Mining drilling apparatus

Abstract

A mining drilling apparatus, comprising a mobile platform, on which a drilling system and a drill-rod supply system are provided, wherein the drill-rod supply system comprises a manipulator (1), the drilling system comprises a frame (4), a clamping device (5) and a power head (3) are provided on the frame (4), the power head (3) is slidably arranged on the frame (4), the manipulator (1) is configured to place a drill rod on the clamping device (5), the power head (3) is configured to drive engagement and disengagement between drill rods by means of rotation, the clamping device (5) comprises a base on which a front clamping device (1004) and a rear clamping device (1005) are provided, and a swing lug (b144) is provided on one side of the base; the front clamping device (1004) comprises a swing body (b14), the swing body (b14) is arranged on the base, the swing body (b14) is rotatably connected to the swing lug (b144), and a clamping portion for clamping the drill rod is provided on the swing body (b14); when the swing body (b14) is placed horizontally on the base, both the front clamping device (1004) and the rear clamping device (1005) are used for clamping the drill rod; and after the swing body (b14) swings relative to the swing lug (b144), a large drilling tool is directly placed on the base, and the rear clamping device (1005) is used for clamping the large drilling tool. Therefore, a large-sized drilling tool can be quickly mounted.

Description

Mining drilling equipment TECHNICAL FIELD

[0001] The present application relates to the field of drilling equipment, in particular to mining drilling equipment. BACKGROUND

[0002] The mining drilling equipment is mainly used for drilling in the coal industry. In the prior art, it has the functions of automatic drilling rod feeding and automatic drilling. However, the power head and the gripper of the existing automatic drilling equipment cannot quickly switch the drilling tool specifications during the construction process, and cannot be applied to automatic drilling equipment, especially large drilling tools. For example, the length and outer diameter of the downhole motor are much larger than those of the ordinary drill rod. The drill cannot be installed or removed by the method of installing or removing the drill rod from the rear end or the middle of the rack. The downhole motor can only be inserted into the gripper at the front end of the rack for installation. The distance between the front end of the gripper and the hole wall is very limited, and it is difficult to directly install the downhole motor into the gripper.

[0003] There are generally two solutions to the current construction site: the first solution is to insert the downhole motor into the gripper at a certain angle relative to the inner hole axis of the gripper (i.e. the drilling axis). However, this solution has a very limited scope of application. When the distance between the gripper and the hole wall is small to a certain extent, the excessively inclined downhole motor cannot be aligned with the inner hole of the gripper. The second solution is to remove the entire gripper, install the downhole motor and send it into the hole, and then reinstall the gripper to accommodate the installation of other drill rods. This solution has a wider scope of application and can be used when the distance between the gripper and the hole wall is small. However, due to the large size, heavy weight and complex structure of the gripper, the second solution will consume a large amount of manpower and construction time, seriously affecting the construction efficiency, and has great safety hazards. After the gripper is removed several times, the wear increases and the reliability decreases. SUMMARY

[0004] The present application aims to provide mining drilling equipment that can quickly install large-size large drilling tools.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: mining drilling equipment,

[0006] The mobile platform is provided with a drilling system and a drill rod supply system. The drill rod supply system includes a manipulator. The drilling system includes a rack. The rack is provided with a gripper and a power head. The power head is slidably arranged on the rack. The manipulator can place the drill rod on the gripper. The power head can drive the connection and disconnection between the drill rods by rotation. The gripper includes a base. The base is provided with a front gripper and a rear gripper. One side of the base is provided with a swing ear seat.

[0007] The front gripper includes a swing body. The swing body is arranged on the base. The swing body and the swing ear seat are rotationally connected. The swing body is provided with a clamping portion for clamping the drill rod.

[0008] When the swing body is horizontally placed on the base, the front holder and the rear holder are used to clamp the drill rod; after the swing body swings relative to the swing ear seat, the large drill tool is directly placed on the base, and the rear holder is used to clamp the large drill tool.

[0009] The beneficial effects of the scheme are:

[0010] 1. The scheme adopts the holder; two holders are controlled respectively; thereby, the large drill tool of large size is quickly installed, taking the hole bottom motor as an example, the specific installation process is as follows:

[0011] a. In the initial state, both holders are kept loose; the output shaft of the swing oil cylinder is shortened, the swing body rotates relative to the base, the hole bottom motor is placed at the position before the swing body rotates, the hydraulic system controls the rear holder to clamp the rear half of the hole bottom motor;

[0012] b. The power head and the hole bottom motor are only in contact or not completely connected (only one thread is connected), the hydraulic system controls the rear holder to loosen, the power head pushes the hole bottom motor to advance from the working face, so that the hole bottom motor enters the hole, and the rear end of the hole bottom motor completely leaves the range of the front holder, manual or with the help of other tools to make the power head and the hole bottom motor complete the undressing (if the hole bottom motor and the power head are only in contact, this place does not need to undress), the power head retreats;

[0013] c. The output shaft of the swing oil cylinder is elongated, so that the swing body rotates back to the base; manual or with the help of other tools to drag the hole bottom motor to the front holder position, and use the front holder to clamp, the drill rod can be normally and automatically entered and connected with the power head and the hole bottom motor in turn, at this time, the hole bottom motor is equivalent to the first drill rod entering the hole.

[0014] 2. In the process of installing the hole bottom motor, the whole process is completed by the drilling machine, which is convenient and fast; only manual connection is needed after the hole bottom motor is installed, and the workload is also relatively small.

[0015] 3. The swing oil cylinder is adopted to rotate the swing body, so that the front holder moves as a whole, so as to provide space for the installation of the hole bottom motor, and when the hole bottom motor is inserted into the rear holder, there is enough distance, so the rear holder does not need to be provided with the swing body.

[0016] Further, the base comprises a mounting plate and a support part, the mounting plate is horizontally arranged, the support part is vertically arranged on the mounting plate, a detachable through hole is formed in the support part, an axis direction of the detachable through hole is the drilling direction, the support part comprises a support plate and a reinforcing plate detachably connected to the support part, when the reinforcing plate is detached, the upper end of the detachable through hole is open as a U-shaped hole; the swing body is arranged on the mounting plate, and the swing body and one side of the support plate are rotationally connected.

[0017] Further, the top of the support plate is provided with protrusions on both sides, the reinforcing plate passes through the turnover plate and the turnover shaft seat, and the turnover pin shaft is rotationally connected with the turnover plate and the turnover shaft seat.

[0018] Further, the gripper further comprises a guide assembly, the guide assembly comprises a front gripper guide sleeve, the swing body is symmetrically provided with a swing support plate, the swing support plate is provided with a mounting through hole, the radius of the mounting through hole is smaller than the radius of the detachable through hole of the support part, the guide sleeve is detachably connected to the swing support plate, each set of guide sleeve comprises an inner guide sleeve and an outer guide sleeve, the outer diameter of the inner guide sleeve and the outer guide sleeve is divided into two levels of small diameter section and large diameter section, the small diameter section of the inner guide sleeve is sleeved outside the small diameter section of the outer guide sleeve, and the large diameter section of the inner guide sleeve is sleeved outside the large diameter section of the outer guide sleeve; the small diameter section of the inner guide sleeve is matched with the mounting through hole, the large diameter section of the inner guide sleeve is matched with the detachable through hole of the support part, and the large diameter section of the inner guide sleeve, the large diameter section of the outer guide sleeve and the swing support plate are detachably connected.

[0019] Further, the bottom plate further comprises a rear support part, the rear support part is provided with a gap with an upward opening, the guide sleeve assembly further comprises a semi-ring guide sleeve, the semi-ring guide sleeve is coaxial with the front gripper guide sleeve, and the semi-ring guide sleeve is installed in the gap.

[0020] Further, the front gripper comprises a front clamping unit, the front clamping unit is arranged in the swing body, the front clamping unit comprises a pair of front clamping units, each front clamping unit comprises a front slip, the front slip comprises an outer slip and an inner slip, the output shaft of the front clamping cylinder is fixed to the outer side of the outer slip, the inner slip is detachably connected to the inner side of the outer slip, and the inner side of the outer slip and the inner slip are used for clamping the drill pipe.

[0021] Further, the upper and lower sides of the inner surface of the outer slip are respectively provided with planar regions, the planar regions are provided with bolt holes, the upper and lower sides of the outer surface of the inner slip are respectively provided with bosses, the shapes of the planar regions and the bosses are matched and are bolted, the inner surface of the outer slip is further provided with four clamping blocks, one group of two clamping blocks is arranged on both sides of the planar region, and the two clamping blocks limit the bosses in the drilling direction.

[0022] Further, the power head comprises a main shaft, a water braid, an end cover part and a driving drill pipe, the end cover part is fixed to the front end of the main shaft, the front end cover comprises a chuck and a front end cover, the main shaft is internally provided with a containing hole, the water braid and the driving drill pipe are sequentially connected and pass through the containing hole, the chuck and the front end cover, the driving rotating rod and the water braid are located at the front and rear ends of the main shaft respectively, the front end cover can drive the driving drill pipe to rotate, and the driving rotating rod is used for sliding rearward in the front end cover.

[0023] Further, the outer periphery of the driving drill pipe is provided with a rotation stopping part, the outer periphery cross section of the rotation stopping part is polygonal, the front end cover is provided with a limiting opening, and the rotation of the rotation stopping part is limited through the limiting opening of the front end cover.

[0024] Further, the active drill rod is provided with a male joint at one end and a female joint at the other end, the male joint is used for connecting with other drill rods, and the female joint is connected with the connecting shaft; the female joint and the rotation-stopping part are provided with a limiting section, the limiting section passes through the chuck, and the outer diameter of the limiting section is smaller than the outer diameters of the female joint and the rotation-stopping part.

[0025] Further, when the chuck is clamped to the limit position, there is still a gap between the outer periphery of the chuck and the limiting section.

[0026] Further, the power head further comprises a brake assembly, a gearbox and a main power source, the output shaft of the main power source is engaged with the gearbox to drive the main shaft to rotate, the gearbox comprises a gear shaft and multiple gear levels, the brake assembly is internally provided with a transmission shaft connected with the gear shaft, the brake assembly rotates and brakes the transmission shaft, the main shaft is provided with the active drill rod at the end, the main shaft is internally provided with a containing hole for the active drill rod to pass through, and the end of the active drill rod is detachably connected with a bidirectional joint.

[0027] Further, the brake assembly comprises a brake cover, a clamping piston and a loosening piston, the brake cover is internally provided with a sliding shaft, one end of the transmission shaft extends into the center of the clamping piston, the transmission shaft is circumferentially provided with multiple slips, the clamping piston is sleeved on the slip and can move in the axial direction, the surface of the slip away from the transmission shaft is a bevel surface, the surface opposite to the slip of the clamping piston is a slope surface matched with the bevel surface of the slip, the clamping piston is clamped on the transmission shaft through the slip when sliding, and the loosening piston is slidably sleeved on the sliding shaft and is used for pushing the clamping piston to release the clamping.

[0028] Further, the brake cover is provided with an oil inlet one and an oil inlet two, the first oil cavity is formed between the loosening piston side away from the clamping piston and the brake cover, the oil inlet one is used for providing the first oil cavity with hydraulic oil, the clamping piston side away from the loosening piston is provided with a second oil cavity, and the oil inlet two is used for providing the second oil cavity with hydraulic oil.

[0029] Further, the water braid part comprises a connecting shaft, a mandrel and a water inlet assembly, the mandrel and the connecting shaft are both hollow shafts, the mandrel is fixedly connected and communicated with the connecting shaft, the other end of the connecting shaft is connected with the active drill rod, the mandrel is communicated and rotationally connected with the water inlet assembly, a bearing seat is arranged to support the mandrel, and the bearing seat is internally provided with a mandrel support bearing sleeved on the outer periphery of the mandrel.

[0030] Further, the end of the main shaft close to the water braid is provided with a rear end cover, the rear end cover comprises a connecting sleeve and an inner circular ring connected with each other, the connecting sleeve is arranged at the end of the main shaft close to the water braid, and the inner circular ring is located at the middle of the connecting sleeve, and the mandrel of the water braid rotationally penetrates the inner circular ring to be connected with the connecting shaft.

[0031] Further, the center of the connecting sleeve is provided with a hexagonal hole, the end of the mandrel is a regular hexagon matched with the hexagonal hole and is axially slidably connected with the hexagonal hole.

[0032] Further, the connecting sleeve and the main shaft are provided with an activity gap in the longitudinal direction.

[0033] Further, the inner circular ring is provided with a hexagonal hole in the middle, and the outer wall of the core shaft of the water braid is provided with a hexagon for clamping the hexagonal hole.

[0034] Further, the manipulator comprises a luffing oil cylinder, a rotating driver, a luffing arm, a rotating shaft, a rotating arm, a gripper and a pressing rod, the luffing arm and the lower end of the luffing oil cylinder are hinged to the moving platform, the output shafts of the luffing arm and the luffing oil cylinder are hinged to the upper end, the luffing oil cylinder is used to drive the luffing arm to vertically swing, the rotating driver is fixed on the luffing arm, the output shaft of the rotating driver, the rotating arm and the gripper are sequentially connected, the manipulator is provided with a positioning system, the positioning system comprises a turnover sensor, a turnover induction plate and a control system, the rotating part rotates relative to the fixed part, the turnover sensor is installed on the luffing arm, and the turnover induction plate is installed on the rotating arm.

[0035] In the initial state, the turnover sensor and the turnover induction plate are disconnected, and no signal is output; when the rotating arm rotates relative to the luffing arm and leaves the initial position, the turnover induction plate covers the turnover sensor, the turnover sensor sends a signal to the control system, and the coverage range of the turnover induction plate meets the rotating angle stroke requirement of the rotating part.

[0036] Further, the turnover induction plate is an arc-shaped plate, and the arc-shaped plate, the rotating shaft and the rotating arm are coaxial.

[0037] Further, the positioning system further comprises a horizontal sensor and a horizontal induction block, the horizontal induction block is arranged on the rotating arm, the horizontal sensor is connected with the horizontal induction block when the rotating arm is in a horizontal position, the horizontal sensor sends a signal to the control system, and the control system controls the rotating arm to stop vertical rotation.

[0038] The gripper in the scheme has the following effects:

[0039] 1. The swing body has two working conditions, a swing working condition: in the normal construction condition, the swing body takes the detachable through hole as the rotating shaft, at this time, the front gripper and the rear gripper can relatively rotate to a certain extent, so that the drill rod in the front gripper and the drill rod in the rear gripper or the power head produce a small angle of relative rotation (such as pre-loosening the drill rod joint), and the pre-loosening work of the rotating rod is completed; a turnover working condition: when the hole bottom motor needs to be installed or the swing body needs to be completely removed, the swing body needs to be turned over out of the front gripper mounting part for operation, at this time, the turnover pin is taken as the rotating shaft, when the swing body is turned over out of the original position, the reinforcing plate is removed, so that the upper end of the detachable through hole is opened as a U-shaped hole, the axis of the hole bottom motor can be directly parallel to the drilling axis, and the hole bottom motor is directly put into the detachable through hole and the rear gripper through the upper end of the U-shaped hole and the notch, the installation work of the hole bottom motor is completed, without adjusting the up-down inclination angle of the hole axis of the gripper multiple times as in the first scheme of the background technology, or without completely removing the gripper as in the second scheme, consuming a large amount of manpower and construction time, and the installation process is simple and fast.

[0040] 2. The outer slip and the inner slip, through the matching of the flat area of the outer slip, the protrusions and the bosses of the inner slip, four positioning planes are formed on the outer side of the inner slip, the flat area and the protrusions of the outer slip form four stop surfaces, the four stop surfaces limit the four positioning planes, thereby realizing the positioning of the inner slip.

[0041] 3. The outer slip and the inner slip, by setting protrusions or small teeth that increase the friction with the surface of the drill pipe, the probability of drill pipe slipping is reduced, and the work efficiency during installation or disassembly is improved.

[0042] 4. During the operation of the clamp, the drill pipe needs to be continuously inserted and withdrawn from the clamp. Since the slips on both sides of the clamp need to be frequently opened and closed, the distance is often changed, so the clamp generally does not have a guiding function. Therefore, a guide sleeve is generally specially arranged in front of the clamp for guiding the drill pipe to enter and exit the clamp to prevent the drill pipe from deviating from the axis during transition, causing damage to the clamp and the power head. In the traditional drilling rig structure, the clamp and the guide sleeve are generally arranged as two independent components at the front end of the rack, occupying a large length space. Some drilling rigs used in narrow spaces or compact structures cancel the guide sleeve to save space in the drilling direction. The inner sleeve of the traditional guide sleeve is a hollow cylinder that can rotate. One inner sleeve can only adapt to one outer diameter of the drill pipe. After the drilling rig changes the diameter of the drill pipe, the guide sleeve must be replaced as a whole or the inner sleeve must be replaced separately to adapt to the outer diameter of the new drill pipe. Replacing the guide sleeve as a whole is relatively simple, but the cost of spare parts is relatively high; replacing the inner sleeve separately is relatively complex, but the cost is low, which is the current way commonly used in the field. However, there is a problem of difficult identification and management of spare parts when replacing the inner sleeve separately. Since several drill pipe specifications used in the same drilling rig are close to each other, the diameter difference of the drill pipe is generally about 10 mm, and the thickness difference of the inner sleeve is only a few millimeters. It is very difficult to identify such a small difference without measuring tools in the field, and the management of spare parts in the field is also difficult. At the same time, since the guide sleeve and the clamp are two independent components, the installation space requirement is large, which leads to a longer rack of the drilling rig, and the guide sleeve can only be used for one type of drill pipe, which is difficult to replace in the field.

[0043] The present scheme sets an inner guide sleeve and an outer guide sleeve to adapt to two specifications of drill pipes; at the same time, the guide sleeve is fixed on the swing body as the connection point of the swing body and the limiting part in the normal construction state, when it is necessary to overturn, only need to disassemble the guide sleeve, through the overturning pin shaft or other forms to convert the position of the swing body and the limiting part rotating connection to the axis of the overturning pin shaft, that is, to complete the switching of the working condition, the operation is simple; in addition, the guide sleeve and the clamp are combined as a whole, reducing the demand for installation space, making the overall layout of the drilling rig more compact; at the same time, the inner guide sleeve and the outer guide sleeve have obvious structural differences, which is convenient for on-site spare part management and identification.

[0044] 5. By strengthening the design of the plate, the structural strength of the front support plate and the rear support plate caused by the single-sided opening is effectively reduced, and the design is detachable, so that the reinforcing plate can be removed when the hole bottom motor is installed or maintained, thereby avoiding the influence of the reinforcing plate on the installation of the hole bottom motor or the maintenance of the drill rod.

[0045] The power head in the scheme has the following effects:

[0046] 1. When the main drill rod needs to be repaired and replaced, since the main shaft has a receiving hole through which the main drill rod passes, the worker can directly slide the main drill rod in the receiving hole and take it out from the rear of the main shaft, thereby improving the speed of disassembling the main drill rod, and the space at the rear end of the main shaft is relatively spacious. If the main drill rod is removed from the front of the main shaft according to the traditional method, on the one hand, the flange plate needs to be disassembled and fastened, and on the other hand, the space in the front part is limited, making it inconvenient to install and disassemble the main drill rod. The above-mentioned arrangement can facilitate the worker to assemble the main drill rod and then reassemble it into the main shaft, thereby improving the installation speed of the main drill rod, and the brake assembly can timely adjust the opening and closing of the main drill rod.

[0047] In the technical scheme, the end of the main drill rod is also detachably connected with a bidirectional joint. When the threads of one side of the bidirectional joint are worn to a certain extent, the bidirectional joint can be removed and installed in the opposite direction, and the worn part of the bidirectional joint is fixedly connected with the main drill rod by glue, so that the service life of the main drill rod is equivalent to twice that of the previous integral main drill rod, and the rod body does not need to be replaced, which can save a lot of installation time and use cost, and can play an emergency role when machining in some places where it is inconvenient to repair and replace the main drill rod.

[0048] 2. The surface opposite to the slip on the clamping piston is a slope surface matched with the inclined surface of the slip, the clamping piston can slide to make the internal slope surface contact with the inclined surface of the slip, the transmission shaft is clamped by the radial movement of the slip, and the rotation of the transmission shaft is limited. The transmission shaft is quickly clamped and loosened by the axial sliding of the clamping piston and the radial movement of the slip, the cooperation of the inclined surface and the slope surface provides stable clamping force, the transmission shaft does not slide in the working process, the reliability of clamping the transmission shaft is ensured, different diameters of transmission shafts can be adapted, even if the surface of the transmission shaft is worn, stable clamping can be realized by extending the sliding distance of the clamping piston, and the universality is high, and the power head can be applied to various types of drilling machines.

[0049] 3. The pressure oil enters the second oil chamber from the oil inlet two, pushes the clamping piston to move towards the direction close to the slip bowl, so that the internal slope surface of the clamping piston is in contact with the inclined surface of the slip bowl, thus pushing the slip bowl to move inward and limiting the radial displacement of the slip bowl, thereby clamping the transmission shaft to realize the brake of the transmission shaft; the pressure oil enters the first oil chamber from the oil inlet one, pushes the loosening piston to move, and the end surface of the loosening piston pushes the clamping piston to move away from the slip bowl, thereby releasing the limitation of the radial displacement of the slip bowl and the rotation of the transmission shaft. Through the hydraulic system, automatic control of the brake assembly is realized, the automation level and efficiency of operation are improved, the hydraulic pressure can provide stable and adjustable pressure to ensure the accuracy of the clamping and loosening process, and the hydraulic pressure has high stability and reliability, which ensures that the brake assembly can work stably under various working conditions, reduces the failure rate and maintenance cost.

[0050] 4. By setting the connecting shaft and the water braid part, the mandrel is fixedly connected with the connecting shaft and communicates with the connecting shaft, the other end of the connecting shaft is connected with the driving drill rod, the drilling medium flowing into the water braid part is transmitted to the driving drill rod, and the driving drill rod and the water braid part are connected. In the technical solution, the mandrel is connected with the driving drill rod and rotates together with the driving drill rod during the working process, and the mandrel supporting bearing can ensure smooth rotation of the mandrel, reduce friction and wear during rotation, and prolong the service life of the equipment. Through the hollow design of the connecting shaft and the mandrel, the pressure fluid can be smoothly transmitted from the water inlet assembly to the driving drill rod, ensuring that the drilling medium can be stably and continuously supplied, and improving the drilling efficiency.

[0051] 5. When the main shaft drives the end cover part to stop rotating, the limiting hole of the front end cover synchronously stops rotating, the limiting hole limits the rotation of the rotation stopping part, and the driving drill rod can stop rotating, the above-mentioned mode realizes the limitation of the rotation of the driving drill rod, but does not limit the axial sliding of the driving drill rod, so that the driving drill rod can axially float a certain distance during the working process, which can effectively alleviate the axial impact generated during the threaded connection and disassembly of the drill rod, thereby protecting the driving drill rod and other connected parts and prolonging the service life of the equipment; when the driving drill rod axially floats, the impact force on the water braid part can be reduced, the wear of the water braid part is reduced, and the overall durability and reliability of the water braid part are improved.

[0052] 6. When the chuck moves to the limit position, there is still a gap between the outer periphery of the limiting section and the chuck, so that the limiting section can axially slide along the chuck, the driving drill rod can axially float a certain distance, and the clamping force of the chuck will not directly act on the driving drill rod, avoiding that the driving drill rod directly bears the strong clamping force of the chuck, avoiding that the stress deformation of the driving drill rod causes metal fatigue deformation during the reciprocating rotation, thereby reducing fatigue damage and increasing the service life of the driving drill rod; due to the axial floating design of the driving drill rod, the impact force borne by the water braid part during the working process is reduced, which makes the stress borne by the water braid part more uniform.

[0053] 7. The length of the limiting section is greater than the length of the chuck clamping, so that the active drill rod has a certain floating distance in the chuck, to relieve the axial impact generated when the active drill rod is connected or disconnected with the drill rod, thereby playing a role in protecting the active drill rod.

[0054] 8. The connecting sleeve and the main shaft have a longitudinal clearance. A certain axial floating space is provided for the connecting shaft, which helps to improve the axial impact on the water braid and the active drill rod during drilling.

[0055] The mechanical hand in the scheme has the following effects:

[0056] 1. The mechanical hand is usually arranged between the drill rod box and the rack, and the rack is provided with a power head, which needs to make reciprocating motion to push the drill rod gripped by the mechanical hand jaw into the drill hole;

[0057] However, the rotating arm of the mechanical hand rotates in the process, and the hand jaw drives the drill rod to rotate at the same time. At this time, the maximum activity space is required, so a signal needs to be sent to the control system at this time to ensure that other structures of the drilling machine do not appear in the activity space of the mechanical hand, so as to avoid the motion interference between the motion head and the hand jaw.

[0058] In the scheme, a turnover sensor is arranged. Once the rotating arm rotates, the turnover sensor is covered by the turnover sensor, and the turnover sensor sends a signal to the control system, so that the control system can timely handle the unexpected situation of motion interference.

[0059] 2. The turnover controller is independent of the rotary drive for driving the rotating wall to rotate, and can monitor whether the rotating arm is rotated to the situation, thereby increasing the reliability of the mechanical hand arm positioning system.

[0060] 3. In the process of rotating the rotating arm to the side close to the rack, the turnover sensor is always covered by the turnover sensor, so as to ensure that only when the rotating arm returns to the initial state, i.e. the position closest to the drill rod box, the turnover sensor and the turnover sensor will be disconnected, so as to ensure that the motion head and the hand jaw will not be motionally interfered. BRIEF DESCRIPTION OF DRAWINGS

[0061] Fig. 1 is a whole structure diagram of the drilling machine to which the embodiment belongs;

[0062] Fig. 2 is a three-dimensional axonometric view of the whole mechanical hand of the embodiment;

[0063] Fig. 3 is a three-dimensional axonometric view of the pitch arm of the embodiment;

[0064] Fig. 4 is a three-dimensional axonometric view of the rotating arm of the embodiment;

[0065] Fig. 5 is an installation schematic view of the turnover sensor of the embodiment;

[0066] Figure 6 is a cross-sectional view of the power head of the embodiment;

[0067] Figure 7 is a detail view of the brake assembly of the power head of the embodiment;

[0068] Figure 8 is a detail view of the main drill pipe of the embodiment;

[0069] Figure 9 is a detail view of the water braid of the embodiment;

[0070] Figure 10 is a connection diagram of the water braid of the embodiment;

[0071] Figure 11 is a right view of the connection sleeve of the embodiment;

[0072] Figure 12 is a dispensing diagram of the double head joint of the embodiment;

[0073] Figure 13 is a diagram of the gripper and the power head in the initial state of the embodiment;

[0074] Figure 14 is a diagram of the gripper and the power head in step a of the embodiment;

[0075] Figure 15 is a diagram of the gripper and the power head in step b of the embodiment;

[0076] Figure 16 is a diagram of the gripper and the power head in step c of the embodiment, after the hole bottom motor is pushed back into the hole bottom;

[0077] Figure 17 is a diagram of the gripper and the power head in step c of the embodiment, when the drill pipe and the power head are buckled;

[0078] Figure 18 is a hydraulic system diagram of the embodiment;

[0079] Figure 19 is a three-dimensional axonometric view of the gripper of the embodiment;

[0080] Figure 20 is a front view of the gripper of the embodiment;

[0081] Figure 21 is a cross-sectional view of A-A of Figure 20;

[0082] Figure 22 is a three-dimensional view of the base of the embodiment;

[0083] Figure 23 is a three-dimensional view of the base of the embodiment after disassembly and reinforcement;

[0084] Figure 24 is a three-dimensional view of the swing body of the embodiment;

[0085] Figure 25 is a three-dimensional view of the outer slips of the embodiment;

[0086] Figure 26 is a three-dimensional view of the inner slips of the embodiment;

[0087] Figure 27 is a three-dimensional view of the semi-ring guide sleeve of the embodiment;

[0088] Figure 28 is a three-dimensional view of the outer guide sleeve of the embodiment;

[0089] Figure 29 is a schematic view of the inner guide sleeve of the embodiment. DETAILED DESCRIPTION

[0090] The following will be further described in detail through specific embodiments:

[0091] The reference signs in the drawings of the specification include: manipulator 1, cylinder seat 101, luffing cylinder 102, slewing driver 103, luffing arm 104, shaft seat 104a, end cover 104b, slewing shaft 105, swing arm 106, horizontal sensing block 10601, gripper 107, isometric sensor 2, power head 3, rack 4, gripper 5, drill rod box 6, roll-over sensor 7, roll-over sensing plate 8, circular-arc-shaped recessed portion 9, horizontal sensor 10,

[0092] Active power source a1, main drive rod a11, main shaft a12, main drive shaft a122, front end cover a123, chuck a124, accommodating hole a125, male joint a111, female joint a112, rotation-stopping portion a113, limiting section a114, bidirectional joint a13, transmission a2, brake assembly a3, brake cover a31, clamping piston a32, loosening piston a33, sliding shaft a34, slip a35, transmission shaft a36, oil inlet one a37, oil inlet two a38, key a39, water braid portion a4, connecting shaft a41, mandrel a42, water inlet assembly a43, shell a431, water supply cavity a432, water inlet hole a433, bearing seat a44, mandrel support bearing a45, connecting sleeve a46, waist-shaped hole a461, grease nipple a462,

[0093] Hole bottom motor 1001, drill rod 1002, power head 1003, front gripper 1004, rear gripper 1005, power motor 1101, front clamping cylinder 1102, front hydraulic lock 1103, rear clamping cylinder 1104, rear hydraulic lock 1105, second front one-way valve 1106, second rear one-way valve 1107, rear reversing valve 1108, first front one-way valve 1109, first rear one-way valve 1110, front reversing valve 1111, one-way valve bridge 1112,

[0094] Mounting plate b11, front gripper mounting portion b12, front support plate b121, rear support plate b122, reinforcing plate b123, turnover hole b124, turnover plate b125, rear gripper mounting portion b13, front side plate b131, rear side plate b132, rear lining plate b133, rear gripper mounting plate b134, swing body b14, swing support plate b141, front gripper mounting plate b142, front lining plate b143, swing ear seat b144, hinge shaft seat b145, front gripper b21, rear gripper b22, inner slip b23, boss b231, outer slip b24, rectangular plane b241, clamping block b242, inner guide sleeve b251, outer guide sleeve b252, half-ring guide sleeve b253, small-diameter section b2501, large-diameter section b2502, swing oil cylinder b26.

[0095] Embodiment

[0096] The embodiment is basically shown in FIGS. 1-29: a mining drilling rig, including a mobile platform, which can be various walking devices such as a caterpillar truck, a rubber-tired truck, a rail car, etc., and the driving device can be in the form of hydraulic, electric drive, fuel, etc. According to the working conditions of the downhole drilling site and the explosion-proof requirements, the application preferably uses a caterpillar truck driven by hydraulic as the mobile platform.

[0097] As shown in FIG. 1, the mobile platform is provided with a drilling system, a drill rod supply system and a hydraulic system, the drilling system includes a rack 4, the drill rod supply system includes a manipulator 1 and a drill rod box 6, the drill rod box 6 is provided with a circular arc groove portion 9, the rack 4 is provided with an equal angle sensor 2, a gripper 5 and a power head 3, the power head 3 is slidingly arranged on the rack 4, the manipulator 1 is located between the rack 4 and the drill rod box 6, and its function is to grab the drill rod 1002 in the drill rod box 6 onto the rack 4, and install the drill rod 1002 through the power head 3 on the rack 4, the manipulator 1 includes a luffing oil cylinder 102, a slewing drive 103, a luffing arm 104, a slewing shaft 105, a swing arm 106, a gripper 107, a pressing rod, the luffing arm 104 and the lower end of the luffing oil cylinder 102 are hinged to the mobile platform, the output shafts of the luffing arm 104 and the luffing oil cylinder 102 are hinged at the upper end, the luffing oil cylinder 102 can drive the luffing arm 104 to vertically swing, the slewing drive 103 is fixed on the luffing arm 104, and the output shaft of the slewing drive 103, the swing arm 106 and the gripper 107 are sequentially connected. The above is prior art, and the patent No. CN116877007A is entitled: Drill rod 1002 conveying manipulator 1 for directional drilling rig and drill rod 1002 conveying method. The present application is improved based on the patent, and the prior art part will not be described again.

[0098] As shown in FIG. 1-5, the manipulator is provided with a positioning system, which comprises a horizontal sensor 10, a horizontal sensing block 10601, a turnover sensor 7, a turnover sensing plate 8, a control system, a rotating part, a fixed part, a cylinder seat 101 and a luffing cylinder 102.

[0099] The rotating part comprises a slewing drive 103, a slewing shaft 105 and a rotating arm 106, and the fixed part is a luffing arm 104 of the manipulator 1. As shown in FIG. 3, the upper part of the luffing arm 104 comprises a shaft seat 104a, the right end of the shaft seat 104a is bolted with an end cover 104b, and the turnover sensor 7 is installed on the shaft seat 104a or the end cover 104b near the lower side of one end of the rotating arm 106. As shown in FIG. 2, the cylinder seat 101 is bolted on the directional drilling rig, the lower end of the luffing cylinder 102 is hinged with the cylinder seat 101, and the output shaft of the luffing cylinder 102 is hinged with the lower part of the luffing arm 104.

[0100] As shown in FIG. 2, the slewing drive 103 is installed on the end of the shaft seat 104a away from the end cover 104b, i.e. the right end of the shaft seat 104a, and the slewing drive 103, the slewing shaft 105 and the rotating arm 106 are connected in sequence. The slewing shaft 105 penetrates through the shaft seat 104a and the end cover 104b, the left end of the rotating arm 106 is provided with a gripper 107, and the turnover sensing plate 8 is installed on the slewing shaft 105 or the rotating arm 106 near the position of the turnover sensor 7. In this embodiment, for the convenience of installation, the turnover sensing plate 8 is installed on one end face of the slewing shaft 105 near the turnover sensor 7 through a bolt.

[0101] As shown in FIG. 5, the turnover sensing plate 8 is an arc-shaped plate, the arc-shaped plate, the slewing shaft 105 and the rotating arm 106 are coaxial, the turnover sensing plate 8 can cover the turnover sensor 7, the coverage range of the turnover sensing plate 8 meets the requirement of the rotating angle stroke of the rotating part, the turnover sensor 7 is a proximity sensor, which is an inductive proximity sensor for detecting the presence of metal, and the turnover sensing plate 8 is an iron block.

[0102] As shown in FIG. 4, the horizontal sensing block 10601 is bolted on the rotating arm 106, and the horizontal sensor 10 is bolted on the side surface of the circular-arc-shaped recess part 9 of the drill pipe box 6. When the rotating arm 106 is in a horizontal position, the horizontal sensor 10 is connected with the horizontal sensing block 10601, the horizontal sensor 10 sends a signal to the control system, the control system comprises a single-chip microcomputer, the turnover sensor, the single-chip microcomputer and the rotating arm are connected in sequence, and the single-chip microcomputer can control the luffing cylinder 102, so as to stop the vertical rotation of the rotating arm 106.

[0103] The use method of the main manipulator positioning system is as follows:

[0104] 1. In the initial state, the rotating arm 106 is horizontally arranged, the gripper 107 is located on the side of the rotating arm 106 close to the drill pipe box 6, the turnover sensor 7 and the turnover sensing plate 8 are disconnected, no signal is output, and the horizontal sensor 10 is connected with the horizontal sensing block 10601.

[0105] 2. When the gripper 107 picks up the drill pipe on the arc-shaped groove part 9, the luffing oil cylinder 102 drives the rotary arm 106 to rotate, thereby driving the gripper 107 and the drill pipe to swing upward, and the horizontal sensor 10 is disconnected from the horizontal sensing block 10601;

[0106] 3. After the rotary driver 103 drives the rotary arm 106 to rotate, the turnover sensing plate 8 covers the turnover sensor 7, and the turnover sensor 7 is turned on and sends a signal to the control system after sensing the turnover sensing plate 8 in front; the control system will prohibit the power head to slide on the rack, so as to avoid the interference of the gripper 107 and the drill pipe with the power head 3,

[0107] 4. After the manipulator 1 puts the drill pipe on the rack 4, the rotary driver 103 drives the rotary arm 106 to reverse, so that the gripper 107 on the rotary arm 106 is turned to the side close to the drill pipe box 6, the turnover sensing plate 8 no longer covers the turnover sensor 7, and there is no signal output, the control system drives the power head 3 to install the drill pipe;

[0108] 5. When the luffing oil cylinder 102 drives the rotary arm 106 to rotate vertically, the horizontal sensor 10 is connected with the horizontal sensing block 10601, the horizontal sensor 10 sends a signal to the control system, which represents that the rotary arm 106 has returned to the initial position, and the luffing oil cylinder 102 stops running.

[0109] As shown in FIGS. 6-12, FIG. 6 is a structural diagram of the power head 3, which comprises a main shaft a12, a brake assembly a3, a gearbox and a main power source a1. The output shaft of the main power source a1 is engaged with the gearbox to drive the main shaft a12 to rotate. The main power source a1 can be various rotary power driving devices, such as a hydraulic motor, an electric motor, etc. The main power source a1 of the present application is a hydraulic motor. The gearbox comprises a gear shaft and multiple gear stages. The brake assembly a3 is internally provided with a transmission shaft a36 connected with the gear shaft. The transmission shaft a36 is connected with the gear shaft through a key a39 and rotates synchronously. The brake assembly a3 rotates and brakes the transmission shaft a36. The main shaft a12 is provided at the end with a main driving drill pipe a11. The main shaft a12 is internally provided with a receiving hole a125 through which the main driving drill pipe a11 passes. The main driving drill pipe a11 is further detachably connected at the end with a bidirectional joint a13.

[0110] As shown in Figure 7, the brake assembly a3 includes a brake cover a31, a clamping piston a32 and a loosening piston a33, the brake cover a31 is internally provided with a sliding shaft a34, the left end of a transmission shaft a36 extends into the center of the clamping piston a32, and the transmission shaft a36 is circumferentially distributed with a plurality of slips a35, the number of slips a35 in this embodiment is 3, the clamping piston a32 is sleeved outside the slip a35 and can move axially along the transmission shaft a36, the surface of the slip a35 away from the transmission shaft a36 is a bevel surface, the surface opposite to the slip a35 of the clamping piston a32 is a slope surface matched with the bevel surface of the slip a35, the clamping piston a32 can slide to push the slip a35 to slide radially to clamp the transmission shaft a36, the loosening piston a33 is slidably sleeved on the sliding shaft a34 and can push the clamping piston a32 to release the clamping, the surface opposite to the slip a35 of the clamping piston a32 is a slope surface matched with the bevel surface of the slip a35, the clamping piston a32 can slide to make the slope surface in its interior contact with the bevel surface of the slip a35, and the transmission shaft a36 is clamped by the radial movement of the slip a35, thereby limiting the rotation of the transmission shaft a36. Through the axial sliding of the clamping piston a32 and the radial movement of the slip a35, the transmission shaft a36 is quickly clamped and loosened, the cooperation of the bevel surface and the slope surface provides stable clamping force, ensures that the transmission shaft a36 will not slide during the working process, ensures the reliability of clamping the transmission shaft a36, and can adapt to transmission shafts a36 of different diameters, even if the surface of the transmission shaft a36 is worn, stable clamping can be achieved by extending the sliding distance of the clamping piston a32, which has strong universality and can be applied to various types of drilling rig power heads.

[0111] The brake cover a31 is provided with an oil inlet one a37 and an oil inlet two a38. Loosing the piston a33 away from the clamping piston a32 side and the brake cover a31 forms a first oil cavity. The oil inlet one a37 can provide hydraulic oil to the first oil cavity. The clamping piston a32 is provided with a second oil cavity away from the loosing piston a33 side. The oil inlet two a38 can provide hydraulic oil to the second oil cavity. The inner wall and the outer wall of the loosing piston a33 are provided with sealing rings. The outer wall of the clamping piston a32 is also provided with a sealing ring. The sealing rings effectively prevent hydraulic oil leakage and ensure that the pressure in the hydraulic structure remains stable. The pressure oil enters the second oil cavity from the oil inlet two a38, pushes the clamping piston a32 to move to the left side, so that the internal slope surface of the clamping piston a32 contacts with the inclined surface of the slip a35. Therefore, the slip a35 is pushed to move inward and the radial displacement of the slip a35 is limited, so as to clamp the transmission shaft a36 and realize the brake of the transmission shaft a36. The pressure oil enters the first oil cavity from the oil inlet one a37, pushes the loosing piston a33 to move, and the end surface of the loosing piston a33 pushes the clamping piston a32 to move to the right side, so as to release the radial displacement limitation of the slip a35 and release the rotation limitation of the transmission shaft a36. The automatic control of the brake assembly a3 is realized through the hydraulic pressure, which improves the automation level and efficiency of the operation. The hydraulic pressure can provide stable and adjustable pressure, ensures the accuracy of the clamping and loosing process, and has high stability and reliability, so as to ensure that the brake assembly a3 can work stably under various working conditions, reduces the failure rate and maintenance cost.

[0112] Also included is a water braid a4 for providing pressure fluid to the active drill rod a11, as shown in Figures 9 and 10, the water braid a4 including a connecting shaft a41, a mandrel a42, and a water inlet assembly a43, the mandrel a42 and the connecting shaft a41 both being hollow shafts, the mandrel a42 being fixedly connected to and in communication with the connecting shaft a41, the other end of the connecting shaft a41 being connected to the active drill rod a11, the mandrel a42 being in communication with and rotatably connected to the water inlet assembly a43, a bearing seat a44 being provided to support the mandrel a42, the bearing seat a44 having a mandrel support bearing a45 sleeved on the outer periphery of the mandrel a42, the mandrel a42 being fixedly connected to and in communication with the connecting shaft a41, the other end of the connecting shaft a41 being connected to the active drill rod a11, the water inlet assembly a43 including a housing a431, the housing a431 having a water supply cavity a432 in communication with a water inlet hole a433, the water supply cavity a432 being in communication with the water inlet hole a433, the connecting shaft a41 having an external thread near the active drill rod a11 for threadedly connecting to the rear end of the active drill rod a11, the connecting shaft a41 having an internal thread near the water braid a4 for threadedly connecting to the mandrel a42, the water braid a4 transferring the drilling medium flowing therein to the active drill rod a11 and connecting the active drill rod a11 and the water braid a4. In this technical solution, the mandrel a42 is connected to the active drill rod a11 and rotates together with the active drill rod a11 during operation, and the mandrel support bearing a45 ensures smooth rotation of the mandrel a42, reducing friction and wear during rotation and prolonging the service life of the equipment. Through the hollow design of the connecting shaft a41 and the mandrel a42, pressure fluid can be smoothly transmitted from the water inlet assembly a43 to the active drill rod a11, ensuring stable and continuous supply of drilling medium and improving drilling efficiency. The bearing seat a44 is provided with a grease nipple a462 in communication with the inside of the bearing seat a44, the grease nipple a462 being able to supply lubricating oil to the mandrel support bearing a45, keeping the mandrel support bearing a45 lubricated, reducing friction of the bearing under high load conditions, and prolonging the service life of the bearing; effective lubrication reduces wear and heat accumulation of the bearing, avoids bearing damage due to overheating, and improves the reliability and durability of the equipment. The water braid a4 is fixed to the gearbox through a connecting sleeve a46, as shown in Figure 11, the connecting sleeve a46 including a connecting flange, the connecting flange having waist-shaped holes a461 on both the upper and lower sides for bolts to pass through, ensuring the stability of the connection, the connecting sleeve 46 having a hexagonal hole in the center, the right end of the mandrel 42 being a regular hexagon that axially slidingly connects to the hexagonal hole, and in use, the end of the mandrel 42 is inserted into the hexagonal hole so that the connecting sleeve 46 can drive the mandrel to rotate when the connecting sleeve 46 rotates with the main shaft 12, the connecting flange being threadedly fixed to the main shaft a12, and the inner end face of the connecting sleeve a46 facing the active drill rod a11 leaving a gap with the end face of the connecting shaft a41, so that the limiting section a114 can axially slide along the chuck a124, allowing the active drill rod a11 to axially float a certain distance.The hollow arrangement of the connecting shaft a41 and the mandrel a42 realizes smooth transmission of the pressure fluid, ensures stable supply of the drilling medium, improves drilling efficiency, and the internal and external thread cooperation of the connecting shaft a41 realizes stable connection with the driving drill pipe a11 and the mandrel a42. The bearing seat a44 and the shell a431 are fixedly connected through bolts, and sealing rings are sleeved between the mandrel a42 and the shell a431 on both sides of the water inlet hole a433, realizing sealing of the drilling medium.

[0113] As shown in FIG. 8, the driving drill pipe a11 has a male joint a111 at one end and a female joint a112 at the other end, the male joint a111 is detachably connected with the bidirectional joint a13, the driving drill pipe a11 is provided with a rotation stopping part a113 on the outer periphery, the cross section of the rotation stopping part a113 is polygonal, the end cap part is provided on the end of the main shaft a12, the end cap part includes a front end cap a123 and a chuck a124, the front end cap a123 is fixed on the chuck a124, a limiting hole is opened on the front end cap a123, the front end cap a123 limits the rotation of the rotation stopping part a113 through the limiting hole, when the main shaft a12 drives the end cap part to stop rotating, the limiting hole of the front end cap a123 also stops rotating synchronously, the limiting hole limits the rotation of the rotation stopping part a113, and then the driving drill pipe a11 can stop rotating, the above-mentioned mode realizes the limitation of the rotation of the driving drill pipe a11, but does not limit the axial sliding of the driving drill pipe a11, so that the driving drill pipe a11 can axially float a certain distance during the working process, which can effectively alleviate the axial impact generated during the threaded connection and disassembly of the drill pipe, thereby protecting the driving drill pipe a11 and other connected parts and prolonging the service life of the equipment; when the driving drill pipe a11 axially floats, the impact force on the water braid part a4 can be reduced, the wear of the water braid part a4 can be reduced, and the overall durability and reliability of the water braid part a4 can be improved. The female joint a112 is provided with a limiting section a114 between the rotation stopping block, the limiting section a114 is located between the chucks a124, there is still a gap between the outer periphery of the limiting section a114 and the chuck a124 when the chuck a124 is clamped to the limit position, there is still a gap between the outer periphery of the limiting section a114 and the chuck a124 when the chuck a124 moves to the limit position, the length of the limiting section a114 is greater than the length of the chuck a124, so that the clamping force of the chuck a124 will not directly act on the driving drill pipe a11, avoiding that the driving drill pipe a11 directly bears the strong clamping force of the chuck a124, avoiding that the stress deformation of the driving drill pipe a11 causes metal fatigue deformation in the reciprocating rotation process, thereby reducing fatigue damage and increasing the service life of the driving drill pipe a11; due to the axial floating design of the driving drill pipe a11, the impact force borne by the water braid part a4 during the working process is reduced, which makes the stress borne by the water braid part a4 more uniform, the front end cap a123 includes a flange and a sleeve connected with each other, the front end cap a123 is fixedly connected with the chuck a124 through the flange, ensuring the stability of the fixation.

[0114] The method for using the rig power head is as follows:

[0115] When the main drive drill rod a11 needs to be overhauled and replaced, since the main shaft a12 has a receiving hole a125 for the main drive drill rod a11 to pass through, the staff can directly slide the main drive drill rod a11 together in the receiving hole a125 to take it out from the rear of the main shaft a12, thereby improving the speed of disassembling the main drive drill rod a11, and the space at the rear end of the main shaft a12 is relatively wide, if the main drive drill rod a11 is taken out from the front of the main shaft a12 according to the tradition, on the one hand, the flange plate needs to be disassembled and fastened, and on the other hand, the space in the front part is relatively limited, and it is relatively inconvenient to install and disassemble the main drive drill rod a11, the above-mentioned setting can conveniently assemble the main drive drill rod a11 and reassemble it into the main shaft a12, thereby improving the installation speed of the main drive drill rod a11, and the brake assembly a3 can timely adjust the opening and closing of the main drive drill rod a11.

[0116] In the technical solution, the main drive drill rod a11 is detachably connected with the bidirectional joint a13, when the thread of one side of the bidirectional joint a13 is worn to a certain degree, the bidirectional joint a13 can be taken down and installed in the reverse direction, the worn part of the bidirectional joint a13 is fixedly connected with the main drive drill rod a11 through glue, so that the service life of the main drive drill rod a11 is equivalent to twice that of the previous integral main drive drill rod a11, and the rod body does not need to be replaced, a large amount of installation time and use cost can be saved, and the bidirectional joint can play an emergency role when the working condition is not convenient for the maintenance and replacement of the main drive drill rod a11.

[0117] The gluing connection method of the double-head joint and the main drive drill rod body is as follows:

[0118] The fastening glue is symmetrically coated on the male joint a111 of the double-head joint in the axial straight line, when the male joint a111 is rotationally connected with the female joint a112, the fastening glue at the left end of the male joint a111 shown in FIG. 12 will be in contact with the female joint a112 in more turns, the fastening glue will be smeared more widely in the tightening direction, the number of turns of the fastening glue in contact with the female joint a112 is less and less to the right, and the smearing diffusion degree is smaller. When the male joint a111 is completely screwed into the female joint a112 of the rotating drill rod 1002 body, the previously straightly smeared fastening glue will be smeared, forming a left-wide-right-narrow trapezoidal adhesive tape on the joint center symmetric plane. One side of the adhesive tape is shown in FIG. 12, and the other side is similar. Since the strength of the thread connection gradually decreases from the left end to the right end of the male joint a111, the trapezoidal connection shape of the adhesive tape is just opposite to the stress condition, which better homogenizes the strength of the thread connection, and can provide sufficient anti-loosening strength when the power head 3 is reversed, and the double-head joint can also be easily disassembled due to the high bonding strength in the later period.

[0119] The hydraulic system comprises a control unit, an oil pipe and an oil tank, the clamp and the control unit are arranged at the front end of the rack, the oil tank is arranged at the rear end of the rack, the oil pipe connects the oil tank and the clamp, the clamp comprises a base, a front clamp 1004 and a rear clamp 1005, the front clamp 1004 comprises a front clamping oil cylinder 1102, and the rear clamp 1005 comprises a rear clamping oil cylinder 1104; the control unit can control the front clamp 1004 and the rear clamp 1005 to clamp or separate respectively;

[0120] The hydraulic system further comprises a second front one-way valve 1106, a front reversing valve 1111, a first front one-way valve 1109, a front hydraulic lock 1103, a second rear one-way valve 1107, a rear reversing valve 1108, a first rear one-way valve 1110, a rear hydraulic lock 1105 and a power motor 1101, the front reversing valve 1111 and the rear reversing valve 1108 are both electromagnetic reversing valves, and can control the connection and disconnection of the oil pipe, and the controller can control the oil pipe to supply oil to the front clamping oil cylinder 1102, the rear clamping oil cylinder 1104 and the power motor 1101 respectively. As shown in FIG. 18, A, B, A1, B1, P1, P2, B2 and A2 are all oil inlets of the oil pipe, the oil pipe comprises a front oil supply pipe, a front pressure boosting pipe, a rear oil supply pipe, a rear pressure boosting pipe, a forward rotation oil pipe and a reverse rotation oil pipe, the front oil supply pipe supplies oil to the front clamp 1004, the front pressure boosting pipe supplies oil to the front clamp 1004, the front pressure boosting pipe increases the oil pressure of the front oil supply pipe, and the rear pressure boosting pipe increases the oil pressure of the rear oil supply pipe; the front pressure boosting pipe comprises a first front clamping oil pipe and a second front clamping oil pipe, and the rear oil supply pipe comprises a first rear clamping oil pipe and a second rear clamping oil pipe;

[0121] The power motor 1101 is a power device of the power head 1003, can make the power head 1003 rotate, and the power head 1003 can drive the drill rod 1002 to rotate, which is prior art; as shown in FIG. 13, when A inlet supplies oil, the forward rotation oil pipe is supplied with oil, and the power motor 1101 rotates forward, when B inlet supplies oil, the reverse rotation oil pipe is supplied with oil, and the power motor 1101 rotates reversely, so that the power head 1003 rotates forward to make up a fastener or rotates reversely to unmake up a fastener.

[0122] The front clamping oil cylinder 1102 and the rear clamping oil cylinder 1104 both comprise a rodless cavity and a rod cavity; the second front clamping oil pipe supplies oil to the rod cavity of the front clamping oil cylinder 1102 through A1 inlet, the first front clamping oil pipe supplies oil to the rodless cavity of the front clamping oil cylinder 1102 through B1 inlet, the front pressure boosting pipe supplies oil to the first front clamping oil pipe through P1 inlet to increase the oil pressure, the first front one-way valve 1109, the front reversing valve 1111 and the second front one-way valve 1106 are sequentially arranged on the front pressure boosting pipe from front to back (the direction close to the oil inlet is front), and the front hydraulic lock 1103 is arranged on the first front clamping oil pipe and the second front clamping oil pipe;

[0123] The second rear clamping oil pipe supplies oil to the rod cavity of the rear clamping oil cylinder 1104 through the A2 port, supplies oil to the rodless cavity of the rear clamping oil cylinder 1104 through the B2 port, and the rear pressurizing oil pipeline supplies oil to the rear clamping oil pipe through the P2 port; the first rear check valve 1110, the rear reversing valve 1108 and the second front check valve 1106 are sequentially arranged on the rear pressurizing oil pipe from front to rear, and the rear hydraulic lock 1105 is arranged on the first rear clamping oil pipe and the second rear clamping oil pipe;

[0124] The control unit comprises a pressurizing assembly, the pressurizing assembly comprises the second front check valve 1106, the front reversing valve 1111 and the first front check valve 1109 connected in sequence from front to rear through the front pressurizing oil pipe, and further comprises the second rear check valve 1107, the rear reversing valve 1108 and the first rear check valve 1110 connected in sequence from front to rear through the rear pressurizing oil pipe, the front pressurizing oil pipe between the first front check valve 1109 and the front reversing valve 1111 and the rear pressurizing oil pipe between the first rear check valve 1110 and the rear reversing valve 1108 are communicated, forming a check valve bridge 1112.

[0125] The controller is connected with the front reversing valve 1111 and the rear reversing valve 1108, the front hydraulic lock 1103 and the rear hydraulic lock 1105 and the power motor 1101 respectively, and the working state of the controller comprises a drilling state, a single clamping state and a double clamping state;

[0126] As shown in FIG. 14, in the single clamping state, the controller controls the front reversing valve 1111 or the rear reversing valve 1108 to connect the oil circuit, so that the front pressurizing oil circuit and the rear pressurizing oil circuit with higher oil pressure are pressurized to the first front clamping oil circuit or the first rear clamping oil circuit, so that the front holder 1004 or the rear holder 1005 keeps the clamping state, and the hole bottom motor 1001 is clamped; the controller controls the power motor 1101 to reverse, so that the power head 1003 is reversed, thereby achieving the unhooking of the hole bottom motor 1001 and the power head 1003.

[0127] As shown in FIG. 17, in the double clamping state, the controller controls the front reversing valve 1111 and the rear reversing valve 1108 to connect the front pressurizing oil circuit and the rear pressurizing oil circuit respectively, so as to pressurize the first front clamping oil circuit and the rear clamping oil circuit, so that the front holder 1004 and the rear holder 1005 keep the clamping state at the same time, that is, the front holder 1004 and the rear holder 1005 clamp the drill rod 1002 at the same time; the controller controls the power motor 1101 to continuously reverse, so that the power head 1003 is reversed, thereby achieving the unhooking of the drill rod 1002 and the power head 1003.

[0128] As shown in FIG. 15, in the drilling state, the second front clamping oil pipe supplies oil to the rod cavity of the front clamping oil cylinder 1102, and the front hydraulic lock 1103 locks the oil of the front clamping oil cylinder 1102 to keep the front clamping device 1004 apart; the second rear clamping oil pipe supplies oil to the rod cavity of the rear clamping oil cylinder 1104, and the rear hydraulic lock 1105 locks the oil of the rear clamping oil cylinder 1104 to keep the rear clamping device 1005 apart; the controller controls the power motor 1101 to continuously rotate forward, drives the drill pipe 1002 to rotate forward and advance in the hole, thereby realizing the drilling operation.

[0129] As shown in FIGS. 19-29, the clamping device further comprises a base and a guide sleeve assembly, and the front clamping device b1004 comprises a swing unit. As shown in FIG. 22, the base is used to support and support the front clamping device b1004 and the rear clamping device b1005, and facilitate the assembly and installation between the front clamping device b1004, the rear clamping device b1005 and the drilling machine. The base comprises a mounting plate b11, a plurality of countersunk holes for connecting with the rack are arranged on both sides of the mounting plate b11, and a rear clamping device mounting portion b13 and a front clamping device mounting portion b12 are fixedly arranged on the mounting plate b11.

[0130] As shown in FIG. 22, the rear clamping device b22 is arranged in the rear clamping device mounting portion b13, and the rear clamping device mounting portion b13 comprises a front side plate b131, a rear side plate b132 and a rear clamping device mounting plate b134. The middle portions of the front side plate b131 and the rear side plate b132 are both provided with through holes, the top portions of the front side plate b131 and the rear side plate b132 are provided with notches, the notches make the top portions of the through holes open, form U-shaped grooves, the front side plate b131 and the rear side plate b132 are vertically and parallelly welded on the mounting plate b11, four rear backing plates b133 are welded or bolted between the front side plate b131 and the rear side plate b132, forming a slip guide cavity of the slip, and the rear clamping device mounting plate b134 is fixedly arranged at both ends of the front side plate b131 and the rear side plate b132 by bolts.

[0131] As shown in FIG. 23, the front clamping device mounting portion b12 comprises two support portions, and a detachable through hole coaxial with the notch of the rear clamping device mounting portion b13 is arranged on each of the two support portions. Each of the two support portions comprises a support plate and a reinforcing plate b123 detachably connected to the support portion. The support plates of the two support portions are respectively a front support plate b121 and a rear support plate b122. A turnover plate b125 is welded to the right side of each of the front support plate b121 and the rear support plate b122. A turnover hole b124 is arranged on the turnover plate b125. The front support plate b121 and the rear support plate b122 are parallelly welded on the mounting plate b11. The front support plate b121 and the rear support plate b122 are identical in structure. Taking the front support plate b121 as an example, the reinforcing plate b123 is detachably connected to the upper side of the front support plate b121, specifically by clamping. When the reinforcing plate b123 is detached, the upper end of the detachable through hole of the support portion is open as a U-shaped hole. The width of the upper end of the U-shaped hole is greater than or equal to the outer diameter of the hole bottom motor 1001.

[0132] The swing unit comprises a swing body b14 and a flip pin shaft, and the hydraulic system further comprises a swing oil cylinder b26, as shown in FIG. 24, the swing body b14 comprises a swing support plate b141, the side wall of the swing support plate b141 is provided with a mounting through hole, the radius of the mounting through hole is smaller than the radius of the detachable through hole of the support part, the cross section of the swing support plate b141 is in the shape of a "N", four front backing plates b143 are welded or bolted in the middle of the swing support plate b141, the front backing plates b143 are collectively composed with the swing support plate b141, front clamping device mounting plates b142 are bolted on the left and right sides of the swing support plate b141, a swing ear seat b144 and a hinge shaft seat b145 are welded on the right lower part, the lower end of the swing oil cylinder b2626 is hinged with the rack, and the upper end of the output shaft is hinged with the swing ear seat b144, so as to realize the extension and contraction of the output shaft of the swing oil cylinder b26, drive the swing body b14 to rotate around the mounting through hole or rotate around the hinge shaft seat b145, and the flip pin shaft is matched with the hinge shaft seat b145.

[0133] The swing body b14 is provided with a pair of front clamping units, and the rear clamping device b22 can also be referred to as a rear clamping unit, the rear clamping unit and the front clamping unit are the same in structure, each front clamping unit comprises a front clamping oil cylinder 1102 and a front slip bowl, the output shaft of the front clamping oil cylinder 1102 is connected with the front slip bowl, and the two front slip bowls can cooperate to clamp the drill pipe 1002; the front slip bowl comprises an inner slip bowl b23 and an outer slip bowl b24, as shown in FIGS. 25 and 26, the inner side of the inner slip bowl b23 and the outer slip bowl b24 is provided with a protrusion or a small sharp tooth, so as to increase the friction coefficient of the inner side of the inner slip bowl b23 and the outer slip bowl b24 and reduce the probability of slip of the drill pipe 1002.

[0134] As shown in FIG. 26, the front projection of the inner slip bowl b23 is in the shape of a "cross", the middle section of the inner slip bowl b23 is in the shape of a circular arc, the upper and lower sides are symmetrically provided with a boss b231, one side of the boss b231 facing the center of the through hole is provided with a countersunk through hole for mounting and connecting a screw of the outer slip bowl b24 and the inner slip bowl b23; as shown in FIG. 25, the inner surface of the outer slip bowl b24 is provided with a rectangular plane b241, the rectangular plane b241 is provided with a threaded hole, two clamping blocks b242 are vertically arranged on the two sides of the rectangular plane b241, the clamping blocks b242 and the surface close to the rectangular plane b241 form four stop surfaces, and the clamping blocks b242 on the same side extend to each other to form two circular arc surfaces, the diameter of the circular arc surface matches the diameter of the larger drill pipe 1002 and the outer diameter of the inner slip bowl b23; the circular arc surface and the four stop surfaces are combined to form an inner slip bowl b23 mounting space.

[0135] The inner slip b23 is a "cross" shape in front projection, and is symmetrical left and right to have four positioning planes, which cooperate with four stop planes of the outer slip b24 to realize the positioning of the inner slip b23 along the front and back axes of the holder. The positioning of the inner slip b23 in the radial direction of the arc (i.e. the extension direction of the clamping oil cylinder) is realized by the screw connected with the outer slip b24.

[0136] This positioning mode well plays the advantage of high tensile strength of the threaded connection, and avoids the weak shear strength, greatly reducing the possibility of deformation of the slip positioning part.

[0137] When the inner slip b23 is seriously worn or needs to be replaced by a smaller outer diameter drill rod 1002 to a larger outer diameter drill rod 1002, the inner slip b23 needs to be disassembled, only the clamping oil cylinder is fully retracted, the connecting screw between the inner slip b23 and the outer slip b24 is unscrewed, and the inner slip b23 can be disassembled. The installation steps are opposite.

[0138] The guide sleeve assembly includes a rear holder b guide sleeve and a front holder b guide sleeve, both of which are coaxial with the through hole. The rear holder b guide sleeve is a semi-ring guide sleeve b253 as shown in FIG. 27. The outer diameter of the semi-ring guide sleeve b253 is divided into two levels of small diameter section b2501 and large diameter section b2502. The outer diameter of the small diameter section b2501 is less than or equal to the inner diameter of the through hole of the rear holder mounting portion b13. The large diameter section b2502 is provided with a countersunk hole on the end face, and is connected with the rear side plate b132 through the countersunk hole. After installation, the gap direction of the semi-ring guide sleeve b253 is the same as the opening direction of the through hole.

[0139] The front holder b guide sleeve includes two groups of guide sleeves, each group of guide sleeves including an inner guide sleeve b251 and an outer guide sleeve b252. As shown in FIGS. 28 and 29, the outer diameter of the inner guide sleeve b251 and the outer guide sleeve b252 is divided into two levels of small diameter section b2501 and large diameter section b2502. The small diameter section b2501 is provided with a through hole coaxial with the guide sleeve as shown in FIG. 21. The outer diameter of the small diameter section b2501 of the outer guide sleeve b252 is less than or equal to the inner diameter of the small diameter section b2501 of the inner guide sleeve b251. The small diameter section b2501 of the inner guide sleeve b251 is adapted to the mounting through hole provided on the swing support plate b141, and the large diameter section b2502 is adapted to the through hole of the front support plate b121. The large diameter section b2502 is provided with a countersunk hole on the end face for mounting a screw. During installation, the large diameter section b2502 is fixed on the swing support plate b141 through the screw passing through the countersunk hole, realizing the axial limiting of the swing body b14.

[0140] The inner guide sleeve b251 and the outer guide sleeve b252 are installed on the front support plate b121 and the rear support plate b122, and when the drill pipe 1002 enters or exits the clamp, the guide sleeves limit the circumferential deviation of the drill pipe 1002, ensuring that the drill pipe 1002 is always within the range that can be clamped by the clamp, and protecting the clamp and the drilling rig power head 1003 from damage caused by excessive deviation of the drill pipe 1002. Since the rear clamp b22 is closer to the power head 1003, the drill pipe 1002 is less deviated by the active drill pipe 1002 of the power head 1003, so the rear clamp b22 only needs a half-ring guide sleeve b253 to adapt to drill pipes 1002 of different outer diameters.

[0141] When the outer guide sleeve b252 and the inner guide sleeve b251 are installed at the same time, the clamp is suitable for smaller outer diameter drill pipes 1002 (there are generally specific outer diameter values for specific drilling rigs); when the outer guide sleeve b252 is removed and only the inner guide sleeve b251 is used, it is suitable for larger outer diameter drill pipes 1002.

[0142] At the same time, the inner diameter of the outer slips b24 matches the outer diameter of the larger drill pipe 1002 that the clamp is suitable for, and the outer diameter of the inner slips b23 matches the outer diameter of the larger drill pipe 1002, while the inner diameter of the inner slips b23 matches the outer diameter of the smaller drill pipe 1002 that the clamp is suitable for. Combined with the quick disassembly method of the inner slips b23, the clamp of the present application can be applied to drill pipes 1002 of two outer diameters during construction.

[0143] In use, the guide sleeve assembly can be used at the same time according to the size of the diameter of the rotating rod, or the outer guide sleeve b252 and the inner guide sleeve b251 can be flipped out of the base by the swing body b14 to adapt to the guiding work of small-diameter drill pipes 1002, the guiding work of large-diameter drill pipes 1002, and the installation work of the hole bottom motor 1001, respectively.

[0144] Specific implementation process:

[0145] Under normal construction conditions, the front clamp b21 does not install the flip pin shaft and the related flip pin shaft fixing part, and the inner guide sleeve b251 is used as the center axis to realize reciprocating swing within a small angle range under the drive of the swing oil cylinder b26.

[0146] When it is necessary to flip the flip body as a whole out of the base by the swing oil cylinder b26, the flip pin shaft is inserted into the hinged shaft seat b145 through the flip hole b124, and the reinforced version and the front clamp b guide sleeve are disassembled, so that the flip body rotates around the flip hole b124.

[0147] Working principle:

[0148] Under normal construction conditions, sometimes the drill pipe 1002 in the front holder b21 needs to rotate at a small angle relative to the drill pipe 1002 in the rear holder b22 or the power head 1003, such as pre-tightening the drill pipe 1002 joint, and the power head 1003 rotates at a high speed, which is difficult to control the rotation angle. At this time, the front holder b21 is not installed with the turnover pin shaft, and the inner guide sleeve b251 is used as the center shaft, and the reciprocating swing is realized under the drive of the swing oil cylinder b26. Referring to FIG. 20, when the swing oil cylinder b26 piston rod is extended, the left end of the front holder b21 is lowered, and the right end is raised; when the swing oil cylinder b26 piston rod is retracted, the left end of the front holder b21 is raised, and the right end is lowered.

[0149] When it is necessary to install the hole bottom motor 1001 or to completely remove the swing body b14, it is necessary to turn over the swing body b14 as a whole out of the base for operation. The turnover process is as follows: install the turnover pin shaft and the related turnover pin shaft fixing piece to connect the base and the swing body b14; remove all the outer guide sleeves b252 and the inner guide sleeves b251 at the front and rear ends of the front holder b21; at this time, the center shaft of the front holder b21 is switched to the turnover pin shaft in the turnover hole b124, and the front holder b21 can be rotated under the drive of the swing oil cylinder b26; the corresponding relationship between the extension and retraction of the swing oil cylinder b26 and the direction of rotation is the same as that in the swing working condition.

[0150] According to the lever principle, since the rotation fulcrum moves towards the swing oil cylinder b26, when the swing oil cylinder b26 piston rod is retracted, the amplitude of the left end of the front holder b21 shown in FIG. 20 under this working condition is larger than that in the normal construction condition, and the swing body b14 can be turned clockwise beyond the center of the base, so as to be close to being completely exposed from the base. At this time, the reinforcing plate b123 on the front and rear support plates b122 of the base is removed, and a very spacious space is formed inside and on the top of the front holder b21, so that the hole bottom motor 1001 can be directly put in from top to bottom.

[0151] The specific steps of installing the hole bottom motor 1001 are as follows:

[0152] a. The initial state is shown in FIG. 13, both holders are kept loose; the output shaft of the swing oil cylinder is shortened, the swing body b14 rotates relative to the base, the hole bottom motor 1001 is placed in the position before the swing body b14 rotates, and the hydraulic system controls the rear holder b1005 to clamp the rear half of the hole bottom motor 1001, as shown in FIG. 14;

[0153] b. The power head 1003 and the hole bottom motor 1001 are only in contact or not completely connected (only one thread is connected), as shown in FIG. 15, the hydraulic system controls the rear clamp 1005 to be loose, the power head 1003 pushes the hole bottom motor 1001 to move forward from the working surface, so that the hole bottom motor 1001 is mostly in the hole, and the rear end of the hole bottom motor is completely out of the range of the front clamp, the power head 1003 and the hole bottom motor 1001 are manually or with the help of other tools to complete the unthreading (if the power head 1003 and the hole bottom motor 1001 are only in contact, the unthreading is not needed here), as shown in FIG. 16, the power head 1003 retreats;

[0154] c. As shown in FIG. 17, the output shaft of the swing cylinder b26 is elongated, so that the swing body b14 rotates back to the base; the hole bottom motor 1001 is manually or with the help of other tools dragged to the position of the front clamp 1004, and the front clamp 1004 is used to clamp, the drill pipe 1002 can be normally and automatically connected with the power head 1003 and the hole bottom motor 1001 in sequence, and the hole bottom motor 1001 at this time is equivalent to the first drill pipe connected into the hole.

[0155] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the patent. The protection scope of the present application should be subject to the content of its claims, and the specific embodiments in the specification can be used to explain the content of the claims.

Claims

1. Mining drilling rig, characterized in that: The mobile platform is provided with a drilling system and a drill rod supply system, the drill rod supply system comprises a manipulator, the drilling system comprises a rack, the rack is provided with a clamp and a power head, the power head is slidably arranged on the rack, the manipulator is used for placing a drill rod on the clamp, the power head is used for driving a connection and a disconnection between the drill rods by rotation, the clamp comprises a base, the base is provided with a front clamp and a rear clamp, and one side of the base is provided with a swing ear seat; The front clamp comprises a swing body arranged on the base, the swing body is rotationally connected with the swing ear seat, and the swing body is provided with a clamping portion for clamping the drill rod; When the swing body is horizontally placed on the base, the front clamp and the rear clamp are used for clamping the drill rod; after the swing body swings relative to the swing ear seat, a large drilling tool is directly placed on the base, and the rear clamp is used for clamping the large drilling tool.

2. Drilling rig according to claim 1, characterized in that: The base comprises a mounting plate and a support portion, the mounting plate is horizontally arranged, the support portion is vertically arranged on the mounting plate, a detachable through hole is formed in the support portion, an axis direction of the detachable through hole is a drilling direction, the support portion comprises a support plate and a reinforcing plate detachably connected to the support portion, when the reinforcing plate is detached, an upper end of the detachable through hole is opened in a U-shaped hole; the swing body is arranged on the mounting plate, and the swing body is rotationally connected with one side of the support plate.

3. Drilling rig according to claim 2, characterized in that: Two sides of a top portion of the support plate are respectively provided with protrusions, an underside of the reinforcing plate is provided with a groove, and the protrusions and the groove are clamped.

4. The mine drilling rig of claim 2, wherein: The base further comprises a turnover pin shaft, one side of the support plate is provided with a turnover plate, an underside of an end portion of the swing body is provided with a turnover shaft seat, the turnover pin shaft passes through the turnover plate and the turnover shaft seat at the same time, and the turnover pin shaft is rotationally connected with the turnover plate and the turnover shaft seat at the same time.

5. The mining drilling rig of claim 2, wherein: The clamp further comprises a guide assembly, the guide assembly comprises a front clamp guide sleeve, the swing body is symmetrically provided with a swing support plate in front and back, the swing support plate is provided with a mounting through hole, a radius of the mounting through hole is smaller than that of the detachable through hole of the support portion, the guide sleeves are detachably connected to the swing support plate respectively, each group of guide sleeves comprises an inner guide sleeve and an outer guide sleeve, an outer diameter of the inner guide sleeve and the outer guide sleeve is divided into two levels of a small-diameter section and a large-diameter section, the small-diameter section of the inner guide sleeve can be sleeved outside the small-diameter section of the outer guide sleeve, and the large-diameter section of the inner guide sleeve can be sleeved outside the large-diameter section of the outer guide sleeve; the small-diameter section of the inner guide sleeve is matched with the mounting through hole, the large-diameter section of the inner guide sleeve is matched with the detachable through hole of the support portion, and the large-diameter section of the inner guide sleeve, the large-diameter section of the outer guide sleeve and the swing support plate are detachably connected.

6. Drilling rig according to claim 5, characterized in that: The base further comprises a rear support portion, the rear support portion is provided with a gap with an opening facing upward, the guide sleeve assembly further comprises a semi-ring guide sleeve coaxial with the front clamp guide sleeve, and the semi-ring guide sleeve is mounted in the gap.

7. The mining drilling rig of claim 1, wherein: The front clamp comprises a front clamping unit, the front clamping unit is arranged in the swing body, the front clamping unit comprises a pair of front clamping units, each front clamping unit comprises a front pad, the front pad comprises an outer pad and an inner pad, an output shaft of a front clamping oil cylinder is fixed to an outer side of the outer pad, the inner pad is detachably connected to an inner side of the outer pad, and the inner side of the outer pad and the inner side of the inner pad are used for clamping the drill rod.

8. Drilling rig according to claim 7, characterized in that: The upper and lower sides of the inner surface of the outer slip are respectively provided with a planar area, and a bolt hole is arranged on the planar area; the upper and lower sides of the outer surface of the inner slip are respectively provided with a boss, and the planar area and the boss are matched in shape and are bolted; the inner surface of the outer slip is further provided with four clamping blocks, and two clamping blocks are arranged on both sides of the planar area.

9. The mining drilling rig of claim 1, characterized in that: The power head comprises a main shaft, a water braid, an end cover part and a driving drill rod, the end cover part is fixed at the front end of the main shaft, the front end cover comprises a chuck and a front end cover, a containing hole is formed in the main shaft, the water braid and the driving drill rod are connected in sequence and pass through the containing hole, the chuck and the front end cover, the driving drill rod and the water braid are respectively located at the front and rear ends of the main shaft, the front end cover is used for driving the driving drill rod to rotate, and the driving drill rod can slide backward in the front end cover.

10. The mining drilling rig of claim 8, characterized in that: The outer periphery of the driving drill rod is provided with a rotation-stopping part, the outer periphery cross section of the rotation-stopping part is polygonal, a limiting hole is formed in the front end cover, and the rotation-stopping part is limited in rotation through the limiting hole.

11. Drilling rig according to claim 10, characterized in that: One end of the driving drill rod is provided with a male joint, and the other end is provided with a female joint, the male joint is used for connecting with other drill rods, and the female joint is connected with the connecting shaft; a limiting section is arranged between the female joint and the rotation-stopping part, the limiting section passes through the chuck, and the outer diameter of the limiting section is smaller than the outer diameters of the female joint and the rotation-stopping part.

12. The mining drilling rig of claim 11, characterized in that: When the chuck is clamped to the limit position, there is still a gap between the outer periphery of the limiting section.

13. The mining drilling rig of claim 12, characterized in that: The power head further comprises a brake assembly, a gearbox and a driving power source, the output shaft of the driving power source is engaged with the gearbox to drive the main shaft to rotate, the gearbox comprises a gear shaft and multiple gear stages, the brake assembly is internally provided with a transmission shaft connected with the gear shaft, the brake assembly rotates and brakes the transmission shaft, the main shaft is provided with the driving drill rod at the end, the main shaft is internally provided with a containing hole for the driving drill rod to pass through, and the end of the driving drill rod is further detachably connected with a bidirectional joint.

14. The mining drilling rig of claim 13, characterized in that: The brake assembly comprises a brake cover, a clamping piston and a loosening piston, the brake cover is internally provided with a sliding shaft, one end of the transmission shaft extends into the center of the clamping piston, the transmission shaft is circumferentially provided with multiple slips, the clamping piston is sleeved on the slips and can move in the axial direction, the surface of the slip away from the transmission shaft is an inclined surface, the surface of the clamping piston opposite to the slip is a slope surface matched with the inclined surface of the slip, the clamping piston clamps the transmission shaft through the slip when sliding, and the loosening piston is slidably sleeved on the sliding shaft and is used for pushing the clamping piston to release the clamping.

15. The mining drilling rig of claim 14, characterized in that: The brake cover is provided with an oil inlet one and an oil inlet two, a first oil chamber is formed between the loosening piston side away from the clamping piston and the brake cover, the oil inlet one is used for providing hydraulic oil to the first oil chamber, the clamping piston side away from the loosening piston is provided with a second oil chamber, and the oil inlet two is used for providing hydraulic oil to the second oil chamber.

16. The mining drilling rig of claim 15, characterized in that: The water braid part comprises a connecting shaft, a mandrel and a water inlet assembly, the mandrel and the connecting shaft are both hollow shafts, the mandrel is fixedly connected and communicated with the connecting shaft, the other end of the connecting shaft is connected with the driving drill rod, the mandrel is communicated and rotationally connected with the water inlet assembly, a bearing seat is arranged to support the mandrel, and the bearing seat is internally provided with a mandrel support bearing sleeved on the outer periphery of the mandrel.

17. The mining drilling rig of claim 16, characterized in that: One end of the main shaft close to the water braid is provided with a rear end cover, the rear end cover comprises a connecting sleeve and an inner ring which are connected with each other, the connecting sleeve is arranged at the end of the main shaft close to the water braid, and the inner ring is located in the middle of the connecting sleeve, and the mandrel of the water braid rotationally penetrates the inner ring and is connected with the connecting shaft.

18. The mining drilling rig of claim 17, characterized in that: The connecting sleeve is centrally provided with a hexagonal hole, and the end of the mandrel is a regular hexagon which is axially slidably connected with the hexagonal hole.

19. The mining drilling rig of claim 18, characterized in that: The connecting sleeve and the main shaft are longitudinally provided with a clearance.

20. The mining drilling rig of claim 19, characterized in that: The inner ring is centrally provided with a hexagonal hole, and the outer wall of the mandrel of the water braid is provided with a hexagon which is clamped with the hexagonal hole.

21. The mining drilling rig of claim 1, wherein the mechanical arm comprises a luffing cylinder, a slewing drive, a luffing arm, a slewing shaft, a swing arm, a gripper and a pressure bar, the luffing arm and the lower end of the luffing cylinder are hingedly connected to the mobile platform, the upper end of the output shaft of the luffing arm and the luffing cylinder are hingedly connected, the luffing cylinder is used to drive the luffing arm to vertically swing, the slewing drive is fixed on the luffing arm, the output shaft of the slewing drive, the swing arm and the gripper are sequentially connected, characterized in that: The manipulator is provided with a positioning system, the positioning system comprises a turnover sensor, a turnover induction plate and a control system, the rotating part is rotatable relative to the fixed part, the turnover sensor is installed on the pitching arm, and the turnover induction plate is installed on the rotating arm; In the initial state, the turnover sensor and the turnover induction plate are disconnected, and no signal is output; when the rotating arm rotates relative to the pitching arm and leaves the initial position, the turnover induction plate covers the turnover sensor, the turnover sensor sends a signal to the control system, and the coverage range of the turnover induction plate meets the rotating angle stroke requirement of the rotating part.

22. The mining drilling rig of claim 21, characterized in that: The turnover induction plate is an arc-shaped plate, and the arc-shaped plate, the rotating shaft and the rotating arm are coaxial.

23. The mining drilling rig of claim 22, characterized in that: The positioning system further comprises a horizontal sensor and a horizontal induction block, the horizontal induction block is arranged on the rotating arm, when the rotating arm is in a horizontal position, the horizontal sensor is connected with the horizontal induction block, the horizontal sensor sends a signal to the control system, and the control system controls the rotating arm to stop vertical rotation.

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