Mining drilling equipment

Abstract

The utility model relates to the field of drilling equipment, and discloses mining drilling equipment which comprises a moving platform, a drilling system and a drilling rod supply system are arranged on the moving platform, the drilling rod supply system comprises a mechanical arm, the drilling system comprises a rack, a clamping device and a power head are arranged on the rack, the power head is arranged on the rack in a sliding mode, and the clamping device comprises a base. A front clamp holder and a rear clamp holder are arranged on the base; the front clamping device comprises a swing body, the swing body is rotationally connected with the base, the initial position of the swing body is located on the base, and after the swing body rotates relative to the base, the large drilling tool can be directly placed at the initial position of the swing body. And a large drilling tool with a large size can be quickly mounted.

Description

Technical Field

[0001] The present invention relates to the field of drilling equipment, and specifically to mining drilling equipment. Background Art

[0002] Mining drilling equipment is mainly used for drilling holes in the coal mining industry. In the prior art, functions such as automatic up and down of drill pipes and automatic drilling are available. However, components such as the power head and the gripper of the existing automated drilling equipment are difficult to quickly switch the drill tool specifications during the construction process and are not applicable to automated drilling equipment, especially large drill tools. Taking the downhole motor as an example, the length and outer diameter of the downhole motor are much larger than those of ordinary drill pipes. It is impossible to use the method of loading and unloading drill pipes generally adopted by the drilling rig from the rear end or the middle of the rack, and it can only be inserted into the gripper from the front end of the gripper, that is, the front end of the rack. The distance from the front end of the gripper to the hole wall is very limited, and it is difficult to directly install the downhole motor into the gripper.

[0003] Currently, there are generally two solutions at the construction site: The first is to insert the downhole motor into the gripper at an angle relative to the inner hole axis of the gripper (i.e., the drilling axis), but the applicable range of this method is very limited. When the distance between the gripper and the hole wall is small to a certain extent, the overly inclined downhole motor will not be able to align with the inner hole of the gripper. The second method is to remove the gripper as a whole, install the downhole motor and send it into the hole, and then reinstall the gripper to adapt to the installation of other drill pipes. The applicable range of this method is relatively wide and can also be used when the distance between the gripper and the hole wall is small. However, due to the large volume, heavy weight, and complex structure of the gripper, the second method will consume a large amount of manpower and construction time, seriously affecting the construction efficiency, and there are huge safety hazards. After the gripper is removed multiple times, the wear increases and the reliability decreases. Summary of the Invention

[0004] The present invention aims to provide mining drilling equipment that can quickly install a large-sized downhole motor.

[0005] To achieve the above object, the present invention adopts the following technical solution: Mining drilling equipment, including a mobile platform, a drilling system and a drill pipe supply system are provided on the mobile platform. The drill pipe supply system includes a manipulator. The drilling system includes a rack, a gripper and a power head are provided on the rack. The power head is slidably arranged on the rack. The manipulator is used to place the drill pipe on the gripper. The power head is used to drive the connection and disconnection of the drill pipes by rotation. The gripper includes a base, and a front gripper and a rear gripper are provided on the base;

[0006] The front gripper includes a swinging body. The swinging body is rotatably connected to the base. The initial position of the swinging body is on the base. After the swinging body rotates relative to the base, the downhole motor can be directly placed at the initial position of the swinging body.

[0007] The beneficial effects of this solution are:

[0008] 1. This solution uses a gripper; controls the two grippers separately; thus quickly installs large-sized large drilling tools. Taking the downhole motor as an example, the specific installation process is as follows:

[0009] a. In the initial state, both grippers are kept loose; the output shaft of the driving swing cylinder is shortened, the swing body rotates relative to the base plate, places the downhole motor at the position where the swing body was before rotation, and the hydraulic system controls the rear gripper to clamp the rear half of the downhole motor.

[0010] b. Make the power head and the downhole motor just touch or not fully connected (only connect one turn of the thread), the hydraulic system controls the rear gripper to loosen, the power head pushes the downhole motor forward from the working face, so that most of the downhole motor enters the hole, and the rear end of the downhole motor completely leaves the range of the front gripper. Manually or with the help of other tools, the power head and the downhole motor are unthreaded (if the downhole motor and the power head just touch, there is no need to unthread here), and the power head retreats.

[0011] c. The output shaft of the swing cylinder extends, so that the swing body rotates back to the base; manually or with the help of other tools, drag the downhole motor to the position of the front gripper and use the front gripper to clamp it. The drill pipe can normally enter automatically and successively connect with the power head and the downhole motor. At this time, the downhole motor is equivalent to the first drill pipe inserted into the hole.

[0012] 2. During the installation process of the downhole motor in this solution, the whole process is completed by the drilling rig, which is convenient and fast; only in step c after installing the downhole motor, manual connection is required, and the workload is also relatively small.

[0013] 3. The swing cylinder is used to rotate the swing body, so that the whole front gripper moves, in order to make room for the installation of the downhole motor. When the downhole motor is inserted into the rear gripper, there is already enough distance, so the rear gripper does not need to be provided with a swing body.

[0014] Furthermore, the base includes a mounting plate and a support part. The mounting plate is horizontally arranged, the support part is vertically arranged on the mounting plate, a detachable through hole is opened on the support part, the axis direction of the detachable through hole is the drilling direction, the support part includes a support plate and a reinforcing plate detachably connected to the support part. After the reinforcing plate is removed, the upper end of the detachable through hole is opened to become a U-shaped hole; the swing body is arranged on the mounting plate, and the swing body is rotatably connected to one side of the support plate.

[0015] Further, the gripper further includes a guiding assembly. The guiding assembly includes a front gripper guiding sleeve. Swing support plates are symmetrically arranged on the front and rear of the swing body. Mounting through holes are provided on the swing support plates. The radius of the mounting through holes is smaller than the radius of the detachable through holes of the support portion. The guiding sleeves are respectively detachably connected to the swing support plates. Each group of guiding sleeves includes an inner guiding sleeve and an outer guiding sleeve. The outer diameters of the inner guiding sleeve and the outer guiding sleeve are both divided into two levels: a small-diameter section and a large-diameter section. The small-diameter section of the inner guiding sleeve can be sleeved outside the small-diameter section of the outer guiding sleeve, and the large-diameter section of the inner guiding sleeve can be sleeved outside the large-diameter section of the outer guiding sleeve; the small-diameter section of the inner guiding sleeve is matched with the mounting through hole, the large-diameter section of the inner guiding sleeve is matched with the detachable through hole of the support portion, and the large-diameter section of the inner guiding sleeve, the large-diameter section of the outer guiding sleeve and the swing support plate are detachably connected.

[0016] Further, the bottom plate further includes a rear support portion. A notch with an upward opening is provided on the rear support portion. The guiding sleeve assembly further includes a semi-circular guiding sleeve. The semi-circular guiding sleeve is coaxial with the front gripper guiding sleeve. The semi-circular guiding sleeve is installed in the notch. Further,

[0017] Further, the front gripper includes a front gripping unit. The front gripping unit is arranged inside the swing body. The front gripping unit includes a pair of front gripping units. Each front gripping unit includes a front collet. The front collet includes an outer collet and an inner collet. The output shaft of the front clamping oil cylinder is fixed to the outside of the outer collet. The inner collet and the inner side of the outer collet are detachably connected. The inner sides of the outer collet and the inner collet are both used for gripping the drill pipe.

[0018] Further, flat areas are respectively provided on the upper and lower sides of the inner surface of the outer collet. Bolt holes are provided on the flat areas. Protrusions are respectively provided on the upper and lower sides of the outer surface of the inner collet. The flat areas and the protrusions are matched in shape and are bolt-connected; four clamping blocks are further provided on the inner surface of the outer collet. One group of two clamping blocks is arranged on both sides of the flat area. The two clamping blocks limit the protrusion in the drilling direction.

[0019] Further, the power head includes a main shaft, a water swivel, an end cover portion and a driving drill pipe. The end cover portion is fixed to the front end of the main shaft. The front end cover includes a chuck and a front end cover. A receiving hole is opened in the main shaft. The water swivel and the driving drill pipe are sequentially connected and pass through the receiving hole, the chuck and the front end cover. The driving drill rod and the water swivel are respectively located at the front and rear ends of the main shaft. The front end cover is used to drive the driving drill pipe to rotate. The driving drill rod can slide backward in the front end cover.

[0020] Further, an anti-rotation portion is provided on the outer periphery of the driving drill pipe. The outer peripheral cross-section of the anti-rotation portion is polygonal. A limiting opening is opened on the front end cover. The front end cover limits the rotation of the anti-rotation portion through the limiting opening.

[0021] Further, one end of the driving drill pipe is provided with a male joint, and the other end is provided with a female joint. The male joint is used to connect with other drill pipes, and the female joint is connected to the connecting shaft; a limiting section is arranged between the female joint and the anti-rotation part. The limiting section passes through the chuck, and the outer diameter of the limiting section is smaller than the outer diameters of the female joint and the anti-rotation part.

[0022] Further, there is still a gap between the chuck when it is clamped to the limit position and the outer periphery of the limiting section.

[0023] Further, the power head further includes a brake assembly, a gearbox and a main power source. The output shaft of the main power source meshes with the gearbox to drive the main shaft to rotate. The gearbox includes a gear shaft and multiple stages of gears. A transmission shaft connected to the gear shaft is arranged inside the brake assembly. The brake assembly performs rotational braking on the transmission shaft. The driving drill pipe is installed at the end of the main shaft. A receiving hole for the driving drill pipe to pass through is opened inside the main shaft. A two-way joint is also detachably connected to the end of the driving drill pipe.

[0024] Further, the brake assembly includes a brake cover, a clamping piston and a releasing piston. A sliding shaft is arranged inside the brake cover. One end of the transmission shaft extends into the center of the clamping piston. Multiple jaws are circumferentially distributed on the transmission shaft. The clamping piston is sleeved on the jaws and can move axially. The surface of the jaw away from the transmission shaft is an inclined surface, and the surface of the clamping piston opposite to the jaw is a slope surface that matches the inclined surface of the jaw. The clamping piston can slide through the jaws to clamp the transmission shaft. The releasing piston is slidably sleeved on the sliding shaft and is used to push the clamping piston to release the clamping.

[0025] Further, an oil inlet one and an oil inlet two are opened on the brake cover. A first oil chamber is formed between the side of the releasing piston away from the clamping piston and the brake cover. The oil inlet one supplies hydraulic oil to the first oil chamber. A second oil chamber is arranged on the side of the clamping piston away from the releasing piston. The oil inlet two supplies hydraulic oil to the second oil chamber.

[0026] Further, the water swivel part includes a connecting shaft, a core shaft and a water inlet assembly. Both the core shaft and the connecting shaft are hollow shafts. The core shaft is fixedly connected and communicated with the connecting shaft. The other end of the connecting shaft is connected to the driving drill pipe. The core shaft is communicated and rotatably connected with the water inlet assembly. A bearing seat is provided to support the core shaft. A core shaft support bearing sleeved on the outer periphery of the core shaft is arranged inside the bearing seat.

[0027] Further, a rear end cover is arranged at one end of the main shaft close to the water swivel. The rear end cover includes a connecting sleeve and an inner ring that are connected to each other. The connecting sleeve is arranged at one end of the main shaft close to the water swivel. The inner ring is located in the middle of the connecting sleeve. The core shaft of the water swivel rotates through the inner ring and is connected to the connecting shaft.

[0028] Further, a movable gap is left longitudinally between the connecting sleeve and the main shaft.

[0029] Further, the middle part of the inner ring is set as a hexagonal hole, and the outer wall of the core shaft of the water swivel is set as a hexagon that is clamped with the hexagonal hole.

[0030] Furthermore, a drill pipe supply system is also provided on the mobile platform. The drill pipe supply system includes a manipulator and a drill pipe box. The manipulator is located between the frame and the drill pipe box. The manipulator includes a pitching oil cylinder, a slewing drive, a pitching arm, a slewing shaft, a swing arm, a gripper, and a pressure rod. Both the pitching arm and the lower end of the pitching oil cylinder are hinged to the mobile platform, and the upper ends of the output shafts of the pitching arm and the pitching oil cylinder are hinged. The pitching oil cylinder is used to drive the pitching arm to swing vertically. The slewing drive is fixed on the pitching arm, and the output shaft of the slewing drive, the swing arm, and the gripper are connected in sequence. A positioning system is provided on the manipulator. The positioning system includes a flipping sensor, a flipping induction plate, and a control system. The rotating part rotates relative to the fixed part. The flipping sensor is installed on the pitching arm, and the flipping induction plate is installed on the swing arm.

[0031] In the initial state, the flipping sensor and the flipping induction plate are disconnected and no signal is output. When the swing arm rotates relative to the pitching arm and leaves the initial position, the flipping induction plate covers the flipping sensor, and the flipping sensor sends a signal to the control system. The coverage range of the flipping induction plate meets the requirement of the rotation angle stroke of the rotating part.

[0032] Furthermore, the flipping induction plate is an arc-shaped plate, and the arc-shaped plate, the slewing shaft, and the swing arm are coaxial.

[0033] Furthermore, the positioning system also includes a horizontal sensor and a horizontal induction block. The horizontal induction block is arranged on the swing arm. When the swing arm is in the horizontal position, the horizontal sensor is connected to the horizontal induction block, and the horizontal sensor sends a signal to the control system. The control system controls the swing arm to stop rotating vertically.

[0034] The gripper in this solution has the following effects:

[0035] 1. The swinging body has two working conditions. Swinging condition: Under normal construction conditions, the swinging body rotates around the detachable through hole as the rotation axis. At this time, a certain relative rotation can occur between the front gripper and the rear gripper, so that the drill pipe in the front gripper and the drill pipe in the rear gripper or the power head can have a small-angle relative rotation (such as pre-loosening the drill pipe joint) to complete the pre-loosening work of the drill rod. Flipping condition: When it is necessary to install a downhole motor or when it is necessary to remove the swinging body as a whole, it is necessary to flip the swinging body out of the front gripper installation part for operation. At this time, it rotates around the flipping pin. After the swinging body flips out of its original position, the reinforcing plate is removed, so that the upper end of the detachable through hole becomes an open U-shaped hole. The axis of the downhole motor can be directly parallel to the axis of the drill hole and can be directly placed into the detachable through hole and the rear gripper through the upper end and the notch of the U-shaped hole to complete the installation of the downhole motor. There is no need to repeatedly adjust the up-and-down inclination angle of the inner hole axis of the gripper as in the first solution of the background technology, nor to remove the gripper as a whole as in the second solution, consuming a large amount of manpower and construction time. The installation process is simple and fast.

[0036] 2. Between the outer slip and the inner slip, through the cooperation of the planar area, bumps of the outer slip and the boss of the inner slip, four positioning planes are formed on the outer side of the inner slip, and four stop surfaces are formed by the planar area and bumps of the outer slip. The four stop surfaces limit the four positioning planes, thereby realizing the positioning of the inner slip.

[0037] 3. For the outer slip and the inner slip, by setting bumps or fine teeth that increase the friction with the surface of the drill pipe, the probability of the drill pipe slipping is reduced, and the working efficiency during installation or disassembly is improved.

[0038] 4. During the working process of the gripper, the drill pipe needs to continuously enter and exit the gripper. Since the slips on both sides of the gripper need to be frequently opened and closed, and the spacing often changes, it generally does not have a guiding function itself. Therefore, a guiding sleeve is generally specially set in front of the gripper for guiding the drill pipe to enter and exit the gripper, preventing the drill pipe from deviating too much from the axis and causing damage to the gripper and the power head. In the traditional drill rig structure, the gripper and the guiding sleeve are generally set as two independent components at the front end of the frame, occupying a relatively large length space. Some drill rigs used in relatively narrow spaces or with compact structure requirements cancel the guiding sleeve to save space in the drilling direction. The inner sleeve of the traditional guiding sleeve is a rotatable hollow cylinder, and one inner sleeve can only adapt to a drill pipe with one outer diameter. After the drill pipe diameter of the drill rig is changed, the guiding sleeve must be replaced as a whole or the inner sleeve must be replaced separately to adapt to the outer diameter of the new drill pipe. Replacing the guiding sleeve as a whole is relatively simple, but the spare part cost is relatively high; replacing the inner sleeve separately is relatively complicated, but the cost is low, which is the commonly used method on site at present. However, there is also a problem that it is difficult to identify and manage the spare parts when replacing the inner sleeve separately. Since the specifications of several drill pipes used in the same drill rig are close, the difference in the drill pipe diameter is generally about 10 mm, and the difference in the thickness of the inner sleeve is only a few millimeters. It is very difficult to identify such a small difference without measuring tools in the downhole field, so the on-site spare part management is also relatively difficult. At the same time, since the guiding sleeve and the gripper are two independent components, the installation space requirement is large, resulting in a longer frame of the drill rig, and the guiding sleeve can only be suitable for one drill pipe, making it difficult to replace on site.

[0039] In this solution, an inner guiding sleeve and an outer guiding sleeve are set to adapt to two specifications of drill pipes; at the same time, the guiding sleeve is fixed on the swing body, as the connection point where the swing body is rotationally connected to the limiting part under normal construction conditions. When flipping is required, only the guiding sleeve needs to be disassembled, and the position where the swing body is rotationally connected to the limiting part is converted to the axis of the flipping pin through the flipping pin or other forms, and the working condition can be switched, with simple operation; in addition, the guiding sleeve and the gripper are combined into one whole, reducing the requirement for the installation space and making the overall layout of the drill rig more compact; at the same time, the structural differences between the inner guiding sleeve and the outer guiding sleeve are obvious, facilitating on-site spare part management and identification.

[0040] 5. Through the design of the reinforcing plate, the structural strength reduction of the front support plate and the rear support plate caused by unilateral opening of holes is effectively reduced. At the same time, the detachable connection method is designed, and the reinforcing plate can also be disassembled when installing the downhole motor or during maintenance to avoid the influence of the reinforcing plate on the installation of the downhole motor or the maintenance of the drill pipe.

[0041] The power head in this solution has the following effects:

[0042] 1. When it is necessary to overhaul and replace the driving drill pipe, since a receiving hole for the driving drill pipe to pass through is opened in the main shaft, the staff can directly slide the driving drill pipe together in the receiving hole and take it out from the rear of the main shaft, thereby improving the speed of disassembling the driving drill pipe. At the same time, the space at the rear end of the main shaft is relatively spacious. If the driving drill pipe is taken out from the front of the main shaft according to the traditional method, on the one hand, the flange needs to be disassembled and fastened, and on the other hand, the space at the front is relatively limited, and it is more inconvenient to install and disassemble the driving drill pipe. The above settings can facilitate the staff to reassemble the driving drill pipe and then reinstall it into the main shaft, thereby improving the installation speed of the driving drill pipe. By setting the brake assembly, the opening and closing of the driving drill pipe can be adjusted in a timely manner.

[0043] In this technical solution, a two-way joint is also detachably connected to the end of the driving drill pipe. When the thread on one side of the two-way joint wears to a certain extent, the two-way joint can be taken off and the installation direction can be reversed, and the worn section of the two-way joint and the driving drill pipe are fixedly connected by glue, so that the service life of the driving drill pipe is also equivalent to 2 times that of the previous integral driving drill pipe, and there is no need to replace the rod body, which can save a large amount of installation time and use cost, and can play an emergency role when processing in some places where it is not convenient to repair and replace the driving drill pipe.

[0044] 2. The surface of the clamping piston opposite to the slip jaw is a slope surface that matches the slope of the slip jaw. The clamping piston can slide so that the slope surface inside it contacts the slope of the slip jaw, and the drive shaft is clamped by the radial movement of the slip jaw, thereby restricting the rotation of the drive shaft. Through the axial sliding of the clamping piston and the radial movement of the slip jaw, the rapid clamping and loosening of the drive shaft are realized. The cooperation between the slope and the slope surface provides a stable clamping force, ensuring that the drive shaft will not slide during the working process, ensuring the reliability of clamping the drive shaft, and can adapt to drive shafts of different diameters. Even if the surface of the drive shaft is worn, stable clamping can be achieved by extending the sliding distance of the clamping piston, which has strong versatility and can be applied to power heads of various types of drilling rigs.

[0045] 3. The pressure oil enters the second oil cavity from the second oil inlet, pushing the clamping piston to move towards the direction close to the slip chuck, making the slope inside it contact with the inclined surface of the slip chuck. Thus, it pushes the slip chuck to move inwards and restricts the radial displacement of the slip chuck, thereby clamping the transmission shaft and achieving the braking of the transmission shaft. The pressure oil enters the first oil cavity from the first oil inlet, pushing the release piston to move. The end face of the release piston pushes the clamping piston to move away from the slip chuck, releasing the restriction on the radial displacement of the slip chuck, and also releasing the restriction on the rotation of the transmission shaft. The automatic control of the brake assembly is realized through the hydraulic system, improving the automation level and efficiency of the operation. The hydraulic pressure can provide stable and adjustable pressure, ensuring the accuracy of the clamping and releasing processes. Moreover, the hydraulic system has high stability and reliability, ensuring that the brake assembly can work stably under various working conditions, reducing the failure rate and maintenance cost.

[0046] 4. By setting the connecting shaft and the water braid part, the mandrel is fixedly connected and communicated with the connecting shaft. The other end of the connecting shaft is connected to the kelly bar, transmitting the drilling medium flowing into the water braid part to the kelly bar and connecting the kelly bar and the water braid part. In this technical solution, the mandrel is connected to the kelly bar and rotates together with the kelly bar during the working process. The mandrel support bearing can ensure the smooth rotation of the mandrel, reducing the friction and wear during the rotation process and extending the service life of the equipment. Through the hollow design of the connecting shaft and the mandrel, the pressure fluid can smoothly be transmitted from the water inlet assembly to the kelly bar, ensuring the stable and continuous supply of the drilling medium and improving the drilling efficiency.

[0047] 5. When the main shaft drives the end cover part to stop rotating, the limit opening of the front end cover stops rotating synchronously. The limit opening limits the rotation of the anti-rotation part, and further enables the kelly bar to stop rotating. The above method realizes the restriction of the rotation of the kelly bar, but does not restrict the axial sliding of the kelly bar, enabling the kelly bar to axially float a certain distance during the working process. It can effectively relieve the axial impact generated during the threaded connection and disassembly of the drill pipe, thereby protecting the kelly bar and other connecting components and extending the service life of the equipment. When the kelly bar generates axial floating, the impact force on the water braid part can be reduced, the wear of the water braid part can be reduced, and the overall durability and reliability can also be improved.

[0048] 6. When the chuck moves to the limit position, there is still a gap between it and the outer periphery of the limit section, enabling the limit section to axially slide along the chuck, enabling the kelly bar to axially float a certain distance, so that the clamping force of the chuck will not directly act on the kelly bar, avoiding the kelly bar directly bearing the strong clamping force of the chuck, and avoiding the metal fatigue deformation of the kelly bar during the reciprocating rotation due to the stress deformation. Thus, the fatigue damage is reduced and the service life of the kelly bar is increased. Due to the axial floating design of the kelly bar, the impact force borne by the water braid part during the working process is reduced, making the force on the water braid part more uniform.

[0049] 7. The length of the limiting section is greater than the length clamped by the chuck, enabling the driving drill pipe to have a certain floating distance in the chuck, so as to relieve the axial impact generated when the driving drill pipe is connected or disconnected from the drill pipe, thereby playing a role in protecting the driving drill pipe.

[0050] 8. There is a movable gap longitudinally between the connecting sleeve and the main shaft, providing a certain axial floating space for the connecting shaft, which helps to improve the axial impact on the water swivel and the driving drill pipe during the drilling process.

[0051] The manipulator in this solution has the following effects:

[0052] 1. The manipulator is usually arranged between the drill pipe box and the frame. There is a power head on the frame, and the power head needs to move reciprocally to push the drill pipe from the manipulator claw into the drill hole.

[0053] However, during the rotation of the rotating arm of the manipulator, the claw drives the drill pipe to rotate together. At this time, the required moving space is the largest. Therefore, at this time, a signal needs to be sent to the control system to ensure that other structures of the drilling rig do not appear within the moving space of the manipulator, thereby avoiding situations such as movement interference between the moving head and the claw.

[0054] In this solution, by setting a flip sensor, once the rotating arm rotates, the flip induction plate covers the flip sensor, and the flip sensor sends a signal to the control system, enabling the control system to promptly handle unexpected situations of movement interference.

[0055] 2. The flip controller is independent of the rotary drive that drives the rotating wall to rotate, and can monitor whether the rotating arm rotates to a certain situation, increasing the reliability of the manipulator positioning system.

[0056] 3. During the process of the rotating arm turning towards the side close to the frame, the flip induction plate always covers the flip sensor, thus ensuring that only when the rotating arm returns to the initial state, that is, the position closest to the drill pipe box, the flip sensor and the flip induction plate will disconnect, thereby ensuring that there is no movement interference between the moving head and the claw. Description of the Drawings

[0057] Figure 1 It is the overall structure diagram of the drilling rig belonging to the embodiment;

[0058] Figure 2 It is the three-dimensional axonometric drawing of the overall manipulator of the embodiment;

[0059] Figure 3 It is the three-dimensional axonometric drawing of the pitching arm of the embodiment;

[0060] Figure 4 It is the three-dimensional axonometric drawing of the rotating arm of the embodiment;

[0061] Figure 5 Schematic diagram of the installation of the flip sensor for the embodiment;

[0062] Figure 6 Cross-sectional view of the power head for the embodiment;

[0063] Figure 7 Detail view of the power head brake assembly for the embodiment;

[0064] Figure 8 Detail view of the active drill pipe for the embodiment;

[0065] Figure 9 Detail view of the water braid part for the embodiment;

[0066] Figure 10 Connection schematic diagram of the water braid part for the embodiment;

[0067] Figure 11 Right view of the connecting sleeve for the embodiment;

[0068] Figure 12 Diagram of dispensing glue for the double-headed joint for the embodiment;

[0069] Figure 13 Schematic diagram of the gripper and the power head in the initial state for the embodiment;

[0070] Figure 14 Schematic diagram of the gripper and the power head in step a for the embodiment;

[0071] Figure 15 Schematic diagram of the gripper and the power head in step b for the embodiment;

[0072] Figure 16 Schematic diagram of the gripper and the power head in step c for the embodiment, after the downhole motor is pushed back into the bottom of the hole;

[0073] Figure 17 Schematic diagram of the gripper and the power head in step c for the embodiment, when the drill pipe and the power head are connected;

[0074] Figure 18 3D axonometric view of the gripper for the embodiment;

[0075] Figure 19 Front view of the gripper for the embodiment;

[0076] Figure 20 For Figure 19 Cross-sectional view in the A-A direction of;

[0077] Figure 21 3D view of the base for the embodiment;

[0078] Figure 223D view of the base after the enhanced version of the base disassembly for the embodiment;

[0079] Figure 23 3D view of the swing body for the embodiment;

[0080] Figure 24 3D view of the external slip for the embodiment;

[0081] Figure 25 3D view of the internal slip for the embodiment;

[0082] Figure 26 3D view of the semi - ring guide sleeve for the embodiment;

[0083] Figure 27 3D view of the external guide sleeve for the embodiment;

[0084] Figure 28 Schematic diagram of the internal guide sleeve for the embodiment. Detailed implementation manners

[0085] The following is a further detailed description through specific implementation manners:

[0086] The reference numerals in the attached drawings of the specification include: manipulator 1, oil cylinder base 101, pitching oil cylinder 102, slewing drive 103, pitching arm 104, shaft seat 104a, end cover 104b, rotating shaft 105, rotating arm 106, horizontal induction block 10601, gripper 107, equiangular sensor 2, power head 3, frame 4, gripper 5, drill pipe box 6, flipping sensor 7, flipping induction plate 8, arc - shaped groove part 9, horizontal sensor 10,

[0087] Main power source a1, active drill pipe a11, main shaft a12, main shaft a122, front end cover a123, chuck a124, receiving hole a125, male joint a111, female joint a112, anti - rotation part a113, limiting section a114, two - way joint a13, transmission a2, brake assembly a3, brake cover a31, clamping piston a32, releasing piston a33, sliding shaft a34, slip a35, transmission shaft a36, oil inlet one a37, oil inlet two a38, key a39, water braid part a4, connecting shaft a41, core shaft a42, water inlet assembly a43, housing a431, water supply cavity a432, water inlet hole a433, bearing seat a44, core shaft support bearing a45, connecting sleeve a46, kidney - shaped hole a461, grease nipple a462,

[0088] Hole - bottom motor 1001, drill pipe 1002, power head 1003, front gripper 1004, rear gripper 1005,

[0089] Mounting plate b11, front gripper mounting part b12, front support plate b121, rear support plate b122, reinforcement plate b123, turning hole b124, turning plate b125, rear gripper mounting part b13, front side plate b131, rear side plate b132, rear lining plate b133, rear gripper mounting plate b134, swing body b14, swing support plate b141, front gripper mounting plate b142, front lining plate b143, swing ear seat b144, hinge shaft seat b145, front gripper b21, rear gripper b22, inner collet b23, boss b231, outer collet b24, rectangular plane b241, block b242, inner guide sleeve b251, outer guide sleeve b252, half-ring guide sleeve b253, small-diameter section b2501, large-diameter section b2502, swing oil cylinder b26.

[0090] Embodiment

[0091] The embodiment is basically as Figures 1 - 28 shown: The mining drilling equipment includes a mobile platform, which can be various traveling devices, such as crawler vehicles, rubber-tired vehicles, rail vehicles, etc., and the driving device can be in forms such as hydraulic, electric drive, and fuel. According to the underground drilling site conditions and explosion-proof requirements, the present application preferably uses a hydraulically driven crawler vehicle as the mobile platform.

[0092] As Figure 1 shown, a drilling system, a drill pipe supply system, and a hydraulic system are provided on the mobile platform. The drilling system includes a frame 4, the drill pipe supply system includes a manipulator 1 and a drill pipe box 6, an arc-shaped groove part 9 is provided on the drill pipe box 6, an equiangular sensor 2, a gripper 5, and a power head 3 are provided on the frame 4, the power head 3 is slidably arranged on the frame 4, and the hydraulic system can control all the grippers, hydraulic cylinders, and the power head 3 in the utility model. The manipulator 1 is located between the frame 4 and the drill pipe box 6, and its function is to grab the drill pipe 1002 in the drill pipe box 6 onto the frame 4 and install the drill pipe 1002 through the power head 3 on the frame 4. The manipulator 1 includes a pitching oil cylinder 102, a rotary driver 103, a pitching arm 104, a rotary shaft 105, a rotating arm 106, a hand claw 107, and a pressure rod. The lower ends of both the pitching arm 104 and the pitching oil cylinder 102 are hinged to the mobile platform, and the upper ends of the output shafts of the pitching arm 104 and the pitching oil cylinder 102 are hinged. The pitching oil cylinder 102 can drive the pitching arm 104 to swing vertically. The rotary driver 103 is fixed on the pitching arm 104, and the output shaft of the rotary driver 103, the rotating arm 106, and the hand claw 107 are connected in sequence. The above is the prior art, and the invention with the patent number CN116877007A and the name: Drill pipe 1002 conveying manipulator 1 and drill pipe 1002 conveying method for a directional drilling rig is improved. This solution is based on this patent for improvement, and the prior art part will not be elaborated.

[0093] As Figures 1 - 5As shown in the figure, a positioning system is provided on the manipulator. The positioning system includes a horizontal sensor 10, a horizontal induction block 10601, a flipping sensor 7, a flipping induction plate 8, a control system, a rotating part, a fixed part, an oil cylinder seat 101, and a pitching oil cylinder 102.

[0094] The rotating part includes a rotary drive 103, a rotary shaft 105, and a rotating arm 106. The fixed part is the pitching arm 104 of the manipulator 1. As Figure 3 shown, the upper part of the pitching arm 104 includes a shaft seat 104a. A end cover 104b is bolted to the right end of the shaft seat 104a. The flipping sensor 7 is installed on the lower side of one end of the shaft seat 104a or the end cover 104b close to the rotating arm 106; As Figure 2 shown, the oil cylinder seat 101 is bolted to the directional drilling rig. The lower end of the pitching oil cylinder 102 is hinged to the oil cylinder seat 101, and the upper end of the output shaft of the pitching oil cylinder 102 is hinged to the lower part of the pitching arm 104.

[0095] As Figure 2 shown, the rotary drive 103 is installed at one end of the shaft seat 104a away from the end cover 104b, that is, the right end of the shaft seat 104a. The rotary drive 103, the rotary shaft 105, and the rotating arm 106 are connected in sequence. The rotary shaft 105 passes through the shaft seat 104a and the end cover 104b. A gripper 107 is provided at the left end of the rotating arm 106. The flipping induction plate 8 is installed on the rotary shaft 105 or the rotating arm 106 at a position close to the flipping sensor 7. In this embodiment, for the convenience of installation, the flipping induction plate 8 is bolted to an end face of the rotary shaft 105 close to the flipping sensor 7.

[0096] As Figure 5 shown, the flipping induction plate 8 is an arc-shaped plate. The arc-shaped plate, the rotary shaft 105, and the rotating arm 106 are coaxial. The flipping induction plate 8 can cover the flipping sensor 7. The coverage range of the flipping induction plate 8 meets the requirement of the rotation angle stroke of the rotating part. The flipping sensor 7 is a proximity sensor, an inductive proximity sensor for detecting the presence of metal. The flipping induction plate 8 is an iron block.

[0097] As Figure 4 shown, the horizontal induction block 10601 is bolted to the rotating arm 106. The horizontal sensor 10 is bolted to the side of the circular arc groove part 9 of the drill pipe box 6. When the rotating arm 106 is in the horizontal position, the horizontal sensor 10 is connected to the horizontal induction block 10601. The horizontal sensor 10 sends a signal to the control system. The control system includes a single-chip microcomputer. The flipping sensor, the single-chip microcomputer, and the rotating arm are connected in sequence. The single-chip microcomputer can control the pitching oil cylinder 102, so that the rotating arm 106 stops vertical rotation.

[0098] The usage method of the main manipulator positioning system is as follows:

[0099] 1. In the initial state, the swing arm 106 is set horizontally. The gripper 107 is located on the side of the swing arm 106 close to the drill pipe box 6. The flipping sensor 7 and the flipping induction plate 8 are disconnected, without signal output. The horizontal sensor 10 is connected to the horizontal induction block 10601.

[0100] 2. After the gripper 107 grabs the drill pipe on the arc-shaped groove part 9, the pitching oil cylinder 102 drives the swing arm 106 to rotate, thereby driving the gripper 107 and the drill pipe to swing upward. The horizontal sensor 10 is disconnected from the horizontal induction block 10601.

[0101] 3. After the slewing drive 103 drives the swing arm 106 to rotate, the flipping induction plate 8 covers the flipping sensor 7. After the flipping sensor 7 senses the flipping induction plate 8 in front, the flipping sensor 7 is connected and sends a signal to the control system; the control system will prohibit the power head from sliding on the machine frame, thus avoiding movement interference between the gripper 107 and the drill pipe and the power head 3.

[0102] 4. After the manipulator 1 places the drill pipe on the machine frame 4, the slewing drive 103 drives the swing arm 106 to reverse, so that the gripper 107 on the swing arm 106 turns to the side close to the drill pipe box 6. The flipping induction plate 8 no longer covers the flipping sensor 7, without signal output. The control system drives the power head 3 to install the drill pipe.

[0103] 5. When the pitching oil cylinder 102 drives the swing arm 106 to rotate vertically and the horizontal sensor 10 is connected to the horizontal induction block 10601, the horizontal sensor 10 sends a signal to the control system, indicating that the swing arm 106 has returned to the initial position, and the pitching oil cylinder 102 stops operating.

[0104] As Figures 6 - 12 shown, as Figure 6 shown in the figure is the structural diagram of the power head 3, which includes a main shaft a12, a brake assembly a3, a gearbox, and a main power source a1. The output shaft of the main power source a1 meshes with the gearbox to drive the main shaft a12 to rotate. The main power source a1 can be various rotary power driving devices, such as a hydraulic motor, an electric motor, etc. In this application, the main power source a1 is a hydraulic motor. The gearbox includes a gear shaft and multiple stages of gears. The brake assembly a3 is internally provided with a transmission shaft a36 connected to the gear shaft. The transmission shaft a36 is connected to the gear shaft through a key a39 and rotates synchronously. The brake assembly a3 performs rotational braking on the transmission shaft a36. The end of the main shaft a12 is installed with a main drill pipe a11. A receiving hole a125 for the main drill pipe a11 to pass through is opened in the main shaft a12. A two-way joint a13 is also detachably connected to the end of the main drill pipe a11.

[0105] As Figure 7As shown, the brake assembly a3 includes a brake cover a31, a clamping piston a32, and a release piston a33. A sliding shaft a34 is provided inside the brake cover a31. The left end of the transmission shaft a36 extends into the center of the clamping piston a32. A plurality of jaws a35 are circumferentially distributed on the transmission shaft a36. In this embodiment, the number of jaws a35 is 3. The clamping piston a32 is sleeved outside the jaws a35 and can move axially along the transmission shaft a36. The surface of the jaw a35 away from the transmission shaft a36 is an inclined surface, and the surface of the clamping piston a32 opposite to the jaw a35 is a slope surface that cooperates with the inclined surface of the jaw a35. The clamping piston a32 can slide to radially slide the jaw a35 to clamp the transmission shaft a36. The release piston a33 is slidably sleeved on the sliding shaft a34 and can push the clamping piston a32 to release the clamping. The surface of the clamping piston a32 opposite to the jaw a35 is a slope surface that cooperates with the inclined surface of the jaw a35. The clamping piston a32 can slide so that the slope surface inside it contacts the inclined surface of the jaw a35, and the jaw a35 moves radially to clamp the transmission shaft a36, thereby restricting the rotation of the transmission shaft a36. Through the axial sliding of the clamping piston a32 and the radial movement of the jaw a35, the rapid clamping and release of the transmission shaft a36 are realized. The cooperation between the inclined surface and the slope surface provides a stable clamping force, ensuring that the transmission shaft a36 will not slide during the working process, ensuring the reliability of clamping the transmission shaft a36, and being able to adapt to transmission shafts a36 of different diameters. Even if the surface of the transmission shaft a36 is worn, stable clamping can be achieved by extending the sliding distance of the clamping piston a32. It has strong versatility and can be applied to power heads of various types of drilling rigs.

[0106] The brake cover a31 is provided with an oil inlet a37 and an oil inlet a38. A first oil chamber is formed between the release piston a33 and the brake cover a31 on the side away from the clamping piston a32. The oil inlet a37 can supply hydraulic oil to the first oil chamber. A second oil chamber is provided on the side of the clamping piston a32 away from the release piston a33. The oil inlet a38 can supply hydraulic oil to the second oil chamber. Sealing rings are provided on both the inner wall and the outer wall of the release piston a33, and a sealing ring is also provided on the outer wall sleeve of the clamping piston a32. The setting of the sealing ring effectively prevents the leakage of hydraulic oil and ensures the stability of the pressure inside the hydraulic structure. The pressure oil enters the second oil chamber from the oil inlet a38, pushing the clamping piston a32 to move to the left, making the slope inside it contact the inclined surface of the jaw a35. Therefore, the jaw a35 is pushed to move inward, and the radial displacement of the jaw a35 is restricted, thereby clamping the transmission shaft a36 to achieve the braking of the transmission shaft a36; the pressure oil enters the first oil chamber from the oil inlet a37, pushing the release piston a33 to move, and its end face pushes the clamping piston a32 to move to the right, releasing the restriction on the radial displacement of the jaw a35, that is, releasing the restriction on the rotation of the transmission shaft a36. The automatic control of the brake assembly a3 is realized through hydraulic pressure, improving the automation level and efficiency of the operation. Hydraulic pressure can provide stable and adjustable pressure to ensure the accuracy of the clamping and releasing processes, and the high stability and reliability of the hydraulic pressure ensure that the brake assembly a3 can work stably under various working conditions, reducing the failure rate and maintenance cost.

[0107] It also includes a swivel section a4 that supplies pressurized fluid to the kelly a11, as Figure 9 and Figure 10As shown, the water braid part a4 includes a connecting shaft a41, a core shaft a42, and a water inlet assembly a43. Both the core shaft a42 and the connecting shaft a41 are hollow shafts. The core shaft a42 is fixedly connected and communicated with the connecting shaft a41. The other end of the connecting shaft a41 is connected to the active drill pipe a11. The core shaft a42 is communicated and rotatably connected with the water inlet assembly a43. There is a bearing seat a44 to support the core shaft a42. Inside the bearing seat a44, there is a core shaft support bearing a45 sleeved on the outer periphery of the core shaft a42. The core shaft a42 is fixedly connected and communicated with the connecting shaft a41. The other end of the connecting shaft a41 is connected to the active drill pipe a11. The water inlet assembly a43 includes a housing a431. Inside the housing a431, there is a water supply chamber a432 communicated with a water inlet hole a433. The water supply chamber a432 is communicated with the water inlet hole a433. One section of the connecting shaft a41 close to the active drill pipe a11 is provided with an external thread for threaded connection with the rear end of the active drill pipe a11; one end of the connecting shaft a41 close to the water braid part a4 is provided with an internal thread for threaded connection with the core shaft a42, transmitting the drilling medium flowing into the water braid part a4 to the active drill pipe a11 and connecting the active drill pipe a11 and the water braid part a4. In this technical solution, the core shaft a42 is connected to the active drill pipe a11 and rotates together with the active drill pipe a11 during operation. The core shaft support bearing a45 can ensure the smooth rotation of the core shaft a42, reduce the friction and wear during rotation, and extend the service life of the equipment. Through the hollow design of the connecting shaft a41 and the core shaft a42, the pressure fluid can smoothly be transmitted from the water inlet assembly a43 to the active drill pipe a11, ensuring the stable and continuous supply of the drilling medium and improving the drilling efficiency. There is a grease nipple a462 on the bearing seat a44. The grease nipple a462 is communicated with the inside of the bearing seat a44. The grease nipple a462 can supply lubricating oil to the core shaft support bearing a45, keep the lubrication of the core shaft support bearing a45, reduce the friction of the bearing under high load conditions, and extend the service life of the bearing; effective lubrication reduces the wear and heat accumulation of the bearing, avoids the bearing damage caused by overheating, and improves the reliability and durability of the equipment. The water braid part a4 is fixed on the gearbox through a connecting sleeve a46, such as Figure 11As shown, the connecting sleeve a46 includes a connecting flange. Waist-shaped holes a461 for bolts to pass through are provided on both the upper and lower sides of the connecting flange to ensure the stability of the connection. A hexagonal inner hole that mates with the anti-rotation portion a113 is also provided at the center of the connecting sleeve a46. The right end of the mandrel a42 is a regular hexagon that mates with the hexagonal inner hole and is slidably connected to the hexagonal inner hole. The connecting flange is fixedly connected to the main shaft a12 by threads. A gap is left between the inner end face of the connecting sleeve a46 facing the active drill pipe a11 and the end face of the connecting shaft a41, so that the limiting section a114 can axially slide along the chuck a124, enabling the active drill pipe a11 to axially float a certain distance. Through the hollow settings of the connecting shaft a41 and the mandrel a42, the smooth transmission of the pressure fluid is achieved, ensuring the stable supply of the drilling medium and improving the drilling efficiency. The internal and external threads of the connecting shaft a41 cooperate to achieve a firm connection with the active drill pipe a11 and the mandrel a42. The bearing seat a44 and the housing a431 are fixedly connected by bolts. Sealing rings are sleeved between the mandrel a42 on both sides of the water inlet hole a433 and the housing a431 to achieve the sealing of the drilling medium.

[0108] As Figure 8As shown in the figure, one end of the active drill pipe a11 is a male joint a111, and the other end is a female joint a112. The male joint a111 is detachably connected to the two-way joint a13. The outer circumference of the active drill pipe a11 is provided with an anti-rotation part a113, and the outer circumference section of the anti-rotation part a113 is polygonal. The end of the main shaft a12 is provided with an end cover part, and the end cover part includes a front end cover a123 and a chuck a124. The front end cover a123 is fixed on the chuck a124. The front end cover a123 is provided with a limit opening. The front end cover a123 limits the rotation of the anti-rotation part a113 through the limit opening. When the main shaft a12 drives the end cover part to stop rotating, the limit opening of the front end cover a123 stops rotating synchronously, and the limit opening limits the rotation of the anti-rotation part a113, so that the active drill pipe a11 can stop rotating. The above method realizes the limitation of the rotation of the active drill pipe a11, but does not limit the axial sliding of the active drill pipe a11, so that the active drill pipe a11 can axially float a certain distance during the working process, which can effectively relieve the axial impact generated during the thread connection and disassembly of the drill pipe, thereby protecting the active drill pipe a11 and other connecting parts and extending the service life of the equipment; when the active drill pipe a11 generates axial floating, the impact force on the water braid part a4 can be reduced, the wear of the water braid part a4 can be reduced, and the overall durability and reliability can be improved. There is a limit section a114 between the female joint a112 and the anti-rotation block. The limit section a114 is located between the chucks a124. There is still a gap between the outer circumference of the limit section a114 and the outer circumference of the limit section a114 when the chuck a124 is clamped to the limit position. There is still a gap between the outer circumference of the limit section a114 and the outer circumference of the limit section a114 when the chuck a124 moves to the limit position. The length of the limit section a114 is greater than the length of the chuck a124, so that the clamping force of the chuck a124 will not directly act on the active drill pipe a11, avoiding the active drill pipe a11 directly bearing the strong clamping force of the chuck a124, and avoiding the metal fatigue deformation of the active drill pipe a11 due to force deformation during the reciprocating rotation process, thereby reducing fatigue damage and increasing the service life of the active drill pipe a11; due to the axial floating design of the active drill pipe a11, the impact force borne by the water braid part a4 during the working process is reduced, which makes the force on the water braid part a4 more uniform. The front end cover a123 includes a flange and an outer sleeve connected to each other. The front end cover a123 is fixedly connected to the chuck a124 by a flange through threads to ensure the stability of the fixation.

[0109] The usage method of the drill rig power head is as follows:

[0110] When it is necessary to repair and replace the driving drill pipe a11, since a receiving hole a125 through which the driving drill pipe a11 can pass is formed in the main shaft a12, the staff can directly slide the driving drill pipe a11 together in the receiving hole a125 and take it out from the rear of the main shaft a12, thereby improving the removal speed of the driving drill pipe a11. At the same time, the space at the rear end of the main shaft a12 is relatively spacious. If the driving drill pipe a11 is taken out from the front of the main shaft a12 according to the traditional method, on the one hand, the disassembly and fastening of the flange need to be carried out, and on the other hand, the space at the front is relatively limited, and it is inconvenient to install and disassemble the driving drill pipe a11. The above setting can facilitate the staff to reassemble the driving drill pipe a11 and then reinstall it into the main shaft a12, thereby improving the installation speed of the driving drill pipe a11. By setting the brake assembly a3, the opening and closing of the driving drill pipe a11 can be adjusted in a timely manner.

[0111] In the technical solution, the end of the driving drill pipe a11 is detachably connected with a two-way joint a13. When the thread on one side of the two-way joint a13 is worn to a certain extent, the two-way joint a13 can be taken off, rotated and installed, and the worn section of the two-way joint a13 and the driving drill pipe a11 are fixedly connected by glue, so that the service life of the driving drill pipe a11 is also equivalent to 2 times that of the previous integral driving drill pipe a11, and there is no need to replace the rod body, which can save a large amount of installation time and use cost, and can play an emergency role when processing under some working conditions where it is not convenient to repair and replace the driving drill pipe a11.

[0112] The method for adhesively connecting the double-headed joint and the rod body of the driving drill pipe is as follows:

[0113] Fastening glue is symmetrically applied axially and linearly on the male joint a111 of the double-headed joint. When the male joint a111 is rotationally connected with the female joint a112, as Figure 12 shown, the fastening glue at the left end of the male joint a111 will contact the threads of the female joint a112 for more turns, and the fastening glue will be smeared more widely along the tightening direction. The fewer the number of turns of the fastening glue contacting the threads of the female joint a112 towards the right, the smaller the spreading degree of the smear. When the male joint a111 is completely screwed into the female joint a112 of the rod body of the rotating drill pipe 1002, the previously linearly applied fastening glue will be smeared and form a trapezoidal tape with a wider left and a narrower right in the projection on the central symmetry plane of the joint. One side of the tape is as Figure 12 shown, and the other side is similar to it. Since the strength of the threaded connection gradually decreases from the leftmost end to the right end of the male joint a111, the trapezoidal connection-shaped tape has the opposite force-bearing situation, which better equalizes the strength of the threaded connection, can provide sufficient anti-loosening strength when the power head 3 rotates in the reverse direction, and at the same time, it will not be difficult to disassemble due to too high adhesive strength when the double-headed joint needs to be disassembled later.

[0114] As Figures 18 - 28As shown, the gripper further includes a base and a guide sleeve assembly. The front gripper b1004 includes a swing unit, such as Figure 21 As shown, the base is used to carry and support the front gripper b1004 and the rear gripper b1005, facilitating the assembly and installation between the front gripper b1004 and the rear gripper b1005 and the drilling rig. The base includes a mounting plate b11. A number of countersunk through holes for connecting with the frame are provided on both sides of the mounting plate b11. A rear gripper mounting portion b13 and a front gripper mounting portion b12 are fixedly provided on the mounting plate b11.

[0115] Such as Figure 21 As shown, the rear gripper b22 is arranged in the rear gripper mounting portion b13. The rear gripper mounting portion b13 includes a front side plate b131, a rear side plate b132 and a rear gripper mounting plate b134. Through holes are provided in the middle of both the front side plate b131 and the rear side plate b132. Notches are provided at the tops of the front side plate b131 and the rear side plate b132. The notches make the tops of the through holes open, forming a U-shaped groove. The front side plate b131 and the rear side plate b132 are vertically and parallel welded to the mounting plate b11. Four rear lining plates b133 are welded or bolted between the front side plate b131 and the rear side plate b132 to form a slip guiding cavity for the slip. The rear gripper mounting plate b134 is fixed to both ends of the front side plate b131 and the rear side plate b132 by bolts.

[0116] Such as Figure 22 As shown, the front gripper mounting portion b12 includes two support portions. Removable through holes coaxial with the notches of the rear gripper mounting portion b13 are provided on both support portions. Both support portions include a support plate and a reinforcing plate b123 detachably connected to the support portion. The support plates of the two support portions are respectively a front support plate b121 and a rear support plate b122. Turning plates b125 are welded to the right sides of both the front support plate b121 and the rear support plate b122. Turning holes b124 are provided on the turning plates b125. The front support plate b121 and the rear support plate b122 are parallel welded to the mounting plate b11. The structures of the front support plate b121 and the rear support plate b122 are the same. Taking the front support plate b121 as an example, the reinforcing plate b123 and the upper side of the front support plate b121 are detachably connected, specifically by clamping. After the reinforcing plate b123 is removed, the upper end of the removable through hole on the support portion opens to become a U-shaped hole; the width of the open upper end of the U-shaped hole is greater than or equal to the outer diameter of the bottom motor 1001.

[0117] The swing unit includes a swing body b14 and a turning pin shaft. The hydraulic system includes a swing oil cylinder b26, such as Figure 23As shown in the figure, the swinging body b14 includes a swinging support plate b141. An installation through-hole is provided on the side wall of the swinging support plate b141. The radius of the installation through-hole is smaller than the radius of the detachable through-hole of the support portion. The cross-section of the swinging support plate b141 is in a "U" shape. Four front lining plates b143 are welded or bolted in the middle of the swinging support plate b141. The front lining plates b143 and the swinging support plate b141 together form. Front gripper mounting plates b142 are bolted to the left and right sides of the swinging support plate b141. A swinging ear seat b144 and a hinge shaft seat b145 are welded to the lower part on the right side. The lower end of the swinging oil cylinder b2626 is hinged to the frame, and the upper end of the output shaft is hinged to the swinging ear seat b144. Thus, through the telescoping of the output shaft of the swinging oil cylinder b26, the swinging body b14 is driven to rotate around the installation through-hole or rotate around the hinge shaft seat b145. The flipping pin shaft is adapted to the hinge shaft seat b145.

[0118] A pair of front clamping units are provided inside the swinging body b14. The rear gripper b22 can also be called the rear clamping unit. The rear clamping unit and the front clamping unit have the same structure. Each front clamping unit includes a front clamping oil cylinder 1102 and a front chuck. The output shaft of the front clamping oil cylinder 1102 is connected to the front chuck. The two front chucks can cooperate to clamp the drill pipe 1002; The front chuck includes an inner chuck b23 and an outer chuck b24. As Figure 24 、 Figure 25 shown, convex blocks or fine pointed teeth are provided on the inner sides of the inner chuck b23 and the outer chuck b24, so as to increase the friction coefficient on the inner sides of the inner chuck b23 and the outer chuck b24 and reduce the probability of the drill pipe 1002 slipping.

[0119] As Figure 25 shown, the front projection of the inner chuck b23 is in a "cross" shape. The main body of the cross-section in the middle section of the inner chuck b23 is circular arc-shaped. Convex platforms b231 are symmetrically provided on the upper and lower sides. A countersunk through-hole for installing and connecting the outer chuck b24 and the inner chuck b23 with screws is provided on the side of the convex platform b231 facing the center of the through-hole; As Figure 24 shown, a rectangular plane b241 is provided on the inner surface of the outer chuck b24. Threaded holes are provided on the rectangular plane b241. Two clamping blocks b242 are vertically provided on each side of the rectangular plane b241. The surfaces of the clamping blocks b242 close to the rectangular plane b241 form four stopping surfaces. The clamping blocks b242 on the same side extend to each other to form two arc surfaces. The diameter of the arc surfaces matches the diameter of the larger drill pipe 1002 and the outer diameter of the inner chuck b23; The combination of the arc surfaces and the four stopping surfaces forms an installation space for the inner chuck b23.

[0120] The front projection of the inner slip b23 is in a cross shape, with four positioning planes symmetrically arranged on the left and right, which cooperate with the four stop planes corresponding to the outer slip b24 to achieve the positioning of the inner slip b23 along the front and rear axes of the gripper. The positioning of the inner slip b23 in the radial direction of the arc (i.e., the telescopic direction of the clamping cylinder) is achieved by the screws connected to the outer slip b24.

[0121] This positioning method gives full play to the advantage of high tensile strength of the threaded connection and avoids the weakness of its shear strength, greatly reducing the possibility of deformation of the slip positioning parts.

[0122] When the inner slip b23 is severely worn or needs to be replaced from a drill pipe 1002 with a smaller outer diameter to a drill pipe 1002 with a larger outer diameter, the inner slip b23 needs to be disassembled. Just fully retract the clamping cylinder and remove the connecting screws between the inner slip b23 and the outer slip b24, then the inner slip b23 can be removed. The installation steps are the opposite.

[0123] The guide sleeve assembly includes a rear gripper b guide sleeve and a front gripper b guide sleeve. Both the rear gripper b guide sleeve and the front gripper b guide sleeve are coaxial with the through hole. The rear gripper b guide sleeve is a semi-ring guide sleeve b253 as shown in Figure 26 . The outer diameter of the semi-ring guide sleeve b253 is divided into two levels: a small diameter section b2501 and a large diameter section b2502. The outer diameter of the small diameter section b2501 is less than or equal to the inner diameter of the through hole of the rear gripper installation part b13. There is a countersunk through hole on the end face of the large diameter section b2502, and it is connected to the rear side plate b132 by screws through the countersunk through hole. After installation, the notch direction of the semi-ring guide sleeve b253 is the same as the opening direction of the through hole.

[0124] The front gripper b guide sleeve includes two groups of guide sleeves. Each group of guide sleeves includes an inner guide sleeve b251 and an outer guide sleeve b252, as shown in Figure 27 、 Figure 28 . The outer diameters of both the inner guide sleeve b251 and the outer guide sleeve b252 are divided into two levels: a small diameter section b2501 and a large diameter section b2502. The small diameter section b2501 is provided with a through hole coaxial with the guide sleeve, as shown in Figure 20 . The outer diameter of the small diameter section b2501 of the outer guide sleeve b252 is less than or equal to the inner diameter of the small diameter section b2501 of the inner guide sleeve b251; the small diameter section b2501 of the inner guide sleeve b251 is adapted to the installation through hole provided on the swing support plate b141, and the large diameter section b2502 is adapted to the through hole of the front support plate b121; there is a countersunk through hole on the end face of the large diameter section b2502 for installing screws. During installation, the large diameter section b2502 is fixed on the swing support plate b141 by screws passing through the countersunk through hole to achieve the axial limit of the swing body b14.

[0125] Inner guide sleeves b251 and outer guide sleeves b252 are installed on the front support plate b121 and the rear support plate b122. When the drill pipe 1002 enters or exits the gripper, the guide sleeves limit the circumferential offset of the drill pipe 1002, ensuring that the drill pipe 1002 is always within the range that can be gripped by the gripper, and at the same time protecting the gripper and the drill rig power head 1003 from damage caused by excessive offset of the drill pipe 1002. Since the rear gripper b22 is relatively close to the power head 1003, the offset of the drill pipe 1002 under the action of the power head 1003 on the drill pipe 1002 is small. Therefore, only one semi-ring guide sleeve b253 is required for the rear gripper b22 to adapt to drill pipes 1002 with different outer diameters.

[0126] When the outer guide sleeve b252 and the inner guide sleeve b251 are installed at the same time, the gripper is suitable for drill pipes 1002 with a smaller outer diameter (there is generally a specific outer diameter value for a specific drill rig); when the outer guide sleeve b252 is removed and only the inner guide sleeve b251 is used, it is suitable for drill pipes 1002 with a larger outer diameter.

[0127] At the same time, the inner diameter of the outer slip b24 matches the outer diameter of the larger drill pipe 1002 applicable to the gripper, the outer diameter of the inner slip b23 is the same as the outer diameter of the larger drill pipe 1002, and the inner diameter of the inner slip b23 matches the outer diameter of the smaller drill pipe 1002 applicable to the gripper. Combining with the quick disassembly and assembly method of the inner slip b23, the gripper of the present application can be applied to drill pipes 1002 with two outer diameters during the construction process.

[0128] During use, according to the size of the rotating rod diameter, the guide sleeve assembly can be selected to be used simultaneously or the outer guide sleeve b252 can be removed, or the outer guide sleeve b252 and the inner guide sleeve b251 can be flipped out of the base through the swing body b14 to respectively adapt to the guiding work of the small-diameter drill pipe 1002, the guiding work of the large-diameter drill pipe 1002, and the installation work of the downhole motor 1001.

[0129] Specific implementation process:

[0130] Under normal construction conditions, the front gripper b21 is not installed with a flipping pin shaft and related flipping pin shaft fixing parts, and with the inner guide sleeve b251 as the central axis, it realizes reciprocating swinging within a small angle range under the drive of the swing oil cylinder b26.

[0131] When it is necessary to turn the flipping body out of the base through the swing oil cylinder b26, the flipping pin shaft is inserted into the hinge shaft seat b145 through the flipping hole b124, and the reinforcement plate and the front gripper b guide sleeve are disassembled, so that the flipping body rotates around the flipping hole b124.

[0132] Working principle:

[0133] Under normal construction conditions, sometimes it is necessary to have a small-angle relative rotation between the drill pipe 1002 in the front gripper b21 and the drill pipe 1002 in the rear gripper b22 or the power head 1003. For example, to pre-loosen the joint of the drill pipe 1002. However, the rotation speed of the power head 1003 is relatively fast, making it difficult to control the rotation angle. At this time, the front gripper b21 is not installed with a flipping pin shaft. With the inner guide sleeve b251 as the central axis, it realizes reciprocating swing within a small angle range under the drive of the swing oil cylinder b26. Refer to Figure 19 When the piston rod of the swing oil cylinder b26 extends, the left end of the front gripper b21 drops and the right end rises; when the piston rod of the swing oil cylinder b26 retracts, the left end of the front gripper b21 rises and the right end drops.

[0134] When it is necessary to install the downhole motor 1001 or when it is necessary to remove the swing body b14 as a whole, it is necessary to flip the swing body b14 out of the base as a whole for easy operation. The flipping process is as follows: Install the flipping pin shaft and related flipping pin shaft fixing parts to connect the base and the swing body b14; Remove all the outer guide sleeves b252 and inner guide sleeves b251 at the front and rear ends of the front gripper b21; At this time, the central axis of rotation of the front gripper b21 switches to the flipping pin shaft, and the front gripper b21 can rotate around the flipping pin shaft in the flipping hole b124 under the drive of the swing oil cylinder b26; The corresponding relationship between the telescoping and rotating directions of the swing oil cylinder b26 is the same as that in the swing working condition.

[0135] According to the lever principle, since the rotation fulcrum moves towards the direction of the swing oil cylinder b26, when the piston rod of the swing oil cylinder b26 retracts, in this working condition Figure 19 As shown, the left end of the front gripper b21 rotates more significantly than in normal construction conditions, and the swing body b14 can rotate clockwise beyond the center of the base, making it almost completely exposed from the base. At this time, remove the reinforcing plate b123 on the front and rear support plates b122 of the base, and a very spacious space will be formed inside and at the top of the front gripper b21, and the downhole motor 1001 can be directly placed from top to bottom.

[0136] Specific steps for installing the downhole motor 1001:

[0137] a. In the initial state as Figure 13 shown, both grippers remain loose; Drive the output shaft of the swing oil cylinder to shorten, and the swing body b14 rotates relative to the bottom plate. Place the downhole motor 1001 at the position where the swing body b14 was before rotation, and the hydraulic system controls the rear gripper b1005 to clamp the rear half of the downhole motor 1001, as Figure 14 shown;

[0138] b. Connect the power head 1003 and the downhole motor 1001, as Figure 15As shown, the hydraulic system controls the release of the rear gripper b1005, and the power head 1003 drives the downhole motor 1001 to drill from the working surface, causing most of the downhole motor 1001 to enter the hole. The power head 1003 drives the downhole motor 1001 to retract a certain distance so that the hydraulic system can drive the rear gripper b1005 to clamp the rear end of the downhole motor 1001, enabling the power head 1003 and the downhole motor 1001 to complete the unthreading;

[0139] c. As Figure 16 shown, the downhole motor 1001 is pushed back into the hole bottom again; as Figure 17 shown, the output shaft of the swing cylinder extends, causing the swing body b14 to rotate back onto the base; a drill pipe 1002 is passed through the swing body b14, and the drill pipe 1002 and the downhole motor 1001 are connected manually or with the aid of other tools. The hydraulic system simultaneously controls the front gripper b1004 and the rear gripper b1005 to clamp the drill pipe 1002 so that the drill pipe 1002 can be connected to the power head 1003.

[0140] The above are only embodiments of the present invention, and common general technical solutions and / or characteristics in the solutions are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can still be made, and these should also be regarded as the protection scope of the present invention, which will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. Mining drilling equipment, characterized in that: It includes a mobile platform, on which a drilling system and a drill rod supply system are arranged, the drill rod supply system includes a manipulator, the drilling system includes a frame, on which a clamp and a power head are arranged, the power head is slidably arranged on the frame, the manipulator is used to place the drill rod on the clamp, the power head is used to drive the connection and disconnection of the drill rods by rotation, the clamp includes a base, on which a front clamp and a rear clamp are arranged; The front clamp includes a swing body, which is rotatably connected to a base. The initial position of the swing body is on the base. After the swing body rotates relative to the base, the large drilling tool can be directly placed at the initial position of the swing body. The base includes a mounting plate and a supporting part, the mounting plate is horizontally arranged, the supporting part is vertically arranged on the mounting plate, a detachable through hole is opened on the supporting part, the axial direction of the detachable through hole is the drilling direction, the supporting part includes a supporting plate and a reinforcing plate detachably connected to the supporting part, after the reinforcing plate is removed, the upper end of the detachable through hole is opened to become a U-shaped hole; the swing body is arranged on the mounting plate, and the swing body and one side of the supporting plate are rotatably connected.

2. The mining drilling equipment according to claim 1, characterized in that: The clamp also includes a guide assembly, which includes a front clamp guide sleeve, a swing support plate symmetrically arranged at the front and rear of the swing body, and a mounting through hole is arranged on the swing support plate. The radius of the mounting through hole is smaller than the radius of the detachable through hole of the support part. The guide sleeves are detachably connected to the swing support plate, and each group of guide sleeves includes an inner guide sleeve and an outer guide sleeve. The outer diameters of the inner guide sleeve and the outer guide sleeve are divided into two levels: a small diameter section and a large diameter section. The small diameter section of the inner guide sleeve can be sleeved outside the small diameter section of the outer guide sleeve, and the large diameter section of the inner guide sleeve can be sleeved outside the large diameter section of the outer guide sleeve; the small diameter section of the inner guide sleeve cooperates with the mounting through hole, and the large diameter section of the inner guide sleeve cooperates with the detachable through hole of the support part. The large diameter section of the inner guide sleeve, the large diameter section of the outer guide sleeve and the swing support plate are detachably connected.

3. The mining drilling equipment according to claim 2, characterized in that: The bottom plate also includes a rear support part, which is provided with a notch opening upwards. The guide sleeve assembly also includes a semi-ring guide sleeve, which is coaxial with the front clamp guide sleeve and is installed in the notch.

4. The mining drilling equipment according to claim 1, characterized in that: The front clamp includes a front clamping unit, which is arranged in the swing body. The front clamping unit includes a pair of front clamping units. Each front clamping unit includes a front cava. The front cava includes an outer cava and an inner cava. The output shaft of the front clamping cylinder is fixed to the outer side of the outer cava, and the inner side of the inner cava and the outer cava are detachably connected. The inner sides of the outer cava and the inner cava are both used to clamp the drill pipe.

5. The mining drilling equipment according to claim 4, characterized in that: The upper and lower sides of the inner surface of the outer clam are respectively provided with flat areas, and bolt holes are provided on the flat areas. The upper and lower sides of the outer surface of the inner clam are respectively provided with bosses. The shapes of the flat area and the boss match and are connected with bolts. The inner surface of the outer clam is also provided with four clamping blocks, and a group of two clamping blocks are arranged on both sides of the flat area. The two clamping blocks limit the boss along the drilling direction.

6. The mining drilling equipment according to claim 1, characterized in that: The power head includes a main shaft, a water braid, an end cover and an active drill rod. The end cover is fixed at the front end of the main shaft. The front end cover includes a chuck and a front end cover. A receiving hole is opened in the main shaft. The water braid and the active drill rod are connected and pass through the receiving hole, the chuck and the front end cover in sequence. The active rotating rod and the water braid are respectively located at the front and rear ends of the main shaft. The front end cover is used to drive the active drill rod to rotate, and the active rotating rod can slide backward in the front end cover.

7. The mining drilling equipment according to claim 6, characterized in that: A stopper is arranged on the periphery of the active drill pipe, the periphery cross section of the stopper is polygonal, a limiting opening is opened on the front end cover, and the front end cover limits the rotation of the stopper through the limiting opening.

8. The mining drilling equipment according to claim 7, characterized in that: One end of the active drill rod is set as a male joint, and the other end is set as a female joint. The male joint is used to connect with the drill rod, and the female joint is connected with the connecting shaft. A limiting section is provided between the female joint and the anti-rotation part. The limiting section passes through the chuck, and the outer diameter of the limiting section is smaller than the outer diameters of the female joint and the anti-rotation part.

9. The mining drilling equipment according to claim 8, characterized in that: When the chuck is clamped to the limit position, there is still a gap between the chuck and the outer periphery of the limit section.

10. The mining drilling equipment according to claim 9, characterized in that: The power head also includes a brake assembly, a gearbox and a main power source. The output shaft of the main power source meshes with the gearbox to drive the main shaft to rotate. The gearbox includes a gear shaft and a multi-stage gear. A transmission shaft connected to the gear shaft is provided inside the brake assembly. The brake assembly performs rotational braking on the transmission shaft. An active drill rod is installed at the end of the main shaft. A receiving hole for the active drill rod to pass through is opened in the main shaft. The end of the active drill rod is also detachably connected with a two-way joint.

11. The mining drilling equipment according to claim 10, characterized in that: The brake assembly includes a brake cover, a clamping piston and a releasing piston. A sliding shaft is provided inside the brake cover. One end of the transmission shaft extends into the center of the clamping piston. There are multiple slips distributed circumferentially of the transmission shaft. The clamping piston is sleeved on the slips and can move axially. The surface of the slips away from the transmission shaft is an inclined surface. The surface of the clamping piston opposite to the slips is a slope surface matching the inclined surface of the slips. The clamping piston can slide through the slips to clamp the transmission shaft. The releasing piston is slidingly sleeved on the sliding shaft and is used to push the clamping piston to release the clamping.

12. The mining drilling equipment according to claim 11, characterized in that: The brake cover is provided with oil inlet one and oil inlet two, and a first oil chamber is formed between the side of the release piston away from the clamping piston and the brake cover, and the oil inlet one supplies hydraulic oil to the first oil chamber, and a second oil chamber is provided on the side of the clamping piston away from the release piston, and the oil inlet two supplies hydraulic oil to the second oil chamber.

13. The mining drilling equipment according to claim 12, characterized in that: The water braid part includes a connecting shaft, a core shaft and a water inlet assembly. The core shaft and the connecting shaft are both hollow shafts. The core shaft is fixedly connected and communicated with the connecting shaft. The other end of the connecting shaft is connected to the active drill rod. The core shaft is communicated and rotatably connected with the water inlet assembly. A bearing seat is provided to support the core shaft. A core shaft support bearing is provided in the bearing seat and is sleeved on the outer periphery of the core shaft.

14. The mining drilling equipment according to claim 13, characterized in that: A rear end cover is provided at one end of the main shaft close to the water braid, and the rear end cover includes a connecting sleeve and an inner ring that are connected to each other. The connecting sleeve is provided at one end of the main shaft close to the water braid, the inner ring is located in the middle of the connecting sleeve, and the core shaft of the water braid rotates through the inner ring and is connected to the connecting shaft.

15. The mining drilling equipment according to claim 14, characterized in that: There is a movable gap between the connecting sleeve and the main shaft in the longitudinal direction.

16. The mining drilling equipment according to claim 15, characterized in that: The middle part of the inner ring is arranged as a hexagonal hole, and the outer wall of the core shaft of the water braid is arranged as a hexagonal shape which is clamped with the hexagonal hole.

17. The mining drilling equipment according to claim 1, characterized in that: The mobile platform is also provided with a drill rod supply system, which includes a manipulator and a drill rod box. The manipulator is located between the frame and the drill rod box. The manipulator includes a pitch cylinder, a slewing drive, a pitch arm, a slewing shaft, a slewing arm, a gripper, and a pressure rod. The lower ends of the pitch arm and the pitch cylinder are hinged to the mobile platform, and the upper ends of the pitch arm and the output shaft of the pitch cylinder are hinged. The pitch cylinder is used to drive the pitch arm to swing vertically. The slewing drive is fixed on the pitch arm, and the output shaft, slewing arm, and gripper of the slewing drive are connected in sequence. It is characterized in that: a positioning system is provided on the manipulator, and the positioning system includes a flip sensor, a flip sensing plate, and a control system. The rotating part rotates relative to the fixed part, the flip sensor is installed on the pitch arm, and the flip sensing plate is installed on the slewing arm. In the initial state, the flip sensor and the flip sensing plate are disconnected, and no signal is output; when the rotating arm rotates relative to the pitch arm and leaves the initial position, the flip sensing plate covers the flip sensor, and the flip sensor sends a signal to the control system. The coverage range of the flip sensing plate meets the rotation angle travel requirements of the rotating part.

18. The mining drilling equipment according to claim 17, characterized in that: The flip induction plate is an arc-shaped plate, and the arc-shaped plate, the rotating shaft and the rotating arm are coaxial.

19. The mining drilling equipment according to claim 18, characterized in that: The positioning system also includes a horizontal sensor and a horizontal sensing block. The horizontal sensing block is arranged on the rotating arm. When the rotating arm is in a horizontal position, the horizontal sensor is connected with the horizontal sensing block, and the horizontal sensor sends a signal to the control system, and the control system controls the rotating arm to stop vertical rotation.

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