Multi-degree-of-freedom automatic guiding and positioning device for pipe shed drilling machine

Abstract

The utility model relates to the technical field of pipe shed drilling machine guiding, and discloses a multi-degree-of-freedom automatic guiding and positioning device for a pipe shed drilling machine, which comprises a drilling machine main body, a moving frame is fixedly connected inside the drilling machine main body, a support frame is fixedly connected to the top of the moving frame, and a moving assembly is arranged at the top of the support frame. A supporting block is fixedly connected to the top of the supporting frame, a fixing block is fixedly connected to the top of the supporting frame, an adjusting assembly is arranged at the top of the fixing block and comprises a first rotating block and a moving ball, and the outer wall of the moving ball is rotationally connected to the bottom of the first rotating block. According to the utility model, the motor I drives the rotating block I and the moving ball to rotate, so that the position of the sensor is adjusted along with the rotation of the moving block I, thereby achieving the purpose of guiding and positioning the angle of the pipe shed drilling machine, and solving the problem that drilling deviation is caused as the pipe shed drilling machine is easily influenced by factors such as stratum conditions and drilling machine stability during construction. And the drilling precision and quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of pipe roof drilling rig guidance technology, and in particular to a multi-degree-of-freedom automatic guidance and positioning device for pipe roof drilling rigs. Background Technology

[0002] In the fields of construction engineering and underground exploration, pipe roof drilling rigs are widely used as key equipment in projects such as tunnel support, slope reinforcement, and underground pipeline laying. Their core function is to form a support structure by drilling holes and inserting steel pipes to enhance the stability of the strata. However, with the increasing complexity of projects, especially when facing complex geological conditions such as soft rock, fractured zones, or water-rich strata, traditional drilling rigs are prone to deviation from the design path due to insufficient guiding accuracy, which in turn affects the support effect and construction safety. In addition, the development of urban underground space has increasingly stringent requirements for drilling accuracy, and it is necessary to ensure the accuracy of the spacing and angle of the steel pipe group to avoid interference between adjacent holes. Therefore, developing a device that can achieve multi-degree-of-freedom automatic guiding and positioning has become an important research direction for improving the construction quality and efficiency of pipe roof drilling rigs.

[0003] Currently, most pipe roof drilling rigs use mechanical guidance or simple hydraulic correction systems. Mechanical guidance usually relies on manual operation of a guide frame at a fixed angle, controlling the drilling direction by adjusting the initial angle of the drill rod. Hydraulic correction systems use hydraulic cylinders to push the drill rod for fine-tuning, combined with feedback from tilt sensors to achieve local correction. Some advanced equipment introduces lasers or inertial measurement units (IMUs) for trajectory monitoring, but the sensors are usually fixed to the main body of the drilling rig and cannot be dynamically adjusted with the drill bit. During drilling, factors such as drill rod vibration, formation reaction force, and drilling platform stability can all affect guidance accuracy. Existing technologies lack a real-time dynamic compensation mechanism for sensor position and orientation, resulting in deviations between the measured data and the actual borehole trajectory.

[0004] When existing pipe roof drilling rigs are used in complex geological formations, they are limited by the rigid structure of the guidance system and the static sensor layout, making it difficult to dynamically adapt to the interaction between the drill bit and the formation. When the formation is uneven in hardness or the drilling platform undergoes slight displacement, the drilling trajectory is prone to deviating from the design path, and the deviation accumulates with the increase of drilling depth. Traditional methods rely on manual intervention or machine stoppage for adjustment, which is not only inefficient but also leads to substandard hole quality due to the lag in correction. This problem is particularly prominent in high-precision support engineering, and there is an urgent need for a technical solution that can achieve multi-degree-of-freedom dynamic guidance to improve the accuracy and adaptability of drilling. To this end, a multi-degree-of-freedom automatic guidance and positioning device for pipe roof drilling rigs is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs, which aims to improve the problem that in the existing technology, pipe roof drilling rigs are easily affected by factors such as geological conditions and drilling rig stability, resulting in drilling deviations and difficulty in accurately drilling according to the design path and angle.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multi-degree-of-freedom automatic guiding and positioning device for a pipe roof drilling rig, comprising a drilling rig body, a movable frame fixedly connected inside the drilling rig body, a support frame fixedly connected to the top of the movable frame, a movable component provided on the top of the support frame, a support block fixedly connected to the top of the support frame, a fixed block fixedly connected to the top of the support frame, and an adjustment component provided on the top of the fixed block;

[0007] The adjustment assembly includes a rotating block and a movable ball. The outer wall of the movable ball is rotatably connected to the bottom of the rotating block. A bracket is provided at the bottom of the rotating block, and the bracket is fixedly connected to the top of the fixed block. A motor is fixedly connected to the outer wall of the bracket, and the output end of the motor is fixedly connected inside the rotating block. A sensor is provided at the top of the rotating block. A groove is provided inside the movable ball, and a guide assembly is provided inside the movable ball. A quick-release assembly is provided at the top of the rotating block.

[0008] As a further description of the above technical solution:

[0009] The moving component includes a moving block, which is slidably connected to the outer wall of the support frame. A propulsion motor is fixedly connected to the outer wall of the moving block, and a rotating rod is fixedly connected inside the moving block. The output end of the propulsion motor is fixedly connected to one end of the rotating rod.

[0010] As a further description of the above technical solution:

[0011] The guide assembly includes a sliding column and a rotating block 2. One end of the sliding column is slidably connected inside the moving ball, and the other end of the sliding column is fixedly connected to the outer wall of the rotating block 2. A motor 2 is fixedly connected inside the fixed block, and the output end of the motor 2 is fixedly connected inside the rotating block 2.

[0012] As a further description of the above technical solution:

[0013] The quick-release assembly includes a locking block and a connecting plate. The outer wall of the locking block is slidably connected to the inside of the connecting plate, and a fixing plate is fixedly connected to the top of the rotating block.

[0014] As a further description of the above technical solution:

[0015] The outer wall of the connecting plate is fixedly connected to the inside of the fixing plate, and the outer wall of the sensor is fixedly connected to the top of the connecting plate;

[0016] As a further description of the above technical solution:

[0017] A connecting block is fixedly connected inside the connecting plate, and a limit block is slidably connected inside the connecting plate;

[0018] As a further description of the above technical solution:

[0019] The outer wall of the limiting block is fixedly connected to one end of the card block, and the outer wall of the card block is slidably connected to the inside of the connecting plate;

[0020] As a further description of the above technical solution:

[0021] A spring is provided inside the connecting plate. One end of the spring is fixedly connected to the outer wall of the limiting block, and the other end of the spring is fixedly connected to the outer wall of the connecting block.

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, a motor drives a rotating block and a moving ball to rotate, causing the sensor to adjust its position as the moving block rotates. The guide assembly can further adjust the sensor's position, thereby achieving the purpose of multi-degree-of-freedom guidance and positioning of the pipe roof drilling rig. This solves the problem that traditional pipe roof drilling rigs are easily affected by factors such as geological conditions and drilling rig stability, leading to drilling deviations and difficulty in accurately drilling according to the designed path and angle, thus improving the accuracy and quality of drilling.

[0024] 2. In this utility model, by pressing the button, the button causes the limiting block to squeeze the spring. At this time, the button retracts into the connecting plate, achieving the effect of quickly replacing the sensor. This solves the problem that traditional sensor replacement requires multiple tools to disassemble the sensor, resulting in poor disassembly efficiency and long downtime of the drilling rig, thus improving maintenance efficiency. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of a multi-degree-of-freedom automatic guiding and positioning device for a pipe roof drilling rig proposed in this utility model;

[0026] Figure 2 This is a schematic diagram of the fixing block structure of a multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs proposed in this utility model;

[0027] Figure 3 This is a schematic diagram of the fixing plate structure of a multi-degree-of-freedom automatic guiding and positioning device for a pipe roof drilling rig proposed in this utility model;

[0028] Legend:

[0029] 1. Drilling rig body; 2. Moving frame; 3. Support frame; 4. Propulsion motor; 5. Moving block; 6. Rotating rod; 7. Support block; 8. Fixing block; 9. Bracket; 10. Motor 1; 11. Rotating block 1; 12. Fixing plate; 13. Sensor; 14. Moving ball; 15. Motor 2; 16. Rotating block 2; 17. Sliding column; 18. Groove; 19. Connecting plate; 20. Connecting block; 21. Spring; 22. Limiting block; 23. Locking block. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Reference Figures 1-2 This utility model provides an embodiment of a multi-degree-of-freedom automatic guiding and positioning device for a pipe roof drilling rig, comprising a drilling rig body 1, a movable frame 2 fixedly connected inside the drilling rig body 1, the movable frame 2 being used to support and guide the overall movement of the drilling rig to ensure positioning accuracy, a support frame 3 fixedly connected to the top of the movable frame 2, the support frame 3 providing structural stability and bearing the upper components, a movable component being provided on the top of the support frame 3, the movable component realizing precise horizontal displacement adjustment of the drilling rig, a support block 7 fixedly connected to the top of the support frame 3, the support block 7 being used to enhance local bearing capacity, a fixed block 8 fixedly connected to the top of the support frame 3, the fixed block 8 serving as the installation base for the adjustment component, an adjustment component being provided on the top of the fixed block 8, the adjustment component being used to realize multi-angle positioning of the drill bit;

[0032] The adjustment assembly includes a rotating block 11 and a moving ball 14. The rotating block 11 is driven by a motor to achieve rotational adjustment. The outer wall of the moving ball 14 is rotatably connected to the bottom of the rotating block 11, providing multi-directional rotational freedom. A bracket 9 is provided at the bottom of the rotating block 11, which is fixedly connected to the top of the fixed block 8. The bracket 9 supports the motor and rotating components. A motor 10 is fixedly connected to the outer wall of the bracket 9, providing rotational power. The output end of the motor 10 is fixedly connected inside the rotating block 11, driving the rotating block 11 to rotate. A sensor 13 is provided at the top of the rotating block 11, which detects the rotation angle and provides position feedback. The moving ball 14 has a groove 18 inside and outside, which limits the rotation range of the moving ball 14. A guide assembly is provided inside the moving ball 14 to ensure that the drill bit advances along a predetermined path. A quick-release assembly is provided at the top of the rotating block 11 for quick replacement of the drill bit or maintenance of components. The moving assembly includes... The system includes a movable block 5, which is slidably connected to the outer wall of the support frame 3. The movable block 5 is used to realize the horizontal movement of the drilling rig on the support frame 3. A propulsion motor 4 is fixedly connected to the outer wall of the movable block 5, which provides the moving power. A rotating rod 6 is fixedly connected inside the movable block 5, which transmits the power of the propulsion motor 4 to the moving mechanism. The output end of the propulsion motor 4 is fixedly connected to one end of the rotating rod 6. The propulsion motor 4 drives the rotating rod 6 to rotate, thereby causing the movable block 5 to slide. The guide assembly includes a sliding column 17 and a rotating block 16. One end of the sliding column 17 is slidably connected inside the movable ball 14. The sliding column 17 provides axial guidance and transmits propulsion force. The other end of the sliding column 17 is fixedly connected to the outer wall of the rotating block 16. The rotating block 16 is used to adjust the deflection angle of the drill bit. A motor 15 is fixedly connected inside the fixed block 8. The motor 15 drives the rotating block 16 to rotate. The output end of the motor 15 is fixedly connected inside the rotating block 16. The motor 15 adjusts the direction of the drill bit through the rotating block 16.

[0033] Reference Figure 3The quick-release assembly includes a locking block 23 and a connecting plate 19. The outer wall of the locking block 23 is slidably connected to the inside of the connecting plate 19. The locking block 23 is used to quickly lock or release the drill bit. A fixing plate 12 is fixedly connected to the top of the rotating block 11, providing the mounting base for the quick-release assembly. The outer wall of the connecting plate 19 is fixedly connected to the inside of the fixing plate 12. The connecting plate 19 supports the sensor 13 and the limiting mechanism. The outer wall of the sensor 13 is fixedly connected to the top of the connecting plate 19. The sensor 13 detects the status and position of the drill bit. A connecting block 20 is fixedly connected inside the connecting plate 19, used to fix the spring. Spring 21 is provided inside the connecting plate 19. Limiting block 22 is slidably connected to the connecting plate 19. Limiting block 22 restricts the movement range of locking block 23. The outer wall of limiting block 22 is fixedly connected to one end of locking block 23. Limiting block 22 and locking block 23 move in linkage. The outer wall of locking block 23 is slidably connected inside the connecting plate 19. Locking block 23 is locked or released by sliding. Spring 21 is provided inside the connecting plate 19. Spring 21 provides reset elasticity. One end of spring 21 is fixedly connected to the outer wall of limiting block 22. The other end of spring 21 is fixedly connected to the outer wall of connecting block 20. Spring 21 keeps locking block 23 in the default locked state.

[0034] The working principle is as follows: the output of motor 10 drives the rotating block 11 to rotate, causing the sensor 13 to adjust its vertical position accordingly. Meanwhile, the moving ball 14 rotates inside the sliding column 17. The output of motor 2 15 drives the sliding column 17 to rotate inside the groove 18, simultaneously adjusting the horizontal position of the moving ball 14. This allows the sensor 13 to be adjusted at various angles.

[0035] When disassembling sensor 13, by pressing the locking block 23, the locking block 23 drives the limiting block 22 to slide inside the connecting plate 19. At the same time, the sliding causes the spring 21 to retract into the connecting plate 19 through the squeezing force. The connecting block 20 provides a support point for the spring 21. After the locking block 23 slides into the connecting plate 19, the locking block 23 is released from the restriction of the fixing plate 12. At this time, the sensor 13 can be quickly disassembled by pulling it upward.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom automatic guiding and positioning device for a pipe roof drilling rig, comprising a drilling rig body (1), characterized in that: The drilling rig body (1) is fixedly connected to a movable frame (2), the top of the movable frame (2) is fixedly connected to a support frame (3), the top of the support frame (3) is provided with a movable component, the top of the support frame (3) is fixedly connected to a support block (7), the top of the support frame (3) is fixedly connected to a fixed block (8), and the top of the fixed block (8) is provided with an adjustment component. The adjustment assembly includes a rotating block (11) and a moving ball (14). The outer wall of the moving ball (14) is rotatably connected to the bottom of the rotating block (11). A bracket (9) is provided at the bottom of the rotating block (11). The bracket (9) is fixedly connected to the top of the fixed block (8). A motor (10) is fixedly connected to the outer wall of the bracket (9). The output end of the motor (10) is fixedly connected inside the rotating block (11). A sensor (13) is provided at the top of the rotating block (11). A groove (18) is provided inside the moving ball (14). A guide assembly is provided inside the moving ball (14). A quick-release assembly is provided at the top of the rotating block (11).

2. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 1, characterized in that: The moving component includes a moving block (5), which is slidably connected to the outer wall of the support frame (3). A propulsion motor (4) is fixedly connected to the outer wall of the moving block (5). A rotating rod (6) is fixedly connected inside the moving block (5). The output end of the propulsion motor (4) is fixedly connected to one end of the rotating rod (6).

3. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 1, characterized in that: The guide assembly includes a sliding column (17) and a rotating block (16). One end of the sliding column (17) is slidably connected inside the moving ball (14), and the other end of the sliding column (17) is fixedly connected to the outer wall of the rotating block (16). A motor (15) is fixedly connected inside the fixed block (8), and the output end of the motor (15) is fixedly connected inside the rotating block (16).

4. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 1, characterized in that: The quick-release assembly includes a locking block (23) and a connecting plate (19). The outer wall of the locking block (23) is slidably connected to the inside of the connecting plate (19), and a fixing plate (12) is fixedly connected to the top of the rotating block (11).

5. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 4, characterized in that: The outer wall of the connecting plate (19) is fixedly connected to the inside of the fixing plate (12), and the outer wall of the sensor (13) is fixedly connected to the top of the connecting plate (19).

6. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 5, characterized in that: A connecting block (20) is fixedly connected inside the connecting plate (19), and a limit block (22) is slidably connected inside the connecting plate (19).

7. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 6, characterized in that: The outer wall of the limiting block (22) is fixedly connected to one end of the card block (23), and the outer wall of the card block (23) is slidably connected inside the connecting plate (19).

8. The multi-degree-of-freedom automatic guiding and positioning device for pipe roof drilling rigs according to claim 7, characterized in that: A spring (21) is provided inside the connecting plate (19). One end of the spring (21) is fixedly connected to the outer wall of the limiting block (22), and the other end of the spring (21) is fixedly connected to the outer wall of the connecting block (20).

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