A Mining Drilling System

Abstract

The present invention relates to the technical field of coal mine drilling and discloses a mining drilling system. A driving drill rod comprises a limiting section and an anti-rotation section. One end of a spindle is provided with a chuck, and one end of the chuck is provided with a front-end cover. The chuck is clamped onto the limiting section, and the front-end cover is slidably connected to the anti-rotation section. The front-end cover drives the driving drill rod to rotate. A graded hydraulic system controls the clamping pressure of the chuck on the limiting section. A front gripper comprises a front support plate and a rear support plate disposed at intervals. Each of the front and rear support plates is provided with a through hole, and each through hole includes an opening. The width of the opening is greater than or equal to the diameter of a large-sized drilling tool. A swinging body is arranged between the front and rear support plates and is configured to swing beyond both plates. In a positioning system, a flipping sensor and a flipping sensing plate are used to determine whether the rotating arm of a main manipulator drives a claw to flip toward the frame. A leveling sensor and a leveling sensing block are used to determine whether the main manipulator is in a preset inclined position. The invention addresses the problem of complicated operation in existing drilling equipment during construction.

Description

FIELD OF THE INVENTION

[0001] The present invention relates to the technical field of coal mine drilling, and more particularly to a mining drilling system.BACKGROUND

[0002] At present, in order to improve productivity, the coal mining industry has introduced automated and intelligent drilling systems such as automatic rotary drilling rigs and automatic directional drilling rigs. Compared with conventional drilling rigs, automated drilling systems offer functions including automatic loading and unloading of drill rods and automated drilling operations, providing significant advantages in terms of automation and operational safety. However, existing automated drilling systems still encounter certain challenges during field operations. For example, components such as the power head and the gripper often cannot accommodate rapid switching between drill tool specifications during construction, rendering them unsuitable for use in automated drilling systems—particularly in automated directional drilling rigs.

[0003] Existing automated directional drilling rigs integrate two connection modes for drill rods: a chuck and a driving drill rod. During normal automated drilling operations, a driving drill rod is used to load and unload standard drill rods from the front end of the power head. When fishing tools are used, the driving drill rod is removed, and a chuck is employed to load and unload fishing drill rods from the rear end of the power head. However, current technologies lack efficiency in terms of disassembly and replacement.

[0004] Most existing driving drill rods are of a monolithic structure. For instance, as described in Chinese Patent Application No. 202010733745.4, the driving drill rod is constructed as a single integrated piece. If damaged during operation, the entire driving drill rod must be removed and replaced after detaching the associated mounting components, which results in substantial labor, low efficiency, and high maintenance costs due to expensive replacement parts.

[0005] Another example can be found in Chinese Patent Application No. 202011156490.6, which discloses a driving drill rod split into two components: a drill rod connector and a main body. However, the two components are joined by welding, effectively forming a non-detachable assembly. While this configuration reduces machining difficulty and workload during manufacturing, it offers no improvement in disassembly or maintenance during actual operation.

[0006] In addition to structural limitations, the hydraulic system of existing power heads also struggles to support the dual-mode connection requirements of chucks and driving drill rods. Conventional chuck hydraulic systems typically operate only in two states: release and clamp. They lack multi-stage control capability. Prolonged high-pressure clamping not only risks damaging the driving drill rod but also leads to unnecessary energy consumption, making such systems unsuitable for power heads supporting both chuck-based and driving drill rod-based connections.

[0007] Regarding the gripper, directional drilling rigs face especially complex requirements for drill rod handling. They must accommodate both standard drill rods and large-diameter tools—such as downhole motors—that are longer and wider than standard drill rods. This presents several challenges: First, the core component of directional drilling, namely the downhole motor, typically has a greater length and outer diameter than a standard drill rod. As such, conventional methods of loading and unloading rods from the rear or middle section of the frame are not applicable. Moreover, the distance from the front of the gripper to the borehole wall is severely limited, making it difficult to insert the downhole motor directly into the gripper. Second, grippers commonly adopt a structure in which slips are mounted on the surface of a slip holder. Once assembled, this structure only accommodates drill rods of a specific diameter. If a drill tool of a different outer diameter is required, the slips must be removed and replaced—a process that is both time-consuming and labor-intensive. Third, during gripper operation, the drill rod must repeatedly enter and exit the gripping mechanism. As the slips on either side of the gripper frequently open and close—resulting in a constantly changing spacing—the gripper typically lacks a guiding function. In addition to structural limitations, the hydraulic system of the gripper also exhibits deficiencies. One notable issue is slippage of the drill rod during unthreading operations.

[0008] Furthermore, automated directional drilling requires a drill rod conveying system that can accommodate large-diameter, long, and high-capacity drill rods, while also conserving machine body space. Existing automated loading and unloading systems fail to meet these on-site operational demands.BRIEF DESCRIPTION

[0009] The present invention is directed to a mining drilling system, aiming to address the operational complexity encountered during construction with existing automated mining drilling equipment.

[0010] To achieve the above objective, the invention provides the following technical solution:

[0011] A mining drilling system, comprising a frame, a power head, a gripper, and a main manipulator, wherein: the power head comprises a spindle, a water swivel, and a driving drill rod. A connecting shaft is disposed within the spindle, the water swivel and the driving drill rod are respectively connected to opposite ends of the connecting shaft. The driving drill rod comprises a limiting section and a anti-rotation section, one end of the spindle is provided with a chuck, one end of the chuck is provided with a front end cover. The chuck is clamped onto the limiting section. The front end cover is slidably connected to the anti-rotation section, and the front end cover is configured to drive the driving drill rod to rotate. The chuck is connected to a graded hydraulic system, the graded hydraulic system being configured to control a clamping pressure of the chuck on the limiting section.

[0012] The gripper comprises a front gripper and a rear gripper. The front gripper comprises a front support plate and a rear support plate disposed at an interval. Each of the front support plate and the rear support plate is provided with a through hole, and each of the through holes is provided with an opening, a width of each opening being greater than or equal to a diameter of a large-sized drilling tool. A swinging body is disposed between the front support plate and the rear support plate, the swinging body being configured to swing beyond both the front support plate and the rear support plate.

[0013] The main manipulator comprises a positioning system, a rotating arm, and a claw. The rotating arm and the claw being interconnected. The positioning system comprises a leveling sensor, a leveling sensing block, a flipping sensor, and a flipping sensing plate, the flipping sensor and the flipping sensing plate being configured to determine whether the rotating arm of the main manipulator drives the claw to flip toward the frame, and the leveling sensor and the leveling sensing block being configured to determine whether the main manipulator is positioned at a preset inclination angle.

[0014] The advantageous effects of the present solution are as follows:

[0015] 1. By improving the structure of the power head, the structure of the gripper, and the hydraulic control system of the chuck, this invention enhances the ease of drill rod installation, removal, and replacement within the spatial constraints of existing drilling equipment. The system enables differentiated control during construction to accommodate varying operational requirements, making it suitable for mining drilling operations—particularly directional drilling—where tool specifications must be changed during underground operations. It is especially applicable in scenarios involving the simultaneous use of standard drill rods, fishing drill rods, and specialized downhole tools such as downhole motors. As a result, the invention effectively addresses the inefficiencies in installation and maintenance associated with existing drilling systems, reduces operational complexity, and improves on-site construction efficiency.

[0016] In addition to the existing incremental and angular sensors in the main manipulator, the invention incorporates additional sensor assemblies comprising a horizontal sensor and a horizontal sensing block, as well as a flip sensor and a flip sensing plate. These enhancements ensure that actuators within the drilling system operate within the designed inclination range. When the swing arm rotates, a signal is transmitted to the automated control system, enabling timely handling of unexpected mechanical interference between the main manipulator and the power head. The flip sensor is capable of detecting whether the swing arm has been rotated to its intended position, thereby enhancing the reliability of the manipulator positioning system.

[0017] 3. The addition of the horizontal sensor enables the inclination sensor to function with a simpler single-ended cylinder, thereby simplifying inclination control and further streamlining the structural design of the drilling system.

[0018] 4. The use of a quickly detachable combination of the driving drill rod and the chuck allows for rapid replacement of the drill rod connection components of the power head, facilitating on-site changes in drill tool specifications. Torque is transmitted via engagement with the front end cover. The clamping and releasing states between the driving drill rod and the chuck enable the integrated disassembly and reassembly of the driving drill rod and the connecting shaft from the rear end of the power head, significantly simplifying the disassembly process and improving operational efficiency.

[0019] 5. The multi-stage hydraulic system with pressure grading control regulates the clamping force of the chuck, thereby improving the stress condition of the driving drill rod, avoiding energy waste caused by prolonged high-pressure clamping, and enhancing the adaptability of the power head to various working conditions such as standard drilling and fishing operations.

[0020] 6. The oscillating body in the gripper is capable of swinging out of its base. In conjunction with the upwardly open through holes in the front and rear support plates, this configuration creates substantial space inside and above the gripper, making it suitable for accommodating special tools such as downhole motors.

[0021] Preferably, the system further comprises a drill rod storage box, which includes a drill rod frame, a rod placement groove, and a gripping manipulator. The axial direction in which the drill rods are stored is aligned with the longitudinal direction of the machine frame. The gripping manipulator is mounted on the side of the drill rod frame. The rod placement groove is installed on the side of the drill rod frame facing the machine frame and is internally provided with a drill rod channel and a drive device. The drill rod channel is located on the side of the drill rod frame, and both ends along the axial direction of the drill rod channel are provided with movable baffles connected to the drive device.

[0022] Preferably, the main manipulator further comprises a tilting cylinder, a rotary actuator, a tilting arm, and a rotary shaft, the tilting arm comprising an interconnecting shaft base and a support body. The rotary actuator, the shaft base, the rotating arm, and the claw are sequentially connected. An end of the shaft base distal from the rotary actuator is provided with an end cover. A piston rod of the tilting cylinder is rotatably connected to a side wall of the support body, and the rotary shaft is disposed between the shaft base and the rotating arm.

[0023] The flipping sensor is mounted on a lower side of the shaft base or the end cover near an end of the rotating arm, and the flipping sensing plate is mounted on the rotary shaft or on the rotating arm near an end of the tilting arm. The leveling sensing block is mounted on the rotating arm, and the leveling sensor is mounted on the drill rod frame or the rod placement groove, the leveling sensor facing the rotating arm of the manipulator.

[0024] Preferably, the power head further comprises a hydraulic motor, the hydraulic motor being connected to a gearbox, the gearbox comprising a gear shaft and a multi-stage gear set configured to transmit power from the hydraulic motor to the driving drill rod after gear shifting and torque amplification, and the spindle is disposed inside the gearbox.

[0025] Preferably, the driving drill rod comprises a rod body and a double-headed connector disposed at one end of the rod body. The limiting section and the anti-rotation section are both provided on the rod body. An outer periphery of the anti-rotation section is formed with a hexagonal shape. An interior of the front end cover is provided with a hexagonal through hole. A diagonal distance of the hexagonal outer periphery of the anti-rotation section is smaller than the diameter of the chuck in a released state. Outer diameters of shaft sections on both sides of the limiting section are greater than a minimum diameter of the chuck in a clamped state, and a width of the limiting section is slightly greater than a clamping width of the chuck.

[0026] Preferably, the water swivel comprises a mandrel and a water inlet assembly, the mandrel being fixedly connected to and in fluid communication with the connecting shaft, and the mandrel being in fluid communication with and rotatably connected to the water inlet assembly. The water inlet assembly comprises a housing and a water inlet port. A water supply chamber is formed inside the housing and is in communication with the water inlet port. The system further comprises a bearing seat, the bearing seat supporting the mandrel. A grease fitting is provided on the bearing seat and is in communication with an interior of the bearing seat. The system further comprises a coupling sleeve, the coupling sleeve connecting the water swivel to an end of the gearbox distal from the hydraulic motor; the coupling sleeve comprises a connection flange, the connection flange being formed with a slotted hole configured for bolt insertion, and a gap is formed between an end face of the coupling sleeve facing the driving drill rod and an end face of the connecting shaft.

[0027] Preferably, a brake assembly comprises a brake cover, a clamping piston, and a release piston. A sliding shaft is disposed of on the brake cover. One end of a transmission shaft extends into a center of the clamping piston. A plurality of brake slips are circumferentially distributed around the transmission shaft. The clamping piston is sleeved over the brake slips and is axially movable. The surface of each brake slip opposite from the transmission shaft is formed as an inclined surface. A surface of the clamping piston opposing the brake slips is formed as a sloped surface corresponding to the inclined surfaces of the brake slips, the clamping piston being slidable to clamp the transmission shaft via the brake slips, and the release piston being slidably sleeved on the sliding shaft and configured to drive the clamping piston to release the clamping.

[0028] Preferably, the graded hydraulic control system comprises a pressure-reducing valve, a solenoid directional valve, a hydraulic directional valve, a main pump, and an auxiliary pump. The solenoid directional valve is a three-position four-way valve having an A port, a B port, a P port, and a T port, and is configured with Y1 and Y2 positions. The hydraulic directional valve is a hydraulic valve having a P port, a T port, an A port, and a hydraulic control port. The chuck is provided with a control oil port, the A port of the hydraulic directional valve is connected to the control oil port of the chuck, and the main pump is connected to the P port of the hydraulic directional valve. An oil circuit of the auxiliary pump is divided into two branches, one branch being connected to the P port of the hydraulic directional valve, and the other branch being connected to the P port of the solenoid directional valve through the pressure-reducing valve. A drain port of the pressure-reducing valve is connected to the T port of the solenoid directional valve for oil drainage. An oil outlet of the A port of the solenoid directional valve is divided into two branches, one branch being connected to the P port of the hydraulic directional valve, and the other branch being connected to the hydraulic control port of the hydraulic directional valve. The B port of the solenoid directional valve is connected to the T port of the hydraulic directional valve.

[0029] Preferably, when the chuck is in a released state, the Y1 and Y2 positions are de-energized, pressure oil from the main pump is blocked at the P port of the hydraulic directional valve, and pressure oil from the auxiliary pump flows through the pressure-reducing valve and is blocked at the P port of the solenoid directional valve. When the chuck is in a low-pressure clamping state, the Y2 position is energized, pressure oil from the main pump is blocked at the P port of the hydraulic directional valve, one branch of pressure oil from the auxiliary pump is blocked at the P port of the hydraulic directional valve, and another branch flows through the pressure-reducing valve and the solenoid directional valve, and then reaches a control port of the chuck via the hydraulic directional valve. When the chuck is in a high-pressure clamping state, the Y1 position is energized, pressure oil from the main pump flows through the hydraulic directional valve into the control port of the chuck, one branch of pressure oil from the auxiliary pump flows through the solenoid directional valve to reach a control port of the hydraulic directional valve to switch an operating state of the hydraulic directional valve, and another branch flows through the hydraulic directional valve into the control port of the chuck, where pressure oil from the main pump and the auxiliary pump converge.

[0030] Preferably, the swinging body comprises two symmetrically arranged support plates, each of the support plates being provided with a guide mounting hole. A flip shaft base is disposed below one side of each support plate, outer end faces on both sides of the two support plates are respectively connected to a front cylinder mounting plate, each front cylinder mounting plate being provided with a front clamping cylinder. A swinging lug seat is disposed below the front cylinder mounting plate located near the flip shaft base, and a swing cylinder is rotatably connected within the swinging lug seat. A side of each of the front support plate and the rear support plate near the flip shaft base is connected to a flipping plate, the flipping plate being provided with a flipping hole, and a flipping pin shaft is disposed within the flipping hole.

[0031] Preferably, each of the openings is detachably connected to a reinforcing plate, and a plurality of mutually matching grooves and protrusions are disposed between a top of the front support plate and a bottom of the reinforcing plate, and between a top of the rear support plate and the bottom of the reinforcing plate.

[0032] Preferably, each of the two through holes is provided with a guide sleeve assembly. The guide sleeve assembly comprising an outer guide sleeve and an inner guide sleeve. An outer diameter of the inner guide sleeve is divided into two stages, a smaller-diameter section of the inner guide sleeve is fitted with a guide mounting hole on the swinging body, and a larger-diameter section of the inner guide sleeve is fitted with the through holes on the front support plate and the rear support plate.

[0033] Preferably, an outer diameter of the outer guide sleeve is divided into two stages, a larger-diameter section of the outer guide sleeve being provided with a countersunk connection hole, the countersunk connection hole being configured to connect the outer guide sleeve and the inner guide sleeve to the swinging body. An inner diameter of the inner guide sleeve is also divided into two stages, a smaller-diameter section of the inner diameter being a constant-diameter through hole fitted with a smaller-diameter section of the outer guide sleeve, and a larger-diameter section of the inner diameter being a countersunk stepped portion fitted with the larger-diameter section of the outer guide sleeve.

[0034] Preferably, the gripper mounting portion comprises a rear gripper mounting portion, the rear gripper mounting portion comprising symmetrically arranged front side plates and rear side plates, each of the front side plates and the rear side plates being formed with a U-shaped hole at a central portion thereof, the U-shaped holes causing a top of the front side plates and the rear side plates to be completely open. Outer end faces on both sides of the front side plates and the rear side plates are connected to rear cylinder mounting plates.

[0035] Preferably, each of the U-shaped holes is connected to a semi-annular guide sleeve, an outer diameter of the semi-annular guide sleeve is divided into two stages, a smaller-diameter section of the semi-annular guide sleeve being fitted with the U-shaped hole, and a larger-diameter section being configured to fix the semi-annular guide sleeve to the front side plate or the rear side plate.

[0036] Preferably, the front gripper and the rear gripper are each connected to a clamping cylinder, and the power head further comprises a hydraulic motor; an anti-slip hydraulic system is provided between the hydraulic motor and the clamping cylinders, the anti-slip hydraulic system being configured to pressurize the clamping cylinders during a clamping operation via a reverse oil circuit of the hydraulic motor.

[0037] Preferably, a piston rod of each of the clamping cylinders is detachably connected to an outer slip, and an inner slip is detachably connected to an inner side of the outer slip. An inner arcuate surface of the outer slip has a diameter matched to an outer diameter of the inner slip, the outer slip is provided with a plurality of countersunk holes, and the piston rod of the clamping cylinder is detachably connected within the countersunk hole. An upper end and a lower end of the inner slip are each provided with a boss, and an upper end and a lower end of the outer slip are each provided with a slot, the boss being detachably connected within the slot.

[0038] Preferably, the anti-slip hydraulic system comprises a branch oil circuit provided between a reverse oil circuit connected to the hydraulic motor and a clamping oil circuit connected to the clamping cylinder, the branch oil circuit being provided with a check valve, the check valve being configured to only allow oil to flow unidirectionally from the reverse oil circuit into the clamping oil circuit; a hydraulic lock is commonly connected to the clamping oil circuit and a release oil circuit.

[0039] Preferably, an inlet valve opening pressure of the check valve is higher than a return oil pressure in the reverse oil circuit.

[0040] Preferably, a front check valve is provided between a clamping oil circuit of the front clamping cylinder and the reverse oil circuit, and a rear check valve is provided between a clamping oil circuit of the rear clamping cylinder and the reverse oil circuit, the front check valve and the rear check valve being in fluid communication with each other.BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG. 1 is a 3D view of the mining drilling system according to an embodiment of the present invention.

[0042] FIG. 2 is a schematic structural diagram of the power head according to an embodiment of the present invention.

[0043] FIG. 3 is a schematic structural diagram of the driving drill rod according to an embodiment of the present invention.

[0044] FIG. 4 is a schematic structural diagram of the front end cover according to an embodiment of the present invention.

[0045] FIG. 5 is a detailed view of the water swivel according to an embodiment of the present invention.

[0046] FIG. 6 is a schematic connection diagram of the water swivel according to an embodiment of the present invention.

[0047] FIG. 7 is a schematic structural diagram of the connecting sleeve according to an embodiment of the present invention.

[0048] FIG. 8 is a structural diagram of the brake assembly according to an embodiment of the present invention.

[0049] FIG. 9 is a schematic diagram of the multi-stage hydraulic system when the chuck is released according to an embodiment of the present invention.

[0050] FIG. 10 is a schematic diagram of the multi-stage hydraulic system when the chuck is under low-pressure clamping according to an embodiment of the present invention.

[0051] FIG. 11 is a schematic diagram of the multi-stage hydraulic system when the chuck is under high-pressure clamping according to an embodiment of the present invention.

[0052] FIG. 12 is a 3D view of the dual grippers according to an embodiment of the present invention.

[0053] FIG. 13 is a 3D view of the base according to an embodiment of the present invention.

[0054] FIG. 14 is a 3D view of the swinging body according to an embodiment of the present invention.

[0055] FIG. 15 is a 3D view of the outer slip according to an embodiment of the present invention.

[0056] FIG. 16 is a 3D view of the inner slip according to an embodiment of the present invention.

[0057] FIG. 17 is a schematic internal structural diagram of the dual grippers according to an embodiment of the present invention.

[0058] FIG. 18 is a 3D view of the outer guide sleeve according to an embodiment of the present invention.

[0059] FIG. 19 is a 3D view of the inner guide sleeve according to an embodiment of the present invention

[0060] FIG. 20 is a 3D view of the semi-annular guide sleeve according to an embodiment of the present invention.

[0061] FIG. 21 is a schematic structural diagram of the hydraulic system according to an embodiment of the present invention.

[0062] FIG. 22 is an isometric 3D view of the gripping manipulator according to an embodiment of the present invention.

[0063] FIG. 23 is an isometric 3D view of the tilting arm according to an embodiment of the present invention.

[0064] FIG. 24 is an isometric 3D view of the rotating arm according to an embodiment of the present invention.

[0065] FIG. 25 is a schematic diagram of the installation of the flipping sensor according to an embodiment of the present invention.

[0066] FIG. 26 is a schematic structural diagram of the drill rod storage box according to an embodiment of the present invention.DETAIL DESCRIPTION

[0067] The following provides a more detailed explanation through specific embodiments.

[0068] Power head (1), driving drill rod (10), rod body (101), female connector (102), anti-rotation section (103), limiting section (104), double-headed connector (105), connecting shaft (11), water swivel (12), mandrel (121), housing (122), water supply chamber (123), water inlet (124), bearing seat (125), grease nozzle (1251), mandrel support bearing (126), front end cap (13), hexagonal through hole (131), hexagonal sleeve (132), chuck (14), main shaft (15), gearbox (16), hydraulic motor (17), brake assembly (18), brake cover (181), clamping piston (182), release piston (183), slide shaft (184), brake jaw (185), driving shaft (186), first oil inlet (187), second oil inlet (188), key (189), connecting sleeve (19), elongated hole (191). Front gripping device (2), rear gripping device (20), base (200), mounting plate (201), flipping plate (202), front support plate (203), reinforcing plate (204), rear support plate (205), rear liner (206), rear side plate (207), rear hydraulic cylinder mounting plate (208), front side plate (209), outer guide sleeve (21), inner guide sleeve (210), swinging body (22), support plate (221), front hydraulic cylinder mounting plate (222), front liner (223), swinging lug seat (224), flip shaft seat (225), swinging cylinder (226), flip pin shaft (227), front clamping cylinder (23), rear clamping cylinder (230), outer jaw (24), inner jaw (240), semi-annular guide sleeve (25), Frame (3), pressure reducing valve (41), solenoid directional valve (42), hydraulic directional valve (43), oil tank (44), first check valve (45), second check valve (46), third check valve (47), drilling rig hydraulic system (5), forward flow line (51), reverse flow line (52), front hydraulic lock (53), front check valve (54), rear check valve (55), rear hydraulic lock (56), clamping flow line (57), release flow line (58), mobile platform (6), automatic control system (7), drill rod storage box (8), drill rod frame (81), rod placement groove (82), drill rod groove (821), movable baffle (822), driving device (823), grooved section (824), gripping manipulator (83), main manipulator (9), cylinder seat (91), pitch cylinder (92), rotary actuator (93), pitch arm (94), shaft seat (941), end cap (942), support body (943), rotating cylinder (944), incremental sensor (945), angle identification plate (946), flip sensor (947), flip sensing plate (948), rotating shaft (95), rotating arm (96), horizontal sensing block (961), horizontal sensor (962), gripper (97), iso-angle sensor (98).Embodiment

[0069] An embodiment is generally illustrated in FIGS. 1 to 26. As shown in FIG. 1, a mining drilling system includes a mobile platform (6), a frame (3), a power head (1), a gripping device, an automatic control system (7), a drilling rig hydraulic system (5), a drill rod storage box (8), and a main manipulator (9).

[0070] The mobile platform (6) serves as the carrier and transport base for the upper drilling components. It is capable of underground movement, facilitating machine relocation and transfer. The frame (3) functions as the structural base supporting the power head (1), gripping device, and main manipulator (9), as well as accommodating the drilling drive device (823). The power head (1) is connected to the drill rod and transmits the rotational and axial forces required for drill rod installation and removal. The gripping device is responsible for securing the drill rod in place, and works in coordination with the power head (1) to facilitate the threaded connection and disconnection of drill rods. In the present embodiment, the gripping device is a dual gripping mechanism, comprising a front gripping device (2) and a rear gripping device (20), which are rotatable relative to each other. The automatic control system (7) receives operator control instructions and compiles them into executable parameters for the various components of the drilling system, thereby enabling automated directional drilling, trajectory measurement, and drill rod handling. The drilling rig hydraulic system (5) converts mechanical energy into hydraulic energy via hydraulic pumps to drive the execution of the power head (1), frame (3), gripping device, and manipulators. The drill rod frame (81) functions as a container for storing drill rods. The main manipulator (9) retrieves drill rods from the drill rod storage box (8), delivers them to the axial alignment between the power head (1) and the gripping device for drilling operations, and retrieves the rods upon completion of drilling.

[0071] The aforementioned components are based on existing technologies. The following sections describe improvements made to the relevant components.

[0072] First, with reference to FIGS. 2 to 8, the structural improvement of the power head (1) is provided as follows.

[0073] As shown in FIG. 2, the power head (1) includes a main shaft (15), a water swivel (12), a driving drill rod (10), a hydraulic motor (17), a braking assembly (18), and a gearbox (16). The hydraulic motor (17) serves as the power source of the power head (1), providing the driving torque necessary for the rotation of the driving drill rod (10). The output shaft of the hydraulic motor (17) is engaged with the gearbox (16), which comprises a gear shaft and multi-stage gears. These components convert and amplify the power from the hydraulic motor (17), transmitting it to the driving drill rod (10) to meet the torque and speed requirements of the drilling operation. The gearbox (16) also functions as the main structural body for supporting and mounting other components of the power head (1). The braking assembly (18) provides rotational braking for the gearbox (16). Inside the braking assembly (18), a transmission shaft (186) is connected to the gear shaft via a key (189), allowing for synchronous rotation. The braking assembly (18) applies rotational braking to the transmission shaft (186), thereby preventing the main shaft (15) from rotating under the reverse torque generated during drilling. A connection shaft (11) is provided within the main shaft (15), with the water swivel (12) and the driving drill rod (10) respectively connected to its two ends. The main shaft (15) is provided with an internal accommodation bore through which the driving drill rod (10) can extend.

[0074] As shown in FIG. 3, the driving drill rod (10) includes a rod body (101) and a double-ended coupling (105) provided at one end of the rod body (101). Both ends of the rod body (101) are fitted with female connectors (102). The female connector (102) on the left end is connected to the connection shaft (11). In this embodiment, both female connectors (102) adopt a taper thread connection that matches the drill rod. The female connector (102) on the right end is connected to the double-ended coupling (105), which is in turn used to connect with the working drill rod. The rod body (101) includes a limiting section (104) and an anti-rotation section (103). The outer cross-section of the anti-rotation section (103) is formed as a polygon—specifically, a hexagonal shape in this embodiment. As further shown in FIG. 2, one end of the main shaft (15) is connected to a chuck (14), and one end of the chuck (14) is connected to a front end cover (13). The chuck (14) is a normally open type. In combination with FIG. 4, the interior of the front end cover (13) is provided with a hexagonal through hole (131). The hexagonal through hole (131) engages with the anti-rotation section (103), allowing the front end cover (13) to form a sliding connection with the driving drill rod (10), while also constraining its rotation. A hexagonal outer sleeve (132) is provided at the rear end of the front end cover (13), and a hexagonal inner bore is formed at the front end of the chuck (14). The hexagonal outer sleeve (132) mates with the hexagonal inner bore to transmit the rotational force from the power head (1) to the front end cover (13), which in turn drives the rotation of the driving drill rod (10). The outer diameter of the female connector (102) on the left end is smaller than the inner diameter of the chuck (14) in its released state, ensuring that the driving drill rod (10) can be withdrawn from the rear of the power head (1). At the same time, the outer diameter of the female connector (102) is larger than the minimum clamping diameter of the chuck (14), thereby enabling axial constraint of the driving drill rod (10) during clamping. The diagonal dimension of the hexagonal outer profile of the anti-rotation section (103) is smaller than the inner diameter of the chuck (14) in its released state, ensuring that the driving drill rod (10) can be withdrawn from the rear of the power head (1). The outer diameters of the shaft segments on both sides of the limiting section (104)—namely, the outer diameter of the female connector (102) and the flat-to-flat dimension of the hexagonal profile of the anti-rotation section (103)—are both greater than the minimum clamping diameter of the chuck (14). Additionally, the axial width of the limiting section (104) is slightly greater than the clamping width of the chuck (14).

[0075] Through the structural improvements made to the drill rod, as well as enhancements to the front end cover (13) and the chuck (14), the system enables axial sliding of the driving drill rod (10) while constraining its rotation. This design allows the driving drill rod (10) to axially float by a certain distance during operation, effectively mitigating axial impacts generated during thread engagement and disengagement processes. As a result, the system protects the driving drill rod (10) and other connected components, thereby extending the service life of the equipment. When axial floating of the driving drill rod (10) occurs, the impact force transmitted to the water swivel (12) is reduced, which in turn lessens wear on the water swivel (12) and improves the overall durability and reliability of the drilling rig. The limiting section (104) is positioned between the chuck (14) elements such that, even when the chuck (14) clamps to its extreme position, there remains a gap between the clamping surfaces and the outer periphery of the limiting section (104). This ensures that the clamping force of the chuck (14) does not act directly on the driving drill rod (10). In doing so, the design prevents the driving drill rod (10) from experiencing deformation due to excessive clamping force, which could otherwise lead to fatigue failure during reciprocating rotary motion. This effectively reduces fatigue damage and extends the service life of the driving drill rod (10). Additionally, due to the axial floating design of the driving drill rod (10), the water swivel (12) is subjected to reduced impact forces during operation. This results in more uniform loading on the water swivel (12), thereby achieving axial force balance and improving the performance stability of the system.

[0076] Additionally, both ends of the double-ended connector (105) are configured as identical male threads, designed to match the female threads of the drill rod body (101) and the internal threads of the working drill rod used in the drilling rig. During normal operation, one male thread is coated with adhesive and threaded into the female connector (102) of the drill rod body (101), while the other end is connected to the female connector (102) of the previously installed drill rod, thereby transmitting power from the power head (1) to the drill string. When the external threads of the connector that interface with the drill rod become worn to a certain extent, the threaded connection between the connector and the drill rod body (101) can be loosened. The connector is then reversed, and the previously unused male thread—having experienced no wear due to being in a fixed connection—is coated with adhesive and reattached to the drill rod body (101). Since the previously connected thread remained static and was not subject to wear, reversing the ends effectively enables the double-ended connector (105) to be used twice. Consequently, its service life is approximately double that of the previously used one-piece driving drill rod (10), thereby reducing the wear rate of the driving drill rod (10) in conventional rigs. This design lowers resource waste and decreases overall operational costs for the drilling rig.

[0077] Additionally, when the threads on one end of the double-ended connector (105) become worn and need to be reversed for continued use, that worn section can be securely fixed to the driving drill rod (10) using adhesive. Specifically, the following procedure is applied: On one end of the double-ended connector (105), a linear bead of thread-locking adhesive is applied axially along the upper side of the male thread, and a symmetrical bead is applied on the lower side. As the male thread is screwed into the female connector (102), the adhesive on the left end of the coated section makes contact with the internal threads of the female connector (102). The tightening motion causes the adhesive to spread further, but progressively less so in the rightward direction—resulting in fewer contact turns and less dispersion of adhesive toward the right. After this coated end is screwed into the female connector (102) of the drill rod body (101), the initially linear adhesive application spreads into an approximately trapezoidal band when viewed along the axial cross-section, appearing wider on the left and narrower on the right. When the connector is later reversed and reused, a similar adhesive application is made on the new end. This configuration—where one trapezoidal adhesive band is wide and the other narrow—complements the natural stress distribution along the male thread, where load typically varies along the thread length. This results in a more uniform stress distribution, enhancing the strength and integrity of the threaded connection. The design not only ensures sufficient anti-loosening torque resistance under reverse rotation, but also facilitates future disassembly. As a result, it significantly reduces installation time and operational costs. Moreover, this feature provides a valuable contingency solution in remote locations where maintenance or replacement of the driving drill rod (10) may be difficult to carry out.

[0078] As shown in FIGS. 5 and 6, the water swivel (12) includes a mandrel (121) and a water inlet assembly. The mandrel (121) is fixedly connected and in fluid communication with the connecting shaft (11); both the mandrel and the connecting shaft are hollow, allowing the passage of drilling fluid. The opposite end of the connecting shaft (11) is coupled with the driving drill rod (10), while the mandrel (121) is connected in fluid communication with, and rotatably mounted to, the water inlet assembly. A bearing seat (125) is further provided to support the mandrel (121), within which a mandrel support bearing (126) is fitted around the outer circumference of the mandrel (121). The water inlet assembly comprises a housing (122) and a water inlet port (124). Inside the housing (122), a water supply chamber (123) is defined and connected to the inlet port (124). The end of the connecting shaft (11) adjacent to the driving drill rod (10) is provided with an external thread for threaded engagement with the rear end of the driving drill rod (10); the other end, near the water swivel (12), is internally threaded to receive the external thread of the mandrel (121). This threaded arrangement ensures that drilling fluid entering through the water swivel (12) can be continuously delivered to the driving drill rod (10), while also mechanically coupling the two components. The mandrel (121) is rotatably driven in unison with the driving drill rod (10) during operation. The inclusion of the mandrel support bearing (126) ensures smooth rotation of the mandrel, thereby reducing friction and wear, and prolonging the operational life of the equipment. The internal hollowness of the connecting shaft (11) and the mandrel (121) enables efficient fluid passage from the water inlet assembly to the driving drill rod (10), ensuring a stable and uninterrupted supply of drilling fluid, and thereby improving drilling efficiency. A grease fitting (1251) is provided on the bearing seat (125) and communicates with the internal chamber of the bearing seat (125). This allows for the application of lubricant to the mandrel support bearing (126), maintaining proper lubrication and minimizing friction under high-load conditions. The lubrication effectively reduces bearing wear and heat accumulation, preventing damage due to overheating and improving the reliability and service life of the equipment.

[0079] The water swivel (12) is secured to the gearbox (16) via a connection sleeve (19), as shown in FIG. 7. The connection sleeve (19) includes a connection flange, with oblong holes (191) formed on both its upper and lower sides to accommodate bolts, thereby ensuring stable fastening. A hexagonal hole is formed at the center of the connection sleeve (19). The right end of the mandrel (121) is shaped as a regular hexagon, which mates with the hexagonal hole in an axially slidable manner. During use, the end of the mandrel (121) is inserted into the hexagonal hole such that, when the main shaft (15) rotates, the connection sleeve (19) transmits rotational motion to the mandrel (121). The connection flange is fixed to the main shaft (15) via threaded engagement. A clearance (denoted as “M” in FIG. 6) is reserved between the inner end face of the connection sleeve (19), which faces the driving drill rod (10), and the end face of the connection shaft (11). This configuration enables the limiting section (104) to axially slide along the chuck (14), allowing the driving drill rod (10) to axially float within a limited range. The connection shaft (11) features both internal and external threads, ensuring a secure connection to both the driving drill rod (10) and the mandrel (121). The bearing seat (125) and the housing (122) are fixedly connected via bolts. Sealing rings are sleeved between the mandrel (121) and the housing (122) on both sides of the water inlet (124), thereby achieving a sealed flow path for the drilling medium.

[0080] As shown in FIG. 8, the brake assembly (18) comprises a brake cover (181), a clamping piston (182), and a release piston (183). A sliding shaft (184) is arranged inside the brake cover (181), and the left end of the drive shaft (186) extends into the center of the clamping piston (182). A plurality of brake slips (185) are circumferentially distributed around the drive shaft (186); in this embodiment, the number of brake slips (185) is three. The clamping piston (182) is sleeved around the outer side of the brake slips (185) and is axially slidable along the drive shaft (186). The outer surface of each brake slip (185), i.e., the surface facing away from the drive shaft (186), is inclined, and the corresponding inner surface of the clamping piston (182) is shaped as a matching cambered slope. This arrangement allows the clamping piston (182), when sliding axially, to engage the sloped surfaces of the brake slips (185), thereby pushing them radially inward to clamp the drive shaft (186). The release piston (183) is slidably sleeved on the sliding shaft (184) and is capable of pushing the clamping piston (182) to disengage the clamping force. Through the axial motion of the clamping piston (182) and the radial displacement of the brake slips (185), the system can achieve rapid clamping and releasing of the drive shaft (186). The engagement between the inclined surfaces and cambered slopes ensures a stable clamping force, preventing the drive shaft (186) from slipping during operation and enhancing clamping reliability. Moreover, this structure accommodates drive shafts (186) of different diameters and compensates for surface wear by allowing extended axial travel of the clamping piston (182), thus offering strong versatility and compatibility across various types of drilling power heads (1).

[0081] The brake cover (181) is provided with a first oil inlet (187) and a second oil inlet (188). A first oil chamber is formed between the side of the release piston (183) that faces away from the clamping piston (182) and the brake cover (181), and the first oil inlet (187) supplies hydraulic oil to this first oil chamber. A second oil chamber is formed on the side of the clamping piston (182) that faces away from the release piston (183), and the second oil inlet (188) supplies hydraulic oil to this second oil chamber. Sealing rings are provided on both the inner and outer walls of the release piston (183), and also on the outer wall of the clamping piston (182). These sealing rings effectively prevent hydraulic oil leakage and ensure pressure stability within the hydraulic system. When pressurized oil is introduced into the second oil inlet (188), it enters the second oil chamber and drives the clamping piston (182) leftward. As the inclined surface on the clamping piston (182) engages the inclined surface of the brake slips (185), the brake slips (185) are pushed radially inward, thereby restricting radial displacement and clamping the driving shaft (186), thus achieving braking of the driving shaft (186). Conversely, when pressurized oil is introduced through the first oil inlet (187), it enters the first oil chamber and drives the release piston (183) to move. The end face of the release piston (183) pushes the clamping piston (182) rightward, thereby lifting the restriction on the radial displacement of the brake slips (185), which in turn releases the braking on the driving shaft (186). This hydraulic control enables automatic operation of the brake assembly (18), enhancing the system's level of automation and operational efficiency. Hydraulic actuation provides stable and adjustable pressure, ensuring precise clamping and release actions. Furthermore, the inherent stability and reliability of hydraulic systems ensure that the brake assembly (18) operates reliably under various working conditions, reducing failure rates and maintenance costs.

[0082] In existing directional drilling power heads (e.g., as disclosed in Chinese Patent Publication No. CN116905958A), when replacement of the driving drill rod (10) is required, the front end cap (13) must first be disassembled to unlock the driving drill rod (10). Since one end of the connecting shaft (11) is threadedly connected to the driving drill rod (10), and the other end is threadedly connected to the mandrel (121) of the water swivel (12), rotating the driving drill rod (10) to perform the unlocking step does not reliably ensure disconnection between the driving drill rod (10) and the connecting shaft (11). Instead, it may inadvertently unlock the connection between the connecting shaft (11) and the mandrel (121) of the water swivel (12). Given the extremely limited space between the front end of the chuck (14) and the gripping device, even individually removing the driving drill rod (10) presents operational difficulty. If the unlocking occurs between the connecting shaft (11) and the mandrel (121) instead, removing the driving drill rod (10) together with the connecting shaft (11) from the front end becomes extremely challenging. Furthermore, when switching to the chuck (14) for gripping a fishing drill rod, the water swivel (12) must be removed from the rear end of the gearbox (16), requiring both the water swivel (12) and the connecting shaft (11) to be extracted from the rear of the gearbox (16). Afterward, the end cap (942) must be dismantled in order to remove the driving drill rod (10). However, this process still cannot ensure that the connecting shaft (11) will be unlocked from the driving drill rod (10); if the unlocking instead occurs between the connecting shaft (11) and the mandrel (121), then the driving drill rod (10) and the connecting shaft (11) must be removed together from the front end of the gearbox (16) before the fishing drill rod can be mounted in the chuck (14). Therefore, in the prior art, whether replacing the driving drill rod (10) or switching the chuck (14) to grip a fishing drill rod for operation, the process is extremely difficult and significantly reduces operational efficiency.

[0083] In contrast, with the improvements made to the power head (1) in the present embodiment, when the driving drill rod (10) needs to be replaced, the replacement process is significantly simplified due to the ample operational space available at the rear end of the gearbox (16). It merely requires loosening the chuck (14), and then removing the integrated assembly of the water swivel (12), connecting shaft (11), and driving drill rod (10) from the rear end of the gearbox (16). This allows for the damaged driving drill rod (10) to be quickly replaced. A new driving drill rod (10), together with the connecting shaft (11) and water swivel (12), can then be reassembled and inserted into the gearbox (16) from the rear end. The driving drill rod (10) is guided sequentially through the main shaft (15), the chuck (14), and the front end cap (13), thereby achieving rapid and efficient replacement. This design reduces uncontrollable variables during the replacement process and enhances on-site operational efficiency. When switching to a fishing drill rod operation, the same disassembly process is followed. For installation, the fishing drill rod is simply inserted into the main shaft (15) from the rear end of the gearbox (16), passed sequentially through the chuck (14) and the front end cap (13), and finally clamped by the chuck (14) to drive its rotation. Additionally, a portion of the driving drill rod (10) is positioned within the chuck (14) and the main shaft (15), which ensures greater stability during rotation. This structural arrangement enables the main shaft (15), via the chuck (14), to more precisely transmit torque to the driving drill rod (10), thereby achieving more accurate coupling with the drill rod.

[0084] Next, addressing the limitation in conventional power head (1) hydraulic systems—where the chuck (14) is typically controlled in only two states: release and clamp, without graded control—this often results in prolonged high-pressure clamping in actual operations. Such a condition not only risks damaging the driving drill rod (10) but also leads to unnecessary energy consumption.

[0085] As illustrated in FIGS. 9 to 11, the graded hydraulic control system comprises a pressure-reducing valve (41), an electromagnetic directional valve (42), a hydraulic directional valve (43), a main pump, and an auxiliary pump. The electromagnetic directional valve (42) is a three-position four-way valve equipped with ports A, B, P, and T, and positions Y1 and Y2. The hydraulic directional valve (43) is a two-position three-way valve with ports P, T, A, and a hydraulic control port. The chuck (14) includes a control oil port, which is connected to port A of the hydraulic directional valve (43). The main pump connects to the P port of the hydraulic directional valve (43). The oil circuit from the auxiliary pump is bifurcated: one branch connects to the P port of the hydraulic directional valve (43), and the other branch connects to the P port of the electromagnetic directional valve (42) through the pressure-reducing valve (41). The T port of the electromagnetic directional valve (42) is connected to the oil discharge port of the pressure-reducing valve (41) and serves as the return line to the oil tank (44). The A port of the electromagnetic directional valve (42) outputs fluid to two paths: One connects to the P port of the hydraulic directional valve (43). The other connects to the hydraulic control port of the hydraulic directional valve (43). The B port of the electromagnetic directional valve (42) is connected to the T port of the hydraulic directional valve (43). The hydraulic directional valve (43) enables automatic switching of oil flow direction based on control signals, allowing for precise regulation of the clamping pressure applied by the chuck (14). This supports different operating conditions and allows quick switching between drilling and fishing operations, ensuring the chuck (14) can be adjusted to the required state in minimal time, thereby improving operational efficiency. The main pump feeding the P port of the hydraulic directional valve (43) via the first check valve (45). The auxiliary pump feeding the same port via the second check valve (46). The A port of the electromagnetic directional valve (42) feeding into the hydraulic directional valve (43) via the third check valve (47). The pressure-reducing valve (41) is a fixed-value regulator, which in this embodiment is configured to reduce system pressure to 6 MPa. In this embodiment, the electromagnetic directional valve (42) includes a Y1 position and a Y2 position. The system further comprises an oil tank (44), which serves to supply hydraulic fluid to both the main pump and the auxiliary pump, and to receive return flow of the hydraulic fluid from the system.

[0086] As illustrated in FIG. 9, when the chuck (14) is in the released state, both the Y1 and Y2 positions of the electromagnetic directional valve (42) are de-energized. In this condition, the valve remains in its neutral position, while the hydraulic directional valve (43), under the action of its internal spring, shifts to its right-hand position. The pressure oil P1 from the main pump flows through the first check valve (45) and reaches the outlets of the second check valve (46) and the third check valve (47), as well as the P port of the hydraulic directional valve (43)—but all of these paths are blocked, and the oil flow is stopped. Simultaneously, one branch of the pressure oil P2 from the auxiliary pump flows through the second check valve (46) to the same junction point at the outlet of the first and third check valves and the P port of the hydraulic directional valve (43), but again the oil flow is cut off. The other branch of pressure oil P2 flows through the pressure-reducing valve (41) and reaches the P port of the electromagnetic directional valve (42), where it is also blocked. The pressure oil within the chuck (14) is discharged back to the oil tank (44) through the right-hand position of the hydraulic directional valve (43) and the neutral position of the electromagnetic directional valve (42), placing the chuck (14) in a released state. Additionally, the control oil of the hydraulic directional valve (43) is discharged to the oil tank (44) through the neutral position of the electromagnetic directional valve (42). In this state, the chuck (14) does not exert clamping force or provide axial constraint on the driving drill rod (10).

[0087] Under the operating condition of low-pressure clamping of the chuck (14) as shown in FIG. 10, the Y2 position of the solenoid directional valve (42) is energized. When the right position Y2 is energized, the solenoid directional valve (42) operates in the right position, and the hydraulic control directional valve (43), under the action of the spring force, is also in the right operating position. The pressure oil from the main pump P1 flows through the first check valve (45) and reaches the outlets of the second check valve (46), the third check valve (47), and the P port of the hydraulic control directional valve (43), where the flow is cut off. The control oil of the hydraulic control directional valve (43) is discharged to the oil tank (44) through the right position of the solenoid directional valve (42). One stream of pressure oil P2 from the auxiliary pump flows through the second check valve (46) to the outlets of the first check valve (45), the third check valve (47), and the P port of the hydraulic control directional valve (43), where the flow is cut off. The other stream of pressure oil is reduced to a preset pressure of 6 MPa via the pressure-reducing valve (41), and then flows through the right position of the solenoid directional valve (42) and the right position of the hydraulic control directional valve (43) to reach the chuck (14). At this time, the chuck (14) is in a low-pressure clamping state at 6 MPa, providing axial constraint to the driving drill rod (10).

[0088] Under the operating condition of high-pressure clamping of the chuck (14), as illustrated in FIG. 11, the Y1 position of the solenoid directional valve (42) is energized. At this time, the solenoid directional valve (42) operates in the left position, and the hydraulic control directional valve (43), under the action of control oil, also operates in the left position. Pressure oil P1 from the main pump flows through the first check valve (45) and is blocked at the outlets of the second check valve (46) and the third check valve (47), and ultimately flows into the chuck (14) through the left position of the hydraulic control directional valve (43). Pressure oil P2 from the auxiliary pump is divided into two streams. One stream is reduced to 6 MPa via the pressure-reducing valve (41), then flows through the left position of the solenoid directional valve (42) and reaches the control port of the hydraulic control directional valve (43), causing it to switch and operate in the left position. The other stream flows through the second check valve (46) and is blocked at the outlets of the first check valve (45) and the third check valve (47), and finally flows into the chuck (14) through the left position of the hydraulic control directional valve (43). In this state, the pressure oil from both the main pump and the auxiliary pump merges to form a high-pressure oil source, placing the chuck (14) in a high-pressure clamping state for retrieval operations.

[0089] The graded hydraulic is configured to control the switching of the chuck (14) among three states: release, low-pressure clamping, and high-pressure clamping. The release state is primarily used when the power head (1) is not in operation or when a drill rod is being loaded into the chuck (14). The low-pressure clamping state is employed during drilling operations in which the drill rods are connected via the driving drill rod (10). The high-pressure clamping state is utilized when the chuck (14) is directly gripping the drill rod for drilling operations. By applying graded control of the clamping pressure of the chuck (14), and in conjunction with the configuration wherein the outer diameter of the limiting section (104) of the driving drill rod (10) is slightly smaller than the clamping inner diameter of the chuck (14), this arrangement not only improves the stress condition of the driving drill rod (10), but also avoids energy waste caused by prolonged high-pressure retention in the chuck (14). Moreover, it enhances the adaptability of the power head (1) to various working conditions, including conventional drilling and fishing operations.

[0090] Next, with reference to FIGS. 12 to 20, improvements to the clamping device will be described in light of the limitations of existing clamping mechanisms in the disassembly and assembly of drill rods.

[0091] As illustrated in FIG. 12, the clamping device is a dual clamping mechanism comprising a base (200), a front clamping unit (2), and a rear clamping unit (20). The base (200) is provided with a front clamping unit mounting section and a rear clamping unit mounting section, which are respectively configured to mount the front clamping unit (2) and the rear clamping unit (20). With reference to FIG. 13, the bottom surface of the base (200) is an installation plate (201). The front clamping unit mounting section comprises a front support plate (203) and a rear support plate (205) symmetrically spaced apart and mounted on the installation plate (201). Each of the front support plate (203) and the rear support plate (205) is formed with a through hole, and the two through holes are coaxially aligned. An opening is formed at the upper end of each through hole, and the width of the opening is greater than or equal to the diameter of a large-size drill tool (in this embodiment, the diameter of a downhole motor). The addition of these openings results in the through holes in the front support plate (203) and the rear support plate (205) being open upward, thereby allowing large-diameter drill tools such as downhole motors to be loaded or unloaded vertically from above during replacement operations.

[0092] Due to structural limitations of drilling rigs, current on-site operations typically adopt one of two approaches when replacing drill rods with larger diameters. The first method involves tilting the downhole motor relative to the axis of each clamping through hole (i.e., the borehole axis) at a certain angle before inserting it into the clamping device. However, this method has very limited applicability—when the distance between the clamping device and the borehole wall is too small, the excessively tilted downhole motor cannot be aligned with the clamping hole axis. The second method involves removing the entire clamping device, installing and inserting the downhole motor into the borehole, and then reassembling the clamping device. Although this method can be used in situations where the clearance between the clamping unit and borehole wall is minimal, it is labor-intensive and time-consuming due to the large size, heavy weight, and complex structure of the clamping device. It also poses significant safety risks and operational difficulties. In this embodiment, by adding openings at the top of the through holes, the conventional front-and-back axial disassembly of drill rods is replaced with direct vertical insertion and removal from above. This substantially reduces the space required for disassembly and significantly lowers the difficulty of replacing drill rods.

[0093] As shown in FIG. 13, each opening at the top of the two through holes is detachably connected with a reinforcing plate (204). Taking the connection method of the reinforcing plate (204) to the front support plate (203) as an example: protrusions and recesses are provided on the top of the front support plate (203), and matching recesses and protrusions are correspondingly provided on the bottom of the reinforcing plate (204). These interlocking protrusions and recesses form a complete planar surface when nested together. This configuration not only enhances the overall structural strength of the support plate (221) but also facilitates precise positioning when mounting the reinforcing plate (204). Finally, the reinforcing plate (204) is secured to the front support plate (203) using screws or pins. The reinforcing plate (204) ensures the integrity of the through holes during drilling operations and prevents safety accidents caused by the collapse or deformation of the through-hole structure.

[0094] As shown in FIGS. 12 and 14, a swinging body (22) is provided between the front support plate (203) and the rear support plate (205). The swinging body (22) includes two symmetrically arranged support plates (221) at the front and rear. Each support plate (221) is provided with a guide mounting hole, and a connection flange is installed within each guide mounting hole. Referring to the orientation of FIG. 14, a flipping shaft seat (25) is arranged below the right side of each support plate (221). The outer end surfaces on both sides of the two support plates (221) are respectively connected with a front cylinder mounting plate (222). Each front cylinder mounting plate (222) is bolted with a front clamping cylinder (23). A swinging ear seat (224) is fixedly connected below the front cylinder mounting plate (222) adjacent to the flipping shaft seat (25). A swinging cylinder (226) is rotatably connected within the swinging ear seat (224) by a pivot shaft. Four front liners (223) are symmetrically arranged between the two support plates (221). These front liners (223) form a guiding space for the movement of the piston rod of the clamping cylinder, and at the same time provide structural support to the swinging body (22). Additionally, as shown in FIG. 13, a flipping plate (202) is fixedly connected to the side of the front support plate (203) and the rear support plate (205) adjacent to the flipping shaft seat (25). The flipping plate (202) is provided with a flipping hole, in which a flipping pin shaft (227) is installed to serve as the flipping axis of the swinging body (22). The swinging body (22) serves as the primary connecting component for the various parts of the front gripping manipulator (2), integrating the front clamping cylinder (23) with the base (200), and also linking the front gripping manipulator (2) to the drilling rig's frame (3) via the swinging cylinder (226).

[0095] As shown in FIG. 12, the swinging cylinder (226) serves as the driving component for rotating the swinging body (22) about the flipping pin shaft (227). The piston rod of the swinging cylinder (226) is hinged to the swinging ear seat (224) of the swinging body (22) via a pin shaft, while the cylinder body of the swinging cylinder (226) is hinged to the frame (3) of the drilling rig via another pin shaft. The flipping pin shaft (227) functions as the rotation axis of the swinging body (22). One end of the flipping pin shaft (227), which is closer to the swinging body (22), is inserted into the flipping shaft seat (25) of the swinging body (22), and the other end is inserted into the through-hole of the flipping plate (202) on the base (200). The end of the flipping pin shaft (227) is secured in position using a cotter pin or retaining ring. By switching its rotation center, the swinging body (22) is mechanically swung out of the base (200). When combined with the detachable reinforcement plate (204) structure of the base (200), this configuration provides a significant clearance within and above the front gripping manipulator (2), thereby enabling top-down installation of a bottom-hole motor. This process requires only minimal component disassembly, which significantly reduces the spatial demand at the front end of the gripping manipulator for bottom-hole motor installation and also saves substantial time and labor that would otherwise be spent on removing the entire gripping manipulator.

[0096] The gripping of the drill rod by the gripping manipulator is achieved by connecting a slip assembly to the piston rods of two symmetrically arranged clamping cylinders. In response to the need for replacing drill rods with larger diameters, the present embodiment provides an improved design of the slips in the gripping manipulator. As shown in FIGS. 15 and 16, each slip assembly includes an outer slip (24) and an inner slip (240). The inner surface of the outer slip (24) is provided with a plurality of protrusions or fine serrations to increase the frictional force at the contact interface with the drill rod. The diameter of the arcuate section on the inner surface of the outer slip (24) matches the outer diameter of the inner slip (240). The inner surface of the outer slip (24) is provided with three countersunk holes for fastening screws that connect to the piston rod of the clamping cylinder. Both the upper and lower ends of the arcuate section are formed into flat surfaces, each of which is provided with threaded holes for mounting screws that secure the inner slip (240). Each of the four corners of the flat surfaces is provided with a positioning block. These four positioning blocks, together with four symmetrically arranged positioning flats and the surrounding arcuate surface, define a mounting space for the inner slip (240). The upper and lower sides of the inner slip (240) are respectively provided with symmetrically arranged protruding bosses. On the side of each boss that faces the center of the gripping manipulator, a countersunk through hole is formed for receiving screws that connect to the outer slip (24). The outer diameter of the inner slip (240) matches the inner diameter of the outer slip (24), which facilitates their assembly. The inner surface of the inner slip (240) is also provided with a plurality of protrusions or fine serrations to enhance gripping stability. In front elevation view, the inner slip (240) presents a cross (“+”) shape, which cooperates with the four positioning flats on the outer slip (24) to achieve axial positioning of the inner slip (240) along the front-to-rear direction of the gripping manipulator.

[0097] The inner diameter of the inner slip (240) matches the outer diameter of drill rods with smaller diameters, while the inner diameter of the outer slip (24) matches the outer diameter of larger drill rods. This configuration enables clamping adjustments when switching between drill rods of different sizes simply by removing or installing the inner slip (240). The replacement process involves unscrewing a few screws to remove or install the inner slip (240), significantly improving the convenience of operations using the dual gripping manipulator. The cylinder bodies of the front clamping cylinders (23) are symmetrically mounted on the front oil cylinder mounting plates (222) located on both sides of the swinging body (22). The piston rods of the front clamping cylinders (23) extend from both sides of the front gripping manipulator (2) toward the center, driving the slips to clamp the drill rod.

[0098] During the replacement of the inner slip (240), the piston rod of the clamping cylinder is retracted to create an open space for removal and installation. With only a few screws to be loosened or tightened, the slip can be replaced quickly and efficiently. The inner slip (240) utilizes broad flat surfaces for axial positioning along the gripping manipulator, while radial positioning along the arcuate surface is achieved using screws. The flat surface bears shear forces instead of the screws, significantly reducing the likelihood of screw deformation under stress and enhancing the reliability of positioning, thereby preventing slippage during unthreading operations.

[0099] Additionally, the nested configuration of the inner and outer slips (24, 240) and the inner and outer guide sleeves (21, 210) enables quick adaptation to different tool sizes and simplifies the replacement of parts. This design greatly expands the applicability of the gripping manipulator and is particularly suitable for directional drilling rigs that require the simultaneous use of standard drill rods, fishing rods, and special tools such as downhole motors. Moreover, the integration of the gripping manipulator with the guide sleeves not only ensures precise guiding of the drill rods as they move in and out of the manipulator but also reduces spatial demands within the rig.

[0100] Referring to FIG. 12 and FIG. 17, the front gripping manipulator (2) further includes a guide sleeve assembly, which comprises an outer guide sleeve (21) and an inner guide sleeve (210). Both the inner and outer guide sleeves (210, 21) are detachably mounted within the through holes of the support plates, thereby integrating the guide sleeve into the gripping manipulator to save installation space and achieve a more compact overall layout of the drilling rig.

[0101] As shown in FIG. 19, the outer diameter of the inner guide sleeve (210) is configured in two stepped segments. The smaller-diameter segment fits into the guide mounting hole on the swinging body (22), while the larger-diameter segment fits into the through holes formed in the front support plate (203) and rear support plate (205) of the base (200), providing axial constraint. The inner diameter of the inner guide sleeve (210) is also stepped. The smaller inner-diameter segment forms a uniform through hole that fits the smaller-diameter segment of the outer guide sleeve (21). The larger inner-diameter segment forms a countersunk step that mates with the outer guide sleeve (21) to ensure stable assembly. As illustrated in FIG. 18, the outer guide sleeve (21) also features a two-step outer diameter. The end face of its larger-diameter segment is provided with countersunk connection holes for installing screws to secure both the outer guide sleeve (21) and the inner guide sleeve (210) to the swinging body (22). The bottom face of the countersunk step of the inner guide sleeve (210) is provided with through holes corresponding to the screw holes of the outer guide sleeve (21). Screws are inserted through these through holes to fasten the guide sleeve assembly to the swinging body (22). Referring again to FIG. 17, the stepped engagement between the large-diameter segment of the outer guide sleeve (21) and the countersunk step of the inner guide sleeve (210) provides axial positioning for the outer guide sleeve (21). The inner diameter of the outer guide sleeve (21) is sized to match the outer diameter of the smaller drill rods used by the rig, thereby guiding the insertion and removal of drill rods into and out of the front gripping manipulator (2). The distinct structural differences between the inner and outer guide sleeves (210, 21) facilitate on-site identification and management of replacement parts.

[0102] Finally, as illustrated in FIGS. 12 and 13, the mounting portion of the rear gripping manipulator (20) includes symmetrically arranged front side plates (209) and rear side plates (207), which serve as structural supports for the rear gripping manipulator (20). U-shaped openings are formed in the middle portions of both the front side plates (209) and rear side plates (207), such that the tops of the plates are entirely open. Four rear liners (206) are symmetrically arranged between the front and rear side plates, defining the guide space for the rear clamping cylinder (230) and its piston rod movement, while also providing structural reinforcement. Rear cylinder mounting plates (208) are connected to the outer ends of both the front side plates (209) and rear side plates (207), and the rear clamping cylinders (230) are fixed to the mounting plates (208) via bolts. Semi-annular guide sleeves (25) are mounted to the U-shaped openings. As shown in FIG. 20, each semi-annular guide sleeve (25) has a stepped outer diameter. The smaller-diameter segment fits within the U-shaped opening, and the larger-diameter segment is provided with countersunk through-holes on its end face for securing the guide sleeve (25) to the front side plate (209) or rear side plate (207) via screws. The inner diameter of the semi-annular guide sleeve (25) can be matched to drill rods of different outer diameters, allowing the drill rod to be inserted into the gripping manipulator from the open top.

[0103] In conventional drill rigs, the gripping manipulator and guide sleeve are typically configured as separate components mounted at the front end of the frame (3), occupying significant axial space. To reduce space consumption in the drilling direction, some drill rigs even omit the guide sleeve. Traditional guide sleeves are rotatable hollow cylinders, and a given inner sleeve can only accommodate a specific drill rod diameter. Upon changing to a new drill rod diameter, either the entire guide sleeve or just the inner sleeve must be replaced. Although full guide sleeve replacement is relatively simple, it is costly in terms of spare parts. Replacing only the inner sleeve is more economical but mechanically complex, and is commonly adopted in the field. However, managing and identifying individual inner sleeves is challenging. This is because drill rods used on the same rig often differ by only 10 mm in diameter, meaning the thickness difference in inner sleeves is minimal—just a few millimeters—making it difficult to distinguish between them without measuring tools in underground environments. This complicates on-site inventory management. The configuration adopted in this embodiment—integrating the guide sleeves directly into the gripping manipulator—effectively addresses these issues. It enhances operational convenience for the dual gripping manipulators, reduces the difficulty of drill rod replacement during operation, and significantly improves overall drilling efficiency.

[0104] Finally, as illustrated in FIG. 21, in response to the slippage issue that commonly occurs during drill rod unthreading operations in conventional gripping manipulators, the present embodiment provides an anti-slip hydraulic system. This system hydraulically connects the control oil circuit of the hydraulic motor (17) in the power head (1) with the clamping oil circuit (57) of the gripping manipulator, thereby enabling pressure boosting during unthreading and effectively preventing slippage.

[0105] During unthreading, the gripping force applied by the gripping manipulator must be sufficient to counteract the torque required to loosen a fully tightened threaded connection on the drill rod. The power head (1) must exert a substantial reverse torque to break the threaded joint, and correspondingly, the gripping manipulator must maintain a high and stable clamping force to ensure that the drill rod remains stationary and does not rotate with the power head (1)—i.e., to prevent slippage. In practice, the clamping of the drill rod is achieved via the clamping cylinder under hydraulic pressure, with the pressure held in place by a hydraulic lock. However, both the hydraulic lock and the clamping cylinder are susceptible to internal leakage, which tends to increase in volume and rate over time due to wear. Consequently, between the initial clamping and the subsequent reverse rotation for unthreading, a drop in the clamping force may occur, leading to slippage during the unthreading operation. This slippage not only results in unthreading failure but can also pose serious safety hazards. By integrating the hydraulic motor's reverse-pressure oil circuit with the gripping manipulator's clamping circuit, the present system enables real-time pressure compensation during unthreading, ensuring sufficient clamping force is maintained throughout the operation. This design significantly enhances the reliability and safety of the drill rod unthreading process.

[0106] Based on the above, the front gripping manipulator (2) is actuated by a front clamping cylinder (23), and the rear gripping manipulator (20) is actuated by a rear clamping cylinder (230). As illustrated in FIG. 21, both the front and rear clamping cylinders (23, 230) are respectively connected to a clamping oil circuit (57) and a releasing oil circuit (58), which serve as the hydraulic power sources driving the movement of the piston rods. Specifically, the front clamping cylinder (23) is connected to a front hydraulic lock (53), and the rear clamping cylinder (230) is connected to a rear hydraulic lock (56), both ensuring pressure retention within their respective oil circuits. The working principle of the hydraulic system can be described in detail with reference to the front clamping cylinder (23) as an example: the clamping oil circuit (57) communicates with the rodless chamber of the front clamping cylinder (23), while the releasing oil circuit (58) communicates with the rod chamber. When hydraulic fluid is supplied to the clamping oil circuit (57), the pressure within the rodless chamber increases, pushing the piston rod outward. This outward movement actuates the attached gripping slips to securely clamp the drill rod. Meanwhile, the hydraulic motor (17) serves as the power head's (1) active driving component and is connected to a forward rotation oil circuit (51) and a reverse rotation oil circuit (52). When fluid is supplied through the forward rotation oil circuit (51), the hydraulic motor (17) drives the power head (1) to rotate in the forward direction. Conversely, when fluid flows through the reverse rotation oil circuit (52), the hydraulic motor (17) drives the power head (1) to rotate in the reverse direction. This bidirectional operation enables both drilling and unthreading operations, with the clamping cylinders ensuring that the drill rod remains securely held during either mode.

[0107] A branch oil circuit is provided between the reverse rotation oil circuit (52) and the clamping oil circuit (57) to establish fluid communication. A front check valve (54) is installed in the branch oil circuit, allowing hydraulic fluid to flow only in one direction—from the reverse rotation oil circuit (52) into the clamping oil circuit (57). During the unthreading of the drill rod, the hydraulic motor (17) drives the power head (1) in the reverse direction, and the reverse rotation oil circuit (52) is pressurized. In this state, a portion of the hydraulic fluid flows through the front check valve (54) into the rodless chamber of the front clamping cylinder (23), supplementing any leakage that may have occurred and thereby increasing the clamping force of the front gripping manipulator (2). This helps to prevent slippage during unthreading operations. By directly utilizing the hydraulic fluid from the reverse rotation oil circuit (52), the system achieves real-time compensation of the hydraulic pressure in the clamping cylinder during clamping without the need for an additional fluid supply port. This approach reduces the structural complexity of the hydraulic system and lowers modification costs, while also improving the timeliness and synchronization of the pressure compensation in the rodless chamber of the clamping cylinder. Once the unthreading is complete and the reverse operation of the power head (1) stops, the fluid supply through the reverse rotation oil circuit (52) is also suspended. Even if the pressure in the clamping oil circuit (57) becomes greater than the pressure in the reverse rotation oil circuit (52), the front check valve (54) blocks reverse flow, thereby enhancing the operational safety of the hydraulic system.

[0108] The front hydraulic lock (53) provides pressure-holding protection for the front clamping cylinder (23) in both clamping and release states. After hydraulic fluid is supplied through the clamping oil circuit (57) or the release oil circuit (58) and subsequently enters the front clamping cylinder (23) via the front hydraulic lock (53), the fluid supply is halted. At this point, the front hydraulic lock (53) enters a pressure-holding state, preventing hydraulic fluid from leaking out of the front clamping cylinder (23) and thereby maintaining the stability of the clamped or released condition of the front gripping manipulator. In this embodiment, the outlet of the front check valve (54) is connected to the outlet of the front hydraulic lock (53) that leads to the rodless chamber of the front clamping cylinder (23).

[0109] Similarly, a rear check valve (55) is provided between the clamping oil circuit (57) of the rear clamping cylinder (230) and the reverse rotation oil circuit (52), with the front check valve (54) and the rear check valve (55) in fluid communication with one another. This configuration simplifies the hydraulic circuit while ensuring synchronous operation of the dual gripping manipulators. Furthermore, the system accommodates scenarios where only one of the opposing gripping manipulators is activated for clamping—for example, when the front gripping manipulator (2) is clamped while the rear gripping manipulator (20) remains released. In such cases, due to the reverse-blocking function of the front check valve (54), the rodless chambers of the front clamping cylinder (23) and rear clamping cylinder (230) remain isolated. Thus, although the oil inlets of the front and rear check valves (54, 55) are in communication, the hydraulic control of the rear clamping cylinder (230) for the released state of the rear gripping manipulator (20) is not affected. Additionally, the blocking function of the rear check valve (55) ensures that the operation of the reverse rotation oil circuit (52) of the hydraulic motor (17) is not disrupted, thereby further enhancing the operational safety of the hydraulic system.

[0110] When the hydraulic motor (17) operates in the forward rotation mode, hydraulic fluid is supplied through the forward rotation oil circuit (51), and the reverse rotation oil circuit (52) serves as the return path. During return flow through the reverse rotation oil circuit (52), a small amount of hydraulic fluid may unavoidably reach the front check valve (54) and the rear check valve (55), potentially influencing the gripping manipulators that are meant to remain in the released state. To address this, both the front check valve (54) and the rear check valve (55) are configured with opening pressures higher than the return pressure in the reverse rotation oil circuit (52). This ensures that, under such conditions, the inlet valves of the check valves will remain closed, thereby preventing any unintended fluid flow that could compromise the safety and stability of the original equipment. Furthermore, when both gripping manipulators are in the released state, the rod chambers of the clamping cylinders maintain high pressure due to the pressure-holding effect of the hydraulic locks, while the rodless chambers are in a low-pressure return state. In this scenario—even in the unlikely event of a check valve failure—the inherent pressure differential between the rod and rodless chambers ensures that the gripping manipulators remain reliably released. This configuration provides a dual-layer safeguard for the released state of the opposed gripping manipulators, ensuring that the hydraulic system does not interfere with normal drilling operations and thereby further enhancing operational safety.

[0111] By interconnecting the reverse rotation oil circuit (52) of the hydraulic motor (17) with the clamping oil circuit (57) of the gripping manipulators, and by incorporating check valves and hydraulic locks, the system establishes an anti-slip hydraulic configuration. This configuration enables reverse rotation-induced pressurization without interfering with forward rotation or individual gripping manipulator operation. It effectively resolves the issue of diminished clamping force caused by leakage in the clamping cylinders and hydraulic locks of existing opposed clamping systems, thereby ensuring job site safety and improving operational efficiency.

[0112] As shown in FIGS. 22 to 26, in response to the limitations of existing main gripping manipulators (9) and drill rod storage structures in drilling rigs, improvements to the drill rod storage box (8) and positioning system are provided.

[0113] Conventional drilling rigs often use multi-degree-of-freedom manipulators or other high-precision loading devices to transfer drill rods between the drill rod storage box (8) and the machine frame (3). Although such transfer systems offer greater storage capacity, they place high demands on the transport mechanism, requiring six-degree-of-freedom industrial manipulators. However, the positioning and target recognition technologies used in such manipulators are generally unsuitable for the harsh working conditions of coal mine drilling sites—characterized by dim lighting, dust, and humidity. As a result, their practical effectiveness in mining drilling environments is extremely limited. In addition, existing manipulators rely on rotary reducers to adjust their posture, which occupy significant space and hinder the reduction of the overall size of the drilling rig. Moreover, the space required for the movement of such manipulators is relatively large, making them unsuitable for use in narrow underground roadways.

[0114] As shown in FIG. 26, the drill rod storage box (8) includes a drill rod frame (81), a rod placement groove (82), and a gripping manipulator (83). The drill rod frame (81) is configured to store drill rods, and the axial direction of the stored drill rods is aligned with the longitudinal direction of the machine frame (3)—that is, along the drilling axis—making it well-suited for storing longer drill rods. To save space and avoid the harsher conditions near the borehole opening, the gripping manipulator (83) is mounted on the side of the drill rod frame (81) facing the rod retraction direction. The gripping manipulator (83) is equipped with claw-like components used to grip the drill rods and is mounted to the drill rod frame (81) via a translation mechanism that enables it to move parallel along the mounted side. This allows the manipulator to align with different columns of stored drill rods inside the drill rod frame (81). The gripping manipulator (83) has two degrees of freedom: lateral translation along the mounting surface and vertical translation. It can drive the claw-like components to move accordingly, enabling it to grip different drill rods within the drill rod frame (81).

[0115] The rod placement groove (82) is fixed to the side of the drill rod frame (81) facing the machine frame (3). The rod placement groove (82) includes a drill rod groove (821) and a drive device (823). The drill rod groove (821) is fixed to the side of the drill rod frame (81) and is configured to hold drill rods, with an arc-shaped profile that matches the outer diameter of the drill rods. Movable baffles (822) are arranged at both axial ends of the groove and are connected to the drive device (823). Under the actuation of the drive device (823), the baffles (822) move along the length of the drill rod. When a drill rod is placed into the groove, the baffles move outward to increase tolerance. After placement, they retract inward to align the drill rod with the drill rod frame (81) or the machine frame (3). By configuring the drill rod transport system so that the drill rod's axial placement direction aligns with the machine frame (3), the system accommodates the long drill rods typical of directional drilling. It optimizes spatial usage for drill rod storage while balancing the need for high-capacity storage with a compact overall machine footprint.

[0116] As shown in FIGS. 1 and 22, the rod placement groove (82) is provided with a recessed portion (824), and the machine frame (3) is equipped with an equiangular sensor (98), which is used to determine whether the main manipulator (9) has reached the preset inclination angle. The main manipulator (9) is mounted on the machine frame (3) and is configured to retrieve drill rods from the drill rod storage box (8) and place them onto the machine frame (3), where they are subsequently installed by the power head (1) and the clamping mechanism. The main manipulator (9) includes a pitch cylinder (92), a rotary actuator (93), a pitch arm (94), a rotary shaft (95), a swing arm (96), and a gripping claw (97). As shown in FIG. 23, the pitch arm (94) includes a rotating barrel (944), a shaft base (941), and a support body (943) fixed between the rotating barrel (944) and the shaft base (941). The top of the piston rod of the pitch cylinder (92) is pivotally connected to the side of the support body (943). Both the lower end of the pitch arm (94) and the lower end of the pitch cylinder (92) are rotatably connected to the mobile platform (6). The rotary actuator (93) is fixed to the shaft base (941), and its output shaft is sequentially connected to the swing arm (96) and the gripping claw (97). When the piston rod of the pitch cylinder (92) retracts, the inclination angle of the swing arm (96) increases; when the piston rod extends, the inclination angle decreases. The rotating barrel (944) is provided with a connecting sleeve (19), to which an incremental sensor (945) and an angle indication plate (946) are mounted. The incremental sensor (945) cooperates with the angle indication plate (946) to determine whether the manipulator has reached a suitable inclination angle for delivering the drill rod to the machine frame (3)—specifically, the space between the power head (1) and the clamping mechanism. The components and operations described in this paragraph are part of known technology and are disclosed, in CN116877007A; detailed discussion is therefore omitted.

[0117] The positioning system in this embodiment includes a horizontal sensor (962), a horizontal sensing block (961), a flipping sensor (947), and a flipping sensing plate (948). The flipping sensor (947), in coordination with the flipping sensing plate (948), is configured to detect whether the swing arm (96) of the main manipulator (9) has rotated the gripping claw (97) toward the machine frame (3). The horizontal sensor (962), in conjunction with the horizontal sensing block (961), is used to determine whether the main manipulator (9) is in the horizontal (0° inclination) position.

[0118] As shown in FIG. 23, the right end of the shaft base (941) is connected to an end cover (942). The flipping sensor (947) is mounted on the underside of the shaft base (941) or the end cover (942) near the swing arm (96); in this embodiment, it is specifically installed on the underside of the end cover (942). As shown in FIG. 22, a cylinder seat (91) is bolted onto the mobile platform (6), and the base of the pitch cylinder (92) is rotatably connected to the cylinder seat (91). The rotary actuator (93) is installed at the end of the shaft base (941) opposite the end cover (942). A mounting hole is provided within the inner cavity of the shaft base (941), into which the rotary shaft (95) is installed. Once the end cover (942) is fixed onto the shaft base (941), it axially restrains the rotary shaft (95). The flipping sensing plate (948) is mounted either on the rotary shaft (95) or on the swing arm (96) near the pitch arm (94). For ease of installation, in this embodiment, the flipping sensing plate (948) is specifically mounted to the end face of the rotary shaft (95) that is close to the flipping sensor (947) using bolts.

[0119] As shown in FIG. 24, the horizontal sensing block (961) is mounted on the swing arm (96), while the horizontal sensor (962) is installed—via a bracket or fixed mount—on components such as the drill rod frame (81) or the rod placement groove (82), facing the swing arm (96). Together, the horizontal sensor (962) and the horizontal sensing block (961) form a sensing pair. In this embodiment, as specifically illustrated in FIG. 26, the horizontal sensor (962) is positioned adjacent to the recessed portion (824) of the rod placement groove (82). When the swing arm (96) is in the horizontal position, the horizontal sensor (962) is aligned with and activated by the horizontal sensing block (961), sending a signal to the automatic control system (7). Based on this signal, the automatic control system (7) controls the pitch cylinder (92) to stop the vertical motion of the swing arm (96). When the inclination angle of the main manipulator (9) is 0°, indicating that the swing arm (96) is horizontal, the horizontal sensor (962) and the sensing block (961) are engaged, while the angle indicator plate (946) and the incremental sensor (945) remain disengaged.

[0120] As shown in FIG. 25, the flipping sensing plate (948) in this embodiment is an arc-shaped iron plate. It forms a sensing group with the flipping sensor (947). When the gripping claw (97) is in a vertical position, the flipping sensor (947) and the flipping sensing plate (948) are misaligned (i.e., they do not overlap along the same axis), resulting in no signal output. When the gripping claw (97) rotates inward toward the machine frame (3), the flipping sensing plate (948) covers the flipping sensor (947), which then generates a signal. Notably, the coverage area of the flipping sensing plate (948) is designed to fully encompass the range of flipping motion of the gripping claw (97). The function of this sensing group is as follows: when the sensor is engaged and a signal is output, it indicates that the gripping claw (97) has flipped inward and is now within the machine frame (3). This signal is transmitted to the automatic control system (7), which subsequently imposes motion restrictions on other actuators to prevent mechanical interference or damage between the power head (1) and the gripping claw (97).

[0121] By building upon the original use of the incremental sensor (945) and the isogonal sensor (98) in the main manipulator (9)—which respectively detect whether the manipulator has reached a suitable inclination for transferring a drill rod to the machine frame (3) and whether it is aligned at the same inclination as the machine frame—this embodiment further enhances positioning accuracy by incorporating two additional sensing groups: the horizontal sensor (962) and horizontal sensing block (961), and the flipping sensor (947) and flipping sensing plate (948). These additions ensure that actuating components of the drilling system operate within the designated angular range. When the swing arm (96) rotates, a signal is sent to the automatic control system (7), enabling real-time monitoring and response to potential mechanical interferences between the main manipulator (9) and other moving elements such as the power head (1). The flipping sensor operates independently of the rotary drive (93) that powers swing arm rotation, providing a redundant mechanism for detecting whether the swing arm (96) has rotated as intended, thereby enhancing the reliability of the manipulator's positioning system. Furthermore, during the inward rotation of the swing arm (96) toward the machine frame (3), the flipping sensing plate (948) consistently covers the flipping sensor (947). This configuration ensures that the flipping sensor (947) and sensing plate (948) only disengage when the swing arm (96) returns to its initial position—closest to the drill rod storage box. This design reliably prevents movement interference between the power head and the gripping claw (97). In addition, the integration of the horizontal sensor (962) allows for the use of a simpler single-rod hydraulic cylinder for inclination control. This simplifies the angular positioning mechanism, contributing to a more streamlined system design and easier control logic.

[0122] In summary, the mining drilling system disclosed in the present solution achieves significant functional advancements by upgrading the structure of the power head (1), the configuration of the clamping mechanism, and the control hydraulic systems for both the chuck (14) and the clamping units. These improvements, combined with refinements to the positioning system of the main manipulator (9), enable convenient installation, disassembly, and replacement of drill rods within the limited spatial constraints of existing drilling systems. The system also supports adaptable control strategies during construction to meet varying operational requirements, making it especially suitable for underground drilling operations that require frequent tool changes—such as those involving directional drilling rigs using standard drill rods, fishing rods, and downhole motors. The main manipulator (9), equipped with four position sensors, operates reliably within the designed inclination range of the drilling rig, further enhancing the safety and reliability of drilling operations. The entire drilling system features a simplified structure while offering strong adaptability to diverse underground environments.

[0123] The embodiments described above are merely illustrative examples of the present invention. Common technical implementations and known features within the art are not exhaustively detailed herein. It should be understood by those skilled in the art that, without departing from the scope of the technical solution of the present invention, various modifications and improvements can be made, all of which fall within the scope of protection of this invention. The scope of protection shall be defined by the claims, and the embodiments described in the specification may serve as interpretative references for the claims.

Claims

1. A mining drilling system, comprising a frame, a power head, a gripper, and a main manipulator, wherein:the power head comprises a spindle, a water swivel, and a driving drill rod; a connecting shaft is disposed within the spindle, the water swivel and the driving drill rod are respectively connected to opposite ends of the connecting shaft; the driving drill rod comprises a limiting section and a anti-rotation section, one end of the spindle is provided with a chuck, one end of the chuck is provided with a front end cover; the chuck is clamped onto the limiting section; the front end cover is slidably connected to the anti-rotation section, and the front end cover is configured to drive the driving drill rod to rotate; the chuck is connected to a graded hydraulic system, the graded hydraulic system being configured to control a clamping pressure of the chuck on the limiting section;the gripper comprises a front gripper and a rear gripper; the front gripper comprises a front support plate and a rear support plate disposed at an interval; each of the front support plate and the rear support plate is provided with a through hole, and each of the through holes is provided with an opening, a width of each opening being greater than or equal to a diameter of a large-sized drilling tool; a swinging body is disposed between the front support plate and the rear support plate, the swinging body being configured to swing beyond both the front support plate and the rear support plate;the main manipulator comprises a positioning system, a rotating arm, and a claw; the rotating arm and the claw being interconnected; the positioning system comprises a leveling sensor, a leveling sensing block, a flipping sensor, and a flipping sensing plate, the flipping sensor and the flipping sensing plate being configured to determine whether the rotating arm of the main manipulator drives the claw to flip toward the frame, and the leveling sensor and the leveling sensing block being configured to determine whether the main manipulator is positioned at a preset inclination angle.

2. The mining drilling system according to claim 1, further comprising a drill rod storage box, wherein the drill rod storage box comprises a drill rod frame, a rod placement groove, and a gripping manipulator; an axial direction of a stored drill rod is aligned with a longitudinal direction of the frame, and the gripping manipulator is mounted on a side of the drill rod frame;the rod placement groove is mounted on a side of the drill rod frame facing the frame; the rod placement groove comprises a drill rod channel and a drive device; the drill rod channel is disposed on a side of the drill rod frame, and movable baffles are disposed at both axial ends of the drill rod channel, the movable baffles being connected to the drive device.

3. The mining drilling system according to claim 2, wherein the main manipulator further comprises a tilting cylinder, a rotary actuator, a tilting arm, and a rotary shaft, the tilting arm comprising an interconnecting shaft base and a support body;the rotary actuator, the shaft base, the rotating arm, and the claw are sequentially connected; an end of the shaft base distal from the rotary actuator is provided with an end cover; a piston rod of the tilting cylinder is rotatably connected to a side wall of the support body, and the rotary shaft is disposed between the shaft base and the rotating arm;the flipping sensor is mounted on a lower side of the shaft base or the end cover near an end of the rotating arm, and the flipping sensing plate is mounted on the rotary shaft or on the rotating arm near an end of the tilting arm;the leveling sensing block is mounted on the rotating arm, and the leveling sensor is mounted on the drill rod frame or the rod placement groove, the leveling sensor facing the rotating arm of the manipulator.

4. The mining drilling system according to claim 1, wherein the power head further comprises a hydraulic motor, the hydraulic motor being connected to a gearbox, the gearbox comprising a gear shaft and a multi-stage gear set configured to transmit power from the hydraulic motor to the driving drill rod after gear shifting and torque amplification, and the spindle is disposed inside the gearbox.

5. The mining drilling system according to claim 4, wherein the driving drill rod comprises a rod body and a double-headed connector disposed at one end of the rod body; the limiting section and the anti-rotation section are both provided on the rod body; an outer periphery of the anti-rotation section is formed with a hexagonal shape; an interior of the front end cover is provided with a hexagonal through hole; a diagonal distance of the hexagonal outer periphery of the anti-rotation section is smaller than a diameter of the chuck in a released state; outer diameters of shaft sections on both sides of the limiting section are greater than a minimum diameter of the chuck in a clamped state, and a width of the limiting section is slightly greater than a clamping width of the chuck.

6. The mining drilling system according to claim 5, wherein the water swivel comprises a mandrel and a water inlet assembly, the mandrel being fixedly connected to and in fluid communication with the connecting shaft, and the mandrel being in fluid communication with and rotatably connected to the water inlet assembly; the water inlet assembly comprises a housing and a water inlet port; a water supply chamber is formed inside the housing and is in communication with the water inlet port;the system further comprises a bearing seat, the bearing seat supporting the mandrel; a grease fitting is provided on the bearing seat and is in communication with an interior of the bearing seat;the system further comprises a coupling sleeve, the coupling sleeve connecting the water swivel to an end of the gearbox distal from the hydraulic motor; the coupling sleeve comprises a connection flange, the connection flange being formed with a slotted hole configured for bolt insertion, and a gap is formed between an end face of the coupling sleeve facing the driving drill rod and an end face of the connecting shaft.

7. The mining drilling system according to claim 6, wherein a brake assembly comprises a brake cover, a clamping piston, and a release piston; a sliding shaft is disposed on the brake cover; one end of a transmission shaft extends into a center of the clamping piston; a plurality of brake slips are circumferentially distributed around the transmission shaft; the clamping piston is sleeved over the brake slips and is axially movable; a surface of each brake slip opposite from the transmission shaft is formed as an inclined surface; a surface of the clamping piston opposing the brake slips is formed as a sloped surface corresponding to the inclined surfaces of the brake slips, the clamping piston being slidable to clamp the transmission shaft via the brake slips, and the release piston being slidably sleeved on the sliding shaft and configured to drive the clamping piston to release the clamping.

8. The mining drilling system according to claim 1, wherein the graded hydraulic control system comprises a pressure-reducing valve, a solenoid directional valve, a hydraulic directional valve, a main pump, and an auxiliary pump;the solenoid directional valve is a three-position four-way valve having an A port, a B port, a P port, and a T port, and is configured with Y1 and Y2 positions; the hydraulic directional valve is a hydraulic valve having a P port, a T port, an A port, and a hydraulic control port; the chuck is provided with a control oil port, the A port of the hydraulic directional valve is connected to the control oil port of the chuck, and the main pump is connected to the P port of the hydraulic directional valve; an oil circuit of the auxiliary pump is divided into two branches, one branch being connected to the P port of the hydraulic directional valve, and the other branch being connected to the P port of the solenoid directional valve through the pressure-reducing valve;a drain port of the pressure-reducing valve is connected to the T port of the solenoid directional valve for oil drainage; an oil outlet of the A port of the solenoid directional valve is divided into two branches, one branch being connected to the P port of the hydraulic directional valve, and the other branch being connected to the hydraulic control port of the hydraulic directional valve;the B port of the solenoid directional valve is connected to the T port of the hydraulic directional valve.

9. The mining drilling system according to claim 8, wherein when the chuck is in a released state, the Y1 and Y2 positions are de-energized, pressure oil from the main pump is blocked at the P port of the hydraulic directional valve, and pressure oil from the auxiliary pump flows through the pressure-reducing valve and is blocked at the P port of the solenoid directional valve;when the chuck is in a low-pressure clamping state, the Y2 position is energized, pressure oil from the main pump is blocked at the P port of the hydraulic directional valve, one branch of pressure oil from the auxiliary pump is blocked at the P port of the hydraulic directional valve, and another branch flows through the pressure-reducing valve and the solenoid directional valve, and then reaches a control port of the chuck via the hydraulic directional valve;when the chuck is in a high-pressure clamping state, the Y1 position is energized, pressure oil from the main pump flows through the hydraulic directional valve into the control port of the chuck, one branch of pressure oil from the auxiliary pump flows through the solenoid directional valve to reach a control port of the hydraulic directional valve to switch an operating state of the hydraulic directional valve, and another branch flows through the hydraulic directional valve into the control port of the chuck, where pressure oil from the main pump and the auxiliary pump converge.

10. The mining drilling system according to claim 1, wherein the swinging body comprises two symmetrically arranged support plates at the front and rear, each of the support plates being provided with a guide mounting hole; a flip shaft base is disposed below one side of each support plate, outer end faces on both sides of the two support plates are respectively connected to a front cylinder mounting plate, each front cylinder mounting plate being provided with a front clamping cylinder;a swinging lug seat is disposed below the front cylinder mounting plate located near the flip shaft base, and a swing cylinder is rotatably connected within the swinging lug seat;a side of each of the front support plate and the rear support plate near the flip shaft base is connected to a flipping plate, the flipping plate being provided with a flipping hole, and a flipping pin shaft is disposed within the flipping hole.

11. The mining drilling system according to claim 10, wherein each of the openings is detachably connected to a reinforcing plate, and a plurality of mutually matching grooves and protrusions are disposed between a top of the front support plate and a bottom of the reinforcing plate, and between a top of the rear support plate and the bottom of the reinforcing plate.

12. The mining drilling system according to claim 11, wherein each of the two through holes is provided with a guide sleeve assembly; the guide sleeve assembly comprising an outer guide sleeve and an inner guide sleeve; an outer diameter of the inner guide sleeve is divided into two stages, a smaller-diameter section of the inner guide sleeve is fitted with a guide mounting hole on the swinging body, and a larger-diameter section of the inner guide sleeve is fitted with the through holes on the front support plate and the rear support plate.

13. The mining drilling system according to claim 12, wherein an outer diameter of the outer guide sleeve is divided into two stages, a larger-diameter section of the outer guide sleeve being provided with a countersunk connection hole, the countersunk connection hole being configured to connect the outer guide sleeve and the inner guide sleeve to the swinging body; an inner diameter of the inner guide sleeve is also divided into two stages, a smaller-diameter section of the inner diameter being a constant-diameter through hole fitted with a smaller-diameter section of the outer guide sleeve, and a larger-diameter section of the inner diameter being a countersunk stepped portion fitted with the larger-diameter section of the outer guide sleeve.

14. The mining drilling system according to claim 13, wherein the gripper mounting portion comprises a rear gripper mounting portion, the rear gripper mounting portion comprising symmetrically arranged front side plates and rear side plates, each of the front side plates and the rear side plates being formed with a U-shaped hole at a central portion thereof, the U-shaped holes causing a top of the front side plates and the rear side plates to be completely open;outer end faces on both sides of the front side plates and the rear side plates are connected to rear cylinder mounting plates.

15. The mining drilling system according to claim 14, wherein each of the U-shaped holes is connected to a semi-annular guide sleeve, an outer diameter of the semi-annular guide sleeve is divided into two stages, a smaller-diameter section of the semi-annular guide sleeve being fitted with the U-shaped hole, and a larger-diameter section being configured to fix the semi-annular guide sleeve to the front side plate or the rear side plate.

16. The mining drilling system according to claim 15, wherein the front gripper and the rear gripper are each connected to a clamping cylinder, and the power head further comprises a hydraulic motor; an anti-slip hydraulic system is provided between the hydraulic motor and the clamping cylinders, the anti-slip hydraulic system being configured to pressurize the clamping cylinders during a clamping operation via a reverse oil circuit of the hydraulic motor.

17. The mining drilling system according to claim 16, wherein a piston rod of each of the clamping cylinders is detachably connected to an outer slip, and an inner slip is detachably connected to an inner side of the outer slip; an inner arcuate surface of the outer slip has a diameter matched to an outer diameter of the inner slip, the outer slip is provided with a plurality of countersunk holes, and the piston rod of the clamping cylinder is detachably connected within the countersunk hole; an upper end and a lower end of the inner slip are each provided with a boss, and an upper end and a lower end of the outer slip are each provided with a slot, the boss being detachably connected within the slot.

18. The mining drilling system according to claim 17, wherein the anti-slip hydraulic system comprises a branch oil circuit provided between a reverse oil circuit connected to the hydraulic motor and a clamping oil circuit connected to the clamping cylinder, the branch oil circuit being provided with a check valve, the check valve being configured to only allow oil to flow unidirectionally from the reverse oil circuit into the clamping oil circuit; a hydraulic lock is commonly connected to the clamping oil circuit and a release oil circuit.

19. The mining drilling system according to claim 18, wherein an inlet valve opening pressure of the check valve is higher than a return oil pressure in the reverse oil circuit.

20. The mining drilling system according to claim 19, wherein a front check valve is provided between a clamping oil circuit of the front clamping cylinder and the reverse oil circuit, and a rear check valve is provided between a clamping oil circuit of the rear clamping cylinder and the reverse oil circuit, the front check valve and the rear check valve being in fluid communication with each other.

Images