliding mechanism. The azimuth angle, tilt angle and hole height of each main unit can be adjusted independently. It has strong process adaptability and high drilling efficiency.

[0030] In this invention, the rod delivery mechanism is a purely mechanical linkage mechanism consisting of a first arc plate, a second arc plate, an arc groove, a rotating rod, and an elastic tie rod. It utilizes the angular displacement of the arc plate generated when the drill pipe joint squeezes the clamping cylinder with a large diameter. Through the sliding cooperation between the arc groove and the rotating rod, the clamping cylinder in the middle contracts, realizing the one-way locking function of the drill pipe "sliding in from top to bottom and preventing it from coming out from bottom to top". No additional hydraulic drive or electrical control is required, and it has high reliability in harsh downhole environments.

[0031] In this invention, the first elastic tie rod and the second elastic tie rod together constitute an elastic reset and constraint system. Under the guidance of the arc-shaped rotating groove, the three clamps can adaptively adjust the clamping position and spacing according to the drill rod with different outer diameters, and can achieve stable three-point centering clamping for drill rods of different specifications.

[0032] In this invention, an integrated solution of "releasing push bars one by one in the box + sliding conveying of push plates along a fixed path + clamping and docking of clamps" is adopted to replace the complex multi-degree-of-freedom manipulator. It has a compact structure, low manufacturing cost, and is suitable for use in narrow underground spaces and high dust environments. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the angle adjustment unit in this invention;

[0035] Figure 3 This is a schematic diagram of the drill pipe splicing mechanism in this invention;

[0036] Figure 4 This is a schematic diagram of the internal structure of the storage box in this invention;

[0037] Figure 5 This is a schematic diagram of the lever mechanism in this invention;

[0038] Figure 6 This is a schematic diagram of the structure of the first arc-shaped plate and the second arc-shaped plate in this invention;

[0039] Figure 7 This is a schematic diagram of the push plate in this invention;

[0040] Figure 8a This is a schematic diagram of the first state structure of the drill rod being inserted into the feed rod mechanism in this invention;

[0041] Figure 8b This is a schematic diagram of the second state structure of the drill pipe being inserted into the feed rod mechanism in this invention;

[0042] Figure 8c This is a schematic diagram of the third state structure of the drill rod being inserted into the feed rod mechanism in this invention;

[0043] In the diagram: 1. Walking chassis; 2. Vehicle platform; 3. Main unit; 4. Angle adjustment unit; 41. Lifting mechanism; 42. Main unit turntable; 43. Tilt angle rotary reducer; 5. Drill rod connection mechanism; 51. Rod storage box; 511. Rod storage channel; 512. Rod inlet; 513. Rod outlet; 52. Rod conveying mechanism; 521. Fixed seat; 522. Push plate; 523. Support plate; 524. Rotating rod; 525. First arc plate; 526. Second arc plate; 527. Clamp; 528. First elastic tension bar; 529. Second elastic tension bar; 53. Push bar mechanism; 531. First push bar; 532. Second push bar; 54. Arc-shaped rotating groove; 55. Compression spring; P. Drill rod. Detailed Implementation

[0044] Please see Figure 1 Figure 8 shows a three-arm drilling rig for pressure relief drilling in a coal roadway of an impact mine, comprising a traveling chassis 1, a vehicle platform 2, three drill arm units, a drill rod connection mechanism 5, a sliding mechanism, a slewing mechanism, a stabilizing mechanism, and a control system.

[0045] The traveling chassis 1 adopts a wide track structure, which has good ability to pass through complex underground terrain and can adapt to the travel needs of undulating roadway floors and soft and broken sections. The stabilization mechanism consists of lower stabilizing cylinders located at the four corners of the traveling chassis 1. During drilling operations, the lower stabilizing cylinders extend and support the roadway floor, so that the load on the whole machine is concentrated on the four stabilizing points, effectively improving the stability of the vehicle platform and preventing the traveling chassis from shifting or shaking due to uneven force during construction. At the same time, upper stabilizing cylinders can also be installed on the vehicle platform to support the roof when the roadway height allows, further enhancing the stability of the whole machine.

[0046] Furthermore, the vehicle platform 2 is mounted on the traveling chassis 1 via a slewing mechanism, which allows the vehicle platform to rotate 180° without moving the traveling chassis during sidewall construction in the tunnel. This enables quick reversal after one side of the construction is completed, eliminating the need to drive the drilling rig out of the drilling site, turn around, and drive it back in, thus significantly shortening the time for auxiliary procedures.

[0047] The three drill arm units are respectively installed on the left, middle and right sides of the vehicle platform 2; each drill arm unit includes a main unit 3 and an angle adjustment unit 4; the adjustment unit 4 in the drill arm units located on the left and right sides is provided with a sliding mechanism between itself and the vehicle platform 2, which is used to adjust the hole spacing between adjacent drill arm units to adapt to different pressure relief drilling layout schemes; the main unit 3 is equipped with a power head, a clamp and a feed body, and the power head is equipped with a hydraulic chuck for clamping the tail of the drill rod and transmitting rotational power and feed force.

[0048] In this embodiment, the angle adjustment unit 4 is used to independently adjust the azimuth and tilt angle of the main unit 3 to adapt to the drilling requirements of different positions and angles of the tunnel excavation face; the angle adjustment unit 4 includes an azimuth adjustment mechanism 44, a lifting mechanism 41, a main unit turntable 42, and a tilt angle rotary reducer 43; wherein, the azimuth adjustment mechanism 44 is connected to the vehicle platform 2 or the sliding mechanism, and can drive the upper structure to rotate around the vertical axis, thereby changing the azimuth angle of the main unit; the lifting mechanism 41 includes a lifting frame and a lifting cylinder, and the lifting cylinder drives the lifting frame to rise and fall, thereby adjusting the opening height of the main unit; the main unit turntable 42 is fixedly connected to the main unit 3 by bolts or welding, and the main unit turntable 42 is driven to rotate by the tilt angle rotary reducer 43 to adjust the tilt angle of the main unit.

[0049] In this embodiment, the drill pipe connection mechanism 5 includes a rod storage box 51 and a rod conveying mechanism 52. The rod storage box 51 is fixedly installed on the main machine turntable 42 by bolt connection or welding, so that it can be synchronously adjusted with the main machine 3. This integrated method ensures that the rod storage box 51 and the main machine 3 always maintain a fixed relative position relationship regardless of the azimuth and tilt angle of the main machine, without the need for complex coordinate transformation and synchronous tracking. The path and end position of the drill pipe conveying mechanism 52 are always consistent with the spindle of the main machine's power head, which fundamentally ensures the positioning accuracy and operational reliability of the rod connection operation.

[0050] In this embodiment, the rod storage box 51 is a rectangular box structure, welded from high-strength steel plates, and its interior is precision machined to ensure the flatness and straightness of the drill rod slide. The rod storage box 51 has a vertically extending rod storage channel 511 inside, the cross-sectional dimension of which is slightly larger than the maximum outer diameter of the adapted drill rod P (including the joint part), so that the drill rod P can slide freely in the channel without getting stuck or deflected. The top of the rod storage channel 511 has an open rod inlet 512, and the bottom has a rod outlet 513 that connects with the rod conveying mechanism 52. The drill rods P can be stored vertically in the rod storage channel 511. Drill rods can be added to the box at any time through the rod inlet 512, realizing safe and convenient semi-automatic replenishment.

[0051] Furthermore, the rod storage box 51 is equipped with a rod pushing mechanism 53, which controls the drill rod P to fall one by one along the rod storage channel 511. The rod pushing mechanism 53 includes multiple first push rods 531 and multiple second push rods 532, which are driven by hydraulic or pneumatic cylinders and have sufficient driving force and response speed. Specifically, the first push rods 531 are arranged vertically at intervals on both sides of the rod storage channel 511, and each first push rod 531 can extend and retract radially along the drill rod. The second push rods 532 are slidably arranged on both sides of the rod storage channel 511 and located between two adjacent first push rods 531, and can also extend and retract radially along the drill rod.

[0052] In the storage state, each drill rod P is configured to be held at its upper and lower parts by two adjacent first pushers 531 located on the same side of the storage channel 511, while a second pusher 532 located in the middle of the drill rod provides auxiliary holding and guidance. This structure of "four pushers fixing one and two pushers assisting one" ensures that each drill rod P is stably confined to a predetermined position within the storage channel 511, and will not shift or fall due to drilling machine vibration or tilt, thus ensuring the reliability of storage.

[0053] When it is necessary to release drill rods P one by one, the specific control logic is as follows: First, the two first push bars 531 located below the bottom drill rod P are retracted, while the corresponding second push bars 532 remain extended. During the retraction process, the auxiliary support of the second push bars 532 can prevent the drill rod P from suddenly slipping and causing impact and deflection. At this time, the lower constraint of the drill rod P is released, and the drill rod P slides down one pitch along the rod storage channel 511 under the action of gravity, entering the constraint range of the next level push bar group. Then, the first push bars 531 that were previously retracted are extended again, while the first push bars 531 of the previous level that constrain the drill rod P are retracted, so that the drill rod P is completely freed from the constraint of the previous level. By repeating this operation, the drill rods P can be conveyed downward one by one, and the bottom drill rod P is released into the rod conveying mechanism 52 below through the rod outlet 513. The entire process of releasing drill rods one by one is smooth and the rhythm is controllable, and there will be no phenomenon of multiple drill rods slipping or getting stuck at the same time.

[0054] In this embodiment, there are two symmetrically arranged rod conveying mechanisms 52, located on both sides of the rod outlet 513 at the bottom of the rod storage channel 511. The symmetrical arrangement ensures the force balance of the drill rod P during the conveying and clamping process. At the same time, after the drill rod P is connected to the power head of the host 3, the two rod conveying mechanisms 52 can release the drill rod P and move it back to the bottom of the rod storage box 51, avoiding interference with the connection between the drill rod P and the drill rod in the hole.

[0055] Each rod feeding mechanism 52 includes a fixed base 521 and a push plate 522. The fixed base 521 is slidably connected to the bottom of the rod storage box 51 by hydraulic drive. The push plate 522 is horizontally slidably set in the fixed base 521 by a sliding groove or a linear guide rail. It is driven by a hydraulic cylinder to move back and forth in the horizontal direction. A compression spring 55 is connected between the push plate 522 and the fixed base 521. This allows the push plate 522 to have two thrust modes: active thrust driven by the hydraulic cylinder and passive thrust driven by the compression spring 55. The compression spring 55 is always in a compressed state, that is, it always has the force to push the push plate 522 outward.

[0056] Furthermore, multiple support plate units are fixedly arranged on the push plate 522 along the length direction. Each support plate unit includes two horizontally extending support plates 523 symmetrically arranged vertically along the push plate 522. A rotating rod 524 is fixedly arranged at the front end of each support plate 523. The rotating rod 524 is a cylindrical pin. A first arc plate 525 and a second arc plate 526 are rotatably arranged on the two rotating rods 524 respectively.

[0057] In this embodiment, one end of the first arc plate 525 and the second arc plate 526 are hinged to each other to form a hinge end; the hinge end and the free ends of the first arc plate 525 and the second arc plate 526 are each provided with a clamping sleeve 527, thereby forming three clamping points in the vertical direction: upper, middle and lower; the six corresponding clamping sleeves 527 of the two symmetrically arranged rod feeding mechanisms 52 together constitute a three-point clamping structure for the drill rod P, realizing stable centering clamping of the drill rod P in the vertical direction, and effectively preventing the drill rod from deflecting and shaking during the feeding process.

[0058] Furthermore, both the first arc-shaped plate 525 and the second arc-shaped plate 526 are provided with arc-shaped grooves 54, and the rotating rod 524 passes through the arc-shaped grooves 54 and slides in cooperation with the arc-shaped grooves 54. The shape of the arc-shaped grooves 54 is precisely designed so that the arc-shaped plate can slide relative to the rotating rod 524 along the arc-shaped grooves 54 while rotating around the rotating rod 524, thereby establishing a linkage relationship between the angle change of the arc-shaped plate and the radial displacement of the clamp 527. A first elastic tie bar 528 is connected between the two clamps 527 located at the upper and lower ends, which is used to apply an elastic force that pulls the two clamps 527 together, so that the clamps 527 tend to pull together in the direction of the drill rod axis in the free state. A second elastic tie bar 529 is connected between the two support plates 523. The second elastic tie bar 529 is used to limit the initial position of the clamp 527 located in the middle, so that it is kept in the preset waiting position when no external force is applied.

[0059] In particular, the first elastic tie bar 528 and the second elastic tie bar 529 together constitute an elastic reset and constraint system, which enables all arc plates and clamps 527 to automatically return to the predetermined initial position when no external force is applied, ensuring that the starting position of each connecting rod action is consistent, and ensuring the accuracy and repeatability of the action.

[0060] During implementation, the push plate 522 in the two rod feeding mechanisms 52 is first driven to slide, so that the two clamping cylinders 527 in the middle are in the predetermined initial position, and the distance between them is exactly equal to the maximum outer diameter of the drill rod P. When the bottom drill rod P is released through the rod outlet 513, the drill rod P falls between the two rod feeding mechanisms 52 under the action of gravity. During this process, the bottom end of the drill rod P enters the clamping range of the clamping cylinder 527 first.

[0061] like Figure 8a , Figure 8b , Figure 8cAs shown, as the drill pipe P continues to fall, when the drill pipe P contacts the upper chuck 527, because the outer diameter of the joint is larger than the initial spacing of the upper chuck 527, the outer surface of the drill pipe P will press the upper chuck 527 outward. The outward displacement of the upper chuck 527 is transmitted through the first arc plate 525 and the second arc plate 526. Due to the sliding fit between the arc groove 54 and the rotating rod 524, the first arc plate 525 and the second arc plate 526 slide radially while rotating. This change in movement and displacement is transmitted to the middle chuck 527 through the hinge end, causing the middle chuck 527 to contract in the axial direction of the drill pipe P, and the spacing between the middle chucks to decrease, thus becoming smaller than the maximum outer diameter of the drill pipe P.

[0062] When the drill rod P continues to fall until it contacts the middle clamp 527, the middle clamp 527 has already contracted, so the drill rod P will also squeeze the middle clamp 527, making it tend to move outward. At this time, since both the upper clamp 527 and the middle clamp 527 are subjected to compressive force, under the combined action of the fixed position of the push plate 522 and the first arc plate 525, the drill rod P can no longer fall. At this time, the pushing mode of the push plate 522 is switched to the passive pushing mode, that is, no longer the push force is applied to the hydraulic cylinder, and the compression spring 55 applies the push force to the push plate 522. Under the action of the gravity of the drill rod P and the pushing force of the compression spring 55, the drill rod P continues to fall, which will push the upper and middle clamps 527 to slide together and push the push plate 522 to slide.

[0063] When the maximum outer diameter of drill pipe P disengages from the upper pressure cylinder 527, the upper pressure cylinder 527 can retract inward. Part of the outward sliding displacement of the middle pressure cylinder 527 is converted into the inward displacement of the upper pressure cylinder 527 through the first arc plate 525. When the upper pressure cylinder 527 and the middle pressure cylinder 527 are in the same vertical position, the outward pressing of the middle pressure cylinder 527 no longer requires the overall movement of the push plate 522. At this time, the thrust mode of the push plate 522 is readjusted to the active thrust mode, that is, the hydraulic cylinder is used to push the push plate 522 back to the initial position (the position before drill pipe P falls).

[0064] As the push plate 522 slides inward, the middle pressure cylinder 527 returns to its predetermined initial position. When the maximum outer diameter of the drill rod P contacts the middle pressure cylinder 527, the lower pressure cylinder 527 will simultaneously contact the drill rod P. When the upper, middle, and lower pressure cylinders 527 all contact the outer surface of the drill rod P, the inward or outward movement of the three clamping cylinders 527 is mutually restrained because the position of the push plate 522 is fixed by the hydraulic cylinder. When the upper and lower clamping cylinders 527 move outward, they will squeeze the middle clamping cylinder 527. The middle clamping cylinder 527 contacts the maximum outer diameter of the drill rod P, preventing the second arc plate 526 from deflecting or moving. Thus, the drill rod P is completely clamped between the two rod feeding mechanisms 52, so that the drill rod P can only enter from above the rod feeding mechanism 52 and cannot come out from below, achieving a one-way locking function.

[0065] Furthermore, due to the elastic properties of the first elastic band 528 and the second elastic band 529, the clamp 527 can adaptively adjust its relative position and spacing when squeezed by drill rods of different outer diameters: when the outer diameter of the drill rod is large, the clamp 527 is stretched to a greater extent; when the outer diameter of the drill rod is small, the clamp 527 is stretched to a less extent; thus, under the constraint of the elastic element and the guidance of the arc-shaped rotating groove 54, the three-point clamping structure can automatically adapt to drill rods P of different outer diameters and achieve stable clamping.

[0066] Furthermore, after the drill rod P is unidirectionally locked between the six clamps 527, the push plate 522 slides forward along the fixed seat 521 under the drive of the hydraulic cylinder, driving the entire arc plate assembly forward, causing the clamps 527 to close towards the axis of the drill rod P, thereby simultaneously and firmly clamping the drill rod P in the precise center position in both the vertical and horizontal directions; in this state, the axis of the drill rod P is precisely aligned with the axis of the main shaft of the power head of the host 3 and the axis of the drill rod in the hole; then, the power head moves forward, its hydraulic chuck engages the tail threaded joint of the new drill rod, and rotates forward to complete the upper connection; then, after releasing the rod delivery mechanism 52 and driving it to reset, the power head continues to move forward, driving the front end joint of the new drill rod to engage with the tail end joint of the drill rod in the hole and rotates forward to complete the upper connection; thus completing all the upper connection actions, and waiting for the delivery of the next drill rod; the whole process does not require manual intervention, realizing fully automatic drill rod splicing operation.

[0067] It should be noted that drill rod P is generally composed of a middle rod body and joints at both ends. The outer diameter of the joints is significantly larger than the outer diameter of the middle rod body. Based on this shape characteristic of drill rod P, the clamp 527 in the rod feeding mechanism 52 mainly clamps the middle rod body of drill rod P. When the host 3 is adjusted to an inclined state by the angle adjustment unit 4, the rod storage box 51 will also be in an inclined state. In this posture, due to its "large at both ends and small in the middle" shape characteristic and the arrangement of the clamp 527 clamping the middle rod body section, the large diameter of the joints at the upper and lower ends of drill rod P is located outside the clamping area of ​​the clamp 527. When drill rod P slides to either side, the large diameter of the corresponding joint interferes with the end face of the clamp 527, thereby preventing drill rod P from coming out of the clamp 527 and ensuring that the continuous operation of drill rod P can still be carried out reliably when the host 3 is in an inclined posture.

[0068] In this embodiment, a control system is also provided. The control system mainly consists of a remote controller, a receiver, a controller, solenoid valves, and multiple sensors. The operator can send commands through the remote controller, which will then be input into the controller via the receiver. The controller will then send the signals to each solenoid valve, and finally control the pressure, flow rate, and other parameters of the hydraulic system by controlling the opening degree of the solenoid valve core, thereby achieving precise control of each actuator.

[0069] A construction method using the three-arm drilling rig equipment described in Embodiment 1 specifically includes the following steps:

[0070] S1. Moving and Stabilizing: Based on the specific construction scenario of the tunnel or drilling site, the traveling chassis 1 is controlled by remote control to move the drilling rig to the predetermined construction position. The lower stabilizing cylinder of the stabilizing mechanism is extended to support the tunnel floor, thus stabilizing the entire machine. The opening distance between the two main units is adjusted by the sliding mechanism to meet the spacing requirements of the pressure relief drilling design.

[0071] S2. Attitude Adjustment: According to the specific opening position requirements of the tunnel excavation face, the azimuth and inclination angles of the corresponding host 3 are independently adjusted by the angle adjustment unit 4 of each drill arm unit, and the opening height is adjusted by the lifting mechanism 41. Since the rod storage box 51 of the drill rod connection mechanism 5 is fixed on the host turntable 42, it completes the attitude adjustment synchronously with the host 3. After the adjustment is completed, the rod storage box 51 and the host 3 still maintain a fixed relative position relationship.

[0072] S3. Drilling operation: Start the power head of each main unit 3 to rotate and feed, and carry out drilling operation; the three main units can work at the same time. After moving and stabilizing the machine once, the construction of three large-diameter pressure relief holes can be completed. Alternatively, two-arm cooperation or single-arm independent construction can be selected according to the actual operation requirements.

[0073] S4. Drill rod connection: After a single drill rod is drilled into place, the main unit's power head stops rotating and feeding, performs a disconnection action to detach from the drill rod in the hole, and then retreats to the preset rear limit position; the rod feeding mechanism 52 of the drill rod connection mechanism 5 takes out a new drill rod from the rod storage box 51 and transports it to the rod connection position. The power head advances to complete the connection with the new drill rod and the drill rod in the hole. The three arms can perform the rod connection operation simultaneously, greatly saving the rod replacement auxiliary time.

[0074] S5. Side-side reversing construction: When construction is required on the side of the roadway, after all the drilling on one side is completed, there is no need to move the traveling chassis 1. The vehicle platform 2 can be directly driven to rotate 180° through the slewing mechanism, so that each drilling arm unit faces the other side and drilling is carried out on the other side. This eliminates the cumbersome process of moving the traditional drilling rig out of the drilling site and turning it around.

[0075] S6. Manual rod replenishment: When the number of drill rods in the rod storage box 51 drops below the preset value, the control system will remind the operator. The operator can replenish the drill rods in the rod storage box 51 from the rod inlet 512 at a safe time to achieve uninterrupted continuous operation.

[0076] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A three-arm drilling rig for pressure relief drilling in coal roadways of impact mines, comprising a traveling chassis (1), a vehicle platform (2) mounted on the traveling chassis (1), and three drill arm units mounted on the vehicle platform, each drill arm unit comprising a main unit (3) and an angle adjustment unit (4), characterized in that, It also includes a drill pipe splicing mechanism (5); The drill pipe splicing mechanism (5) is mounted on the angle adjustment unit (4), and includes: A rod storage box (51) is fixedly installed on the angle adjustment unit (4). The rod storage box (51) has a vertically extending rod storage channel (511) inside. The rod storage channel (511) has a rod inlet (512) at the top and a rod outlet (513) at the bottom. The rod conveying mechanism (52) is slidably disposed at the bottom of the rod storage box (51) and is used to receive the drill rod falling from the rod outlet (513) and clamp and convey the drill rod to the rod connection position between the power head of the host (3) and the drill rod in the hole.

2. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 1, characterized in that, The storage box (51) is also equipped with a push bar mechanism (53); The push bar mechanism (53) includes a plurality of first push bars (531) slidably disposed on both sides of the rod storage channel (511), and a second push bar (532) slidably disposed on both sides of the rod storage channel (511) and located between two adjacent first push bars (531); The first push bar (531) and the second push bar (532) are both arranged along the length direction of the storage box (51) and are slidably arranged along the width direction of the storage box (51).

3. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 2, characterized in that, The pusher mechanism (53) is configured as follows: Two adjacent first pushers (531) located on the same side of the rod storage channel (511) are respectively clamped at the upper and lower parts of the same drill rod, and the second pusher (532) is clamped at the middle part of the drill rod.

4. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 1, characterized in that, The rod feeding mechanism (52) consists of two symmetrically arranged rods, located on both sides of the rod outlet (513) at the bottom of the rod storage channel (511); Each of the rod-carrying mechanisms (52) includes a fixed base (521) and a push plate (522) that is horizontally slidably disposed within the fixed base (521). Multiple support plate units are fixedly disposed on the push plate (522) along the length direction. Each support plate unit includes two horizontally extending support plates (523) that are symmetrically disposed vertically along the push plate (522). A rotating rod (524) is fixedly disposed at the front end of each support plate (523).

5. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 4, characterized in that, A first arc plate (525) and a second arc plate (526) are rotatably mounted on the two rotating rods (524). One end of the first arc plate (525) and the second arc plate (526) are hinged to each other to form a hinge end. The hinge end of the first arc plate (525) and the second arc plate (526) and the free end of the first arc plate (525) and the second arc plate (526) are all provided with clamps (527). The three clamps (527) can form three clamping points in the vertical direction: upper, middle and lower.

6. The three-arm drilling rig for pressure relief drilling in coal roadway excavation in impact mines according to claim 5, characterized in that, A first elastic bar (528) is connected between the two clamping cylinders (527) located at the upper and lower ends. The first elastic bar (528) is used to apply an elastic force that pulls the two clamping cylinders (527) together. A second elastic bar (529) is connected between the two support plates (523), the second elastic bar (529) being used to limit the initial position of the clamp (527) located in the middle.

7. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 5, characterized in that, Both the first arc plate (525) and the second arc plate (526) are provided with arc-shaped rotating grooves (54), and the rotating rod (524) slides in cooperation with the arc-shaped rotating grooves (54); When the drill rod falls from the rod storage channel (511) between the two rod conveying mechanisms (52), the maximum outer diameter of the drill rod can be compressed by the upper and / or lower clamps (527), and the clamps (527) located in the middle can be contracted towards the axis of the drill rod through the linkage of the rotating rod (524) and the arc-shaped rotating groove (54), so that the two rod conveying mechanisms (52) allow the drill rod to slide into the clamping position from top to bottom and prevent the drill rod from coming out from below.

8. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 4, characterized in that, At least one hydraulic drive mechanism is provided between the fixed base (521) and the push plate (522), and a compression spring (55) is connected between the fixed base (521) and the push plate (522).

9. The three-arm drilling rig for pressure relief drilling in impact mine coal roadways according to claim 1, characterized in that, The angle adjustment unit (4) includes: An azimuth adjustment mechanism is connected to the vehicle platform (2) and is used to adjust the tilt angle of the host (3); A lifting mechanism (41) is used to adjust the opening height of the main unit (3); The host turntable (42) is fixedly connected to the host (3); An angle rotary reducer (43) is used to drive the main turntable (42) to rotate; The storage box (51) is fixedly connected to the main turntable (42).

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