Mining drilling system

Abstract

A mining drilling system, wherein an active drill rod (10) comprises a limiting section (104) and an anti-rotation section (103), a chuck (14) is provided at one end of a main shaft (15), a front end cover (13) is provided at one end of the chuck (14), the chuck (14) clamps on the limiting section (104), the front end cover (13) is slidably connected to the anti-rotation section (103), the front end cover (13) drives the active drill rod (10) to rotate, and a staged hydraulic system controls the clamping pressure of the chuck (14) on the limiting section (104); a front clamping device (2) comprises a front support plate (203) and a rear support plate (205) arranged spaced part, a through hole is formed in each of the front support plate (203) and the rear support plate (205), and is provided with an opening having a width greater than or equal to the diameter of a large drilling tool; a swing body (22) is provided in the front support plate (203) and the rear support plate (205) and can swing outside the front support plate (203) and the rear support plate (205); a tilt sensor (947) and a tilt sensing plate (948) in a positioning system determine whether a rotary arm (96) of a main manipulator (9) drives a gripper (97) to flip towards a frame (3); and a level sensor (962) and a level sensing block (961) determine whether the main manipulator (9) is in a set tilt angle position. The problem of complex operations in the construction of existing drilling equipment is solved.

Description

A mining drilling system Technical Field

[0001] This invention relates to the field of coal mine drilling technology, and more specifically to a mining drilling system. Background Technology

[0002] Currently, to improve productivity, the coal mining industry has seen the emergence of automated and intelligent drilling systems such as automatic rotary drilling rigs and automatic directional drilling rigs. Compared with traditional drilling rigs, automated drilling systems have functions such as automatic drill rod loading and unloading and automatic drilling, offering significant advantages in terms of automation and safety. However, existing automated drilling systems also have certain problems in actual construction operations. For example, components such as the power head and gripper are difficult to switch drill bit specifications quickly during construction, making them unsuitable for automated drilling systems, especially automated directional drilling rigs.

[0003] Existing automated directional drilling rigs integrate two drill rod connection methods: chuck and active drill rod. During normal automatic drilling, the active drill rod is used to load and unload the ordinary drill rod from the front of the power head; when using retrieval tools, the active drill rod is removed, and the chuck is used to load and unload the retrieval drill rod from the rear of the power head. However, existing technologies have shortcomings in terms of the speed of disassembly and assembly: existing active drill rods are all integral structures. For example, as described in patent application number 202010733745.4, the active drill rod is a single unit. If damaged during construction, the entire active drill rod must be disassembled and replaced after removing the fixing parts, resulting in a large workload, low efficiency, and high maintenance costs. Another example is patent application number 202011156490.6, which, although separating the active drill rod into two parts—the drill rod connector and the main body—uses welding to connect them, effectively forming an inseparable whole. This only reduces the processing difficulty and workload during the manufacturing stage. Besides structural shortcomings, existing power head hydraulic systems are also ill-suited to the requirements of switching between chuck and active drill pipe connections. Existing chuck hydraulic systems generally only have two states: open and closed, lacking graded control. Prolonged high-pressure clamping can easily damage the active drill pipe and generate unnecessary energy consumption, making them unsuitable for power heads with both chuck and active drill pipe connection methods.

[0004] Regarding the gripper, the drill pipe loading and unloading technology of directional drilling rigs is particularly complex. It requires loading and unloading both ordinary drill pipes and large drilling tools (such as bottom hole motors) with greater length and outer diameter than ordinary drill pipes. Therefore, it has the following shortcomings: First, the core drilling tool of directional drilling, namely the bottom hole motor, has a larger length and outer diameter than ordinary drill pipes. It is not possible to use the common method of loading and unloading drill pipes from the rear or middle of the frame. The distance from the front end of the gripper to the hole wall is very limited, making it difficult to directly install the bottom hole motor into the gripper. Second, the gripper generally adopts a structure in which the slips are mounted on the surface of the slip seat. After assembly, it can only be used to grip drill pipes of one outer diameter. If it is necessary to change to drilling tools of other outer diameters, complex slip removal and replacement operations must be performed, which consumes a lot of time and effort. Finally, during the operation of the gripper, the drill pipe needs to be constantly entering and exiting the gripper. Since the slips on both sides of the gripper need to be opened and closed frequently, and the spacing changes often, it generally does not have a guiding function. Similarly, in addition to structural deficiencies, the hydraulic system of the clamp also has certain defects, which cause slippage when the drill pipe is uncoupled.

[0005] In addition, automated directional drilling requires a drill rod delivery system that can accommodate the storage of large-diameter, long-length, and large-capacity drill rods while saving machine space. Existing automatic drill rod loading and unloading systems are also difficult to meet the on-site requirements. Summary of the Invention

[0006] The present invention aims to provide a mining drilling system to solve the problem of complex operation of existing automated mining drilling equipment during construction.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a mining drilling system, comprising a frame, a power head, a gripper, and a main manipulator. The power head includes a spindle, a water braid, and an active drill rod. A connecting shaft is provided inside the spindle. The water braid and the active drill rod are respectively connected to the two ends of the connecting shaft. The active drill rod includes a limiting section and an anti-rotation section. A chuck is provided at one end of the spindle, and a front end cover is provided at one end of the chuck. The chuck is engaged with the limiting section, and the front end cover is slidably connected to the anti-rotation section. The front end cover can drive the active drill rod to rotate. The chuck is connected to a graded hydraulic system, which can control the clamping pressure of the chuck on the limiting section.

[0008] The clamp includes a front clamp and a rear clamp. The front clamp includes a front support plate and a rear support plate spaced apart. Both the front and rear support plates are provided with through holes, and both through holes are provided with openings. The width of the openings is greater than or equal to the diameter of the large drill bit. The front and rear support plates are provided with swing bodies, and the swing bodies can swing beyond the front and rear support plates.

[0009] The main robotic arm includes a positioning system and interconnected rotating arms and grippers. The positioning system includes a horizontal sensor, a horizontal sensing block, a tilt sensor, and a tilt sensing plate. The tilt sensor works in conjunction with the tilt sensing plate to determine whether the rotating arm of the main robotic arm has driven the gripper to tilt towards the frame. The horizontal sensor works in conjunction with the horizontal sensing block to determine whether the main robotic arm is at the tilt angle set position.

[0010] The beneficial effects of this solution are as follows: 1. By improving the power head structure, clamping device structure, and hydraulic control system of the chuck, the installation and disassembly of drill rods are made more convenient within the limited space of the original drilling equipment; different controls are implemented for different construction needs during construction, making it suitable for mining drilling systems that require changing drill bit specifications during downhole construction, especially for directional drilling rigs that use ordinary drill rods, fishing drill rods, and bottom hole motors, thereby solving the shortcomings of existing drilling systems in terms of installation and maintenance efficiency, reducing operational complexity, and improving on-site construction efficiency.

[0011] 2. Building upon the existing incremental and isoangular sensors of the main manipulator, further improvements are made by adding a horizontal sensor and a horizontal sensing block group, as well as a tilt sensor and a tilt sensing plate group. This ensures that the actuators in the drilling system can operate within the designed tilt angle range. Simultaneously, a signal is sent to the automatic control system when the boom rotates, allowing for timely handling of unexpected interference between the main manipulator and the power head. The tilt controller monitors whether the boom has rotated to the correct position, increasing the reliability of the manipulator positioning system.

[0012] 3. The addition of a horizontal sensor also allows the tilt sensor to use a simpler single-head hydraulic cylinder, which in turn simplifies tilt control and further simplifies the drilling system structure.

[0013] 4. The use of a quick-detachable active drill rod and chuck combination allows for rapid replacement of the power head drill rod connection device, facilitating the change of drill bit specifications on the construction site. Through the cooperation of the front end cover to transmit torque, combined with the clamping and loosening states of the active drill rod and chuck, the active drill rod and connecting shaft can be disassembled and assembled as a whole from the rear end of the power head, greatly simplifying the disassembly and assembly process and improving disassembly and assembly efficiency.

[0014] 5. The graded hydraulic system with pressure graded control function controls the chuck clamping pressure, which not only improves the stress on the active drill rod, but also avoids energy waste caused by prolonged pressure buildup in the chuck, and improves the adaptability of the power head to various working conditions such as normal drilling and fishing drilling.

[0015] 6. The swing body in the clamp can swing out of the base, and combined with the upward-opening through holes on the front and rear support plates, a large amount of space can be made inside and above the clamp, so that the clamp can meet the installation requirements of special drilling tools such as bottom hole motors.

[0016] Preferably, it also includes a drill pipe storage box, which includes a drill pipe frame, a rod placement slot, and a gripping robot. The drill pipe is stored along an axis that is aligned with the length of the frame. The gripping robot is mounted on the side of the drill pipe frame. The rod placement slot is mounted on the side of the drill pipe frame facing the frame. The rod placement slot contains a drill pipe groove and a drive device. The drill pipe groove is located on the side of the drill pipe frame. Movable baffles are provided at both ends along the drill pipe axis. The movable baffles are connected to the drive device.

[0017] Preferably, the main manipulator also includes a pitch cylinder, a rotary driver, a pitch arm, and a rotary shaft. The pitch arm includes a shaft seat and a support body that are connected to each other. The rotary driver, shaft seat, rotary arm, and gripper are connected in sequence. The end of the shaft seat away from the rotary driver is provided with an end cap. The piston rod of the pitch cylinder is rotatably connected to the side wall of the support body. The rotary shaft is located between the shaft seat and the rotary arm.

[0018] The tilt sensor is installed on the underside of the shaft seat or end cover near one end of the rotating arm, and the tilt sensor plate is installed on the rotary shaft or the end of the rotating arm near the pitch arm; the horizontal sensor block is installed on the rotating arm, and the horizontal sensor is installed on the drill rod frame or rod slot, with the horizontal sensor facing the robot arm.

[0019] Preferably, the power head also includes a hydraulic motor, which is connected to a gearbox. The gearbox includes a gear shaft and multi-stage gears, which transmit the power of the hydraulic motor to the drive drill rod after speed change and torque increase. The main shaft is located inside the gearbox.

[0020] Preferably, the active drill pipe includes a rod body and a double-ended connector at one end of the rod body. Both the limiting section and the anti-rotation section are located on the rod body. The anti-rotation section has a hexagonal shape on its outer periphery, and the front end cap has a hexagonal through hole inside. The diagonal distance of the six squares on the outer periphery of the anti-rotation section is less than the diameter after the chuck is released. The outer diameter of the shaft sections on both sides of the limiting section is greater than the minimum diameter after the chuck is clamped, and the width of the limiting section is slightly greater than the clamping width of the chuck.

[0021] Preferably, the water braid includes a mandrel and a water inlet assembly. The mandrel is fixedly connected to and communicates with the connecting shaft, and the mandrel is connected to and rotatably connected to the water inlet assembly. The water inlet assembly includes a housing and a water inlet hole. The housing has a water supply chamber communicating with the water inlet hole. It also includes a bearing seat that supports the mandrel. The bearing seat has a grease nipple that communicates with the interior of the bearing seat. It also includes a connecting sleeve that connects the water braid to the end of the gearbox away from the hydraulic motor. The connecting sleeve includes a connecting flange with a waist-shaped hole for bolts to pass through. A gap is left between the end face of the connecting sleeve facing the active drill rod and the end face of the connecting shaft.

[0022] Preferably, the brake assembly includes a brake cover, a clamping piston, and a releasing piston. The brake cover is provided with a sliding shaft, one end of the drive shaft extends into the center of the clamping piston, and multiple brake pads are distributed circumferentially on the drive shaft. The clamping piston is sleeved on the brake pads and can move axially. The surface of the brake pads away from the drive shaft is an inclined surface, and the surface of the clamping piston opposite to the brake pads is a slope that matches the inclined surface of the brake pads. The clamping piston can slide through the brake pads to clamp the drive shaft, and the releasing piston slides on the sliding shaft and can push the clamping piston to release the clamping.

[0023] Preferably, the graded hydraulic control system includes a pressure reducing valve, a solenoid directional valve, a hydraulically controlled directional valve, a main pump, and an auxiliary pump. The solenoid directional valve is a three-position four-way solenoid directional valve with ports A, B, P, and T, and has Y1 and Y2 positions. The hydraulically controlled directional valve is a hydraulically controlled directional valve with ports P, T, A, and a hydraulic control port. The chuck has a control port, and the A port of the hydraulically controlled directional valve is connected to the control port of the chuck. The main pump is connected to the P port of the hydraulically controlled directional valve. The auxiliary pump's oil circuit is divided into two streams: one connected to the P port of the hydraulically controlled directional valve, and the other connected to the P port of the solenoid directional valve via the pressure reducing valve. The drain port of the pressure reducing valve is connected to and drains oil from the T port of the solenoid directional valve. The oil outlet of the A port of the solenoid directional valve is divided into two streams: one connected to the P port of the hydraulically controlled directional valve, and the other connected to the hydraulic control port of the hydraulically controlled directional valve. The B port of the solenoid directional valve is connected to the T port of the hydraulically controlled directional valve.

[0024] Preferably, when the chuck is released, positions Y1 and Y2 are de-energized, and the pressure oil from the main pump reaches the P port of the hydraulic directional valve and stops, while the pressure oil from the auxiliary pump flows through the pressure reducing valve and reaches the P port of the solenoid directional valve and stops. When the chuck is clamped at low pressure, Y2 is energized, and the pressure oil from the main pump reaches the P port of the hydraulic directional valve and stops. One stream of pressure oil from the auxiliary pump reaches the P port of the hydraulic directional valve and stops, while the other stream flows through the pressure reducing valve, the solenoid directional valve, and the hydraulic control valve to the control port of the chuck. When the chuck is clamped at high pressure, Y1 is energized, and the pressure oil from the main pump flows into the control port of the chuck through the hydraulic directional valve. One stream of pressure oil from the auxiliary pump reaches the control port of the hydraulic directional valve through the solenoid directional valve to switch the operating state of the hydraulic directional valve, while the other stream flows into the control port of the chuck through the hydraulic control valve, thus merging the hydraulic oil from the main pump and the auxiliary pump.

[0025] Preferably, the swing body includes two support plates symmetrically arranged front and rear, each support plate having a guide mounting hole; a flipping shaft seat is provided on one side of the support plate, and a front cylinder mounting plate is connected to the outer end face of each of the two support plates, the front cylinder mounting plate having a front clamping cylinder, and a swinging ear seat is provided below the front cylinder mounting plate near the flipping shaft seat, with a swinging cylinder rotatably connected inside the swinging ear seat; a flipping plate is connected to the front support plate and the rear support plate near the flipping shaft seat, the flipping plate having a flipping hole, and a flipping pin being provided inside the flipping hole.

[0026] Preferably, each opening is detachably connected to a reinforcing plate, and the top of the front support plate and the rear support plate are provided with several matching grooves and protrusions between the bottom of the reinforcing plate.

[0027] Preferably, each of the two through holes is provided with a guide sleeve assembly, which includes an outer guide sleeve and an inner guide sleeve. The outer diameter of the inner guide sleeve is divided into two stages. The smaller diameter section of the inner guide sleeve mates with the guide mounting hole on the swing body, and the larger diameter section of the inner guide sleeve mates with the through holes on the front support plate and the rear support plate.

[0028] Preferably, the outer diameter of the outer guide sleeve is divided into two stages. The large diameter section of the outer guide sleeve is provided with a countersunk connecting hole, which is used to connect the outer guide sleeve and the inner guide sleeve to the swing body. The inner diameter of the inner guide sleeve is also divided into two stages. The small diameter section of the inner diameter is a through hole of equal diameter, which mates with the small diameter section of the outer guide sleeve. The large diameter section of the inner diameter is a countersunk stage, which mates with the large diameter section of the outer guide sleeve.

[0029] Preferably, the clamp mounting part includes a rear clamp mounting part, which includes a symmetrically arranged front side plate and a rear side plate. A U-shaped hole is provided in the middle of the front side plate and the rear side plate, and the U-shaped hole makes the top of the front side plate and the rear side plate completely open. A rear hydraulic cylinder mounting plate is connected to the outer end face of both sides of the front side plate and the rear side plate.

[0030] Preferably, a semi-circular guide sleeve is connected to each U-shaped hole. The outer diameter of the semi-circular guide sleeve is divided into two stages. The smaller diameter section of the semi-circular guide sleeve mates with the U-shaped hole, while the larger diameter section of the semi-circular guide sleeve is used to fix the semi-circular guide sleeve to the front or rear side plate.

[0031] Preferably, both the front and rear clamps are connected to clamping cylinders, and the power head also includes a hydraulic motor. An anti-slip hydraulic system is provided between the hydraulic motor and the clamping cylinder. The anti-slip hydraulic system can pressurize the clamping cylinder through the reverse oil circuit of the hydraulic motor during the clamping operation.

[0032] Preferably, the piston rod in the clamping cylinder is detachably connected to an outer slip, and an inner slip is detachably connected to the inner side of the outer slip; the diameter of the arc segment on the inner surface of the outer slip matches the outer diameter of the inner slip, and the outer slip is provided with a countersunk hole, in which the piston rod of the clamping cylinder is detachably connected; both the upper and lower ends of the inner slip are provided with bosses, and both the upper and lower ends of the outer slip are provided with grooves, in which the bosses are detachably connected.

[0033] Preferably, the anti-slip hydraulic system includes a branch oil circuit located between the reversing oil circuit connected to the hydraulic motor and the clamping oil circuit connected to the clamping oil cylinder. The branch oil circuit is equipped with a check valve, which allows oil from the reversing oil circuit to flow into the clamping oil circuit in only one direction. A hydraulic lock is connected to both the clamping oil circuit and the releasing oil circuit.

[0034] Preferably, the opening pressure of the inlet valve of the one-way valve is higher than the return pressure in the reverse oil circuit.

[0035] Preferably, a front check valve is provided between the clamping oil circuit and the reversing oil circuit of the front clamping cylinder, and a rear check valve is provided between the clamping oil circuit and the reversing oil circuit of the rear clamping cylinder, and the front check valve and the rear check valve are interconnected. Attached Figure Description

[0036] Figure 1 is a three-dimensional diagram of the mining drilling system in an embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of the power head in an embodiment of the present invention;

[0038] Figure 3 is a schematic diagram of the active drill pipe in an embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of the front cover in an embodiment of the present invention;

[0040] Figure 5 is a detailed view of the water braid in an embodiment of the present invention;

[0041] Figure 6 is a schematic diagram of the water braid connection according to an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of the connecting sleeve in an embodiment of the present invention;

[0043] Figure 8 is a structural diagram of the brake assembly according to an embodiment of the present invention;

[0044] Figure 9 is a schematic diagram of the graded hydraulic system when the chuck is released in an embodiment of the present invention;

[0045] Figure 10 is a schematic diagram of the graded hydraulic system during low-pressure clamping of the chuck in an embodiment of the present invention;

[0046] Figure 11 is a schematic diagram of the graded hydraulic system during high-pressure clamping of the chuck in an embodiment of the present invention;

[0047] Figure 12 is a three-dimensional view of the dual clamps in an embodiment of the present invention;

[0048] Figure 13 is a three-dimensional view of the base in an embodiment of the present invention;

[0049] Figure 14 is a three-dimensional view of the swing body in an embodiment of the present invention;

[0050] Figure 15 is a three-dimensional view of the external clasp in an embodiment of the present invention;

[0051] Figure 16 is a three-dimensional view of the inner cavitation valve in an embodiment of the present invention;

[0052] Figure 17 is a schematic diagram of the internal structure of the dual clamp in an embodiment of the present invention;

[0053] Figure 18 is a three-dimensional view of the outer guide sleeve in an embodiment of the present invention;

[0054] Figure 19 is a three-dimensional view of the inner guide sleeve in an embodiment of the present invention;

[0055] Figure 20 is a three-dimensional view of the semi-ring guide sleeve in an embodiment of the present invention;

[0056] Figure 21 is a schematic diagram of the hydraulic system in an embodiment of the present invention;

[0057] Figure 22 is a three-dimensional isometric view of the robot arm in an embodiment of the present invention;

[0058] Figure 23 is a three-dimensional isometric view of the pitch arm in an embodiment of the present invention;

[0059] Figure 24 is a three-dimensional isometric view of the rotating arm in an embodiment of the present invention;

[0060] Figure 25 is a schematic diagram of the installation of the flip sensor in an embodiment of the present invention;

[0061] Figure 26 is a schematic diagram of the drill pipe storage box in an embodiment of the present invention. Detailed Implementation

[0062] The following detailed description illustrates the specific implementation method:

[0063] The reference numerals in the accompanying drawings include: power head 1, active drill rod 10, rod body 101, female connector 102, anti-rotation section 103, limiting section 104, double-ended connector 105, connecting shaft 11, water braid 12, mandrel 121, housing 122, water supply chamber 123, water inlet hole 124, bearing seat 125, grease nipple 1251, mandrel support bearing 126, front end cover 13, hexagonal through hole 131, hexagonal outer sleeve 132, chuck 14, spindle 15, gearbox 16, hydraulic motor 17, brake assembly 18, brake cover 181, clamping piston 182, releasing piston 1 83. Sliding shaft 184. Brake slip 185. Drive shaft 186. First oil inlet 187. Second oil inlet 188. Key 189. Connecting sleeve 19. Oblong hole 191. Front clamp 2. Rear clamp 20. Base 200. Mounting plate 201. Flipping plate 202. Front support plate 203. Reinforcing plate 204. Rear support plate 205. Rear liner plate 206. Rear side plate 207. Rear cylinder mounting plate 208. Front side plate 209. Outer guide sleeve 21. Inner guide sleeve 210. Swing body 22. Support plate 221. Front cylinder mounting plate 222. Front liner plate 223. Swing lug 224. Tilting bearing seat; 25. Swing cylinder; 226. Tilting pin; 227. Front clamping cylinder; 23. Rear clamping cylinder; 230. Outer slip; 24. Inner slip; 240. Semi-ring guide sleeve; 25. Frame; 3. Pressure reducing valve; 41. Solenoid directional valve; 42. Hydraulic directional valve; 43. Oil tank; 44. First check valve; 45. Second check valve; 46. Third check valve; 47. Drilling rig hydraulic system; 5. Forward rotation oil circuit; 51. Reverse rotation oil circuit; 52. Front hydraulic lock; 53. Front check valve; 54. Rear check valve; 55. Rear hydraulic lock; 56. Clamping oil circuit; 57. Releasing oil circuit; 58. Moving platform; 6. Automatic control system. 7. Drill rod storage box; 8. Drill rod frame; 81. Rod placement groove; 82. Drill rod groove; 821. Moving baffle; 822. Drive device; 823. Groove part; 824. Gripping robot; 83. Main robot; 9. Cylinder seat; 91. Pitch cylinder; 92. Rotary drive; 93. Pitch arm; 94. Shaft seat; 941. End cover; 942. Support body; 943. Rotating cylinder; 944. Incremental sensor; 945. Angle marking plate; 946. Tilting sensor; 947. Tilting sensing plate; 948. Rotating shaft; 95. Rotating arm; 96. Horizontal sensing block; 961. Horizontal sensor; 962. Gripper; 97. Isometric sensor; 98.

[0064] Example

[0065] The embodiments are basically as shown in Figures 1-26. As shown in Figure 1, a mining drilling system includes a mobile platform 6, a frame 3, a power head 1, a gripper, an automatic control system 7, a drilling rig hydraulic system 5, a drill rod storage box 8, and a main manipulator 9.

[0066] The mobile platform 6 serves as the platform for carrying and moving the upper components of the drilling system. It can move underground, enabling relocation and machine relocation. The frame 3 is the supporting component for the drilling and drill pipe loading / unloading actuators, including the power head 1, grippers, and main manipulator 9, as well as the drilling drive device 823. The power head 1 connects to the drill pipe and transmits the rotational and kinetic power required for loading and unloading. The gripper is responsible for holding the drill pipe and, in conjunction with the power head 1, enables threaded connection and disassembly of the drill pipe. In this embodiment, the gripper is a double gripper, including a front gripper 2 and a rear gripper 20 that can rotate relative to each other. The automatic control system 7 receives control commands from personnel and compiles them into execution parameters for each mechanism of the drilling rig, achieving automated directional drilling, trajectory measurement, and drill pipe loading / unloading. The drilling rig hydraulic system 5 converts mechanical energy into hydraulic energy through a hydraulic pump, thereby driving the power head 1, frame 3, grippers, manipulator, and other actuators. The drill rod frame 81 is a container for storing drill rods. The main robot arm 9 grabs the drill rod from the drill rod storage box 8 and transports it to the drilling axis between the power head 1 and the chuck. After drilling is completed, the drill rod is retrieved. All of the above components are existing technology. The improvements to the relevant components will be described one by one below.

[0067] First, the improved structure of the power head 1 will be explained with reference to Figure 2-8.

[0068] As shown in Figure 2, the power head 1 includes a spindle 15, a water braid 12, an active drill rod 10, a hydraulic motor 17, a brake assembly 18, and a gearbox 16. The hydraulic motor 17 is the power source of the power head 1, providing the driving force for the rotation of the active drill rod 10. The output shaft of the hydraulic motor 17 meshes with the gearbox 16, which includes a gear shaft and multi-stage gears. The gearbox 16 transmits the power from the hydraulic motor 17 to the active drill rod 10 after speed change and torque amplification to meet the drilling requirements. The gearbox 16 also serves as the mounting and support structure for other parts of the power head 1. The brake assembly 18 is used to brake the rotation of the gearbox 16. The brake assembly 18 has a drive shaft 186 connected to the gear shaft. The drive shaft 186 is connected to the gear shaft via a key 189 to achieve synchronous rotation. The brake assembly 18 brakes the rotation of the drive shaft 186 and simultaneously prevents the spindle 15 from rotating under the reverse torque of the drill rod. The main spindle 15 has a connecting shaft 11 inside, and the water braid 12 and the active drill rod 10 are respectively connected to the two ends of the connecting shaft 11. The main spindle 15 has a receiving hole that allows the active drill rod 10 to pass through.

[0069] As shown in Figure 3, the active drill pipe 10 includes a rod body 101 and a double-ended connector 105 located at one end of the rod body 101. Both ends of the rod body 101 are provided with female connectors 102. The female connector 102 at the left end is connected to the connecting shaft 11. In this embodiment, the female connectors 102 all use the same tapered thread connection method as the drill pipe. The female connector 102 at the right end is connected to the double-ended connector 105 and is connected to the working drill pipe through the double-ended connector 105. The rod body 101 includes a limiting section 104 and an anti-rotation section 103. The outer circumferential cross-section of the anti-rotation section 103 is polygonal (hexagonal in this embodiment). Referring to Figure 2, one end of the spindle 15 is connected to a chuck 14, and one end of the chuck 14 is connected to a front end cap 13. The chuck 14 is a normally open chuck 14. Referring to Figure 4, the front cover 13 has a hexagonal through hole 131 inside. The hexagonal through hole 131 cooperates with the anti-rotation section 103 to achieve a sliding connection between the front cover 13 and the active drill rod 10, while also limiting the rotation of the active drill rod 10. The rear end of the front cover 13 has a hexagonal outer sleeve 132, and the front end of the chuck 14 has a hexagonal inner hole. The hexagonal outer sleeve 132 cooperates with the hexagonal inner hole to transmit the rotational power of the power head 1 to the front cover 13, and then to the active drill rod 10 to achieve the rotation of the active drill rod 10. The outer diameter of the left-end female connector 102 is smaller than the diameter of the chuck 14 after it is released, ensuring that the active drill rod 10 can be pulled out from behind the power head 1. At the same time, the outer diameter of the left-end female connector 102 is larger than the minimum diameter of the chuck 14 after it is clamped, so as to achieve axial limitation of the active drill rod 10 when the chuck 14 is clamped. The diagonal distance of the hexagonal side of the anti-rotation section 103 is smaller than the diameter of the chuck 14 after it is released, to ensure that the active drill rod 10 can be pulled out from behind the power head 1. The outer diameters of the shaft sections on both sides of the limiting section 104 (i.e., the outer diameter of the female connector 102 and the hexagonal side distance of the anti-rotation section 103) are both larger than the minimum diameter of the chuck 14 after it is clamped, and the width of the limiting section 104 is slightly larger than the clamping width of the chuck 14.

[0070] By improving the drill rod structure, as well as the front cover 13 and chuck 14, the rotation of the active drill rod 10 is restricted while allowing axial sliding. This enables the active drill rod 10 to float axially a certain distance during operation, effectively mitigating the axial impact generated during threaded connection and disassembly. This protects the active drill rod 10 and other connecting components, extending the equipment's service life. When the active drill rod 10 floats axially, the impact force on the water braid 12 is reduced, decreasing wear on the water braid 12 and improving the overall service life and reliability of the drilling rig. The limiting section 104 is located between the chucks 14. When the chuck 14 is clamped to the limit position, there is still a gap between it and the outer periphery of the limiting section 104. This prevents the clamping force of the chuck 14 from acting directly on the active drill rod 10, thus avoiding the active drill rod 10 from directly bearing the strong clamping force of the chuck 14. This avoids the metal fatigue deformation of the active drill rod 10 during reciprocating rotation, thereby reducing fatigue damage and increasing the service life of the active drill rod 10. Due to the axial floating design of the active drill rod 10, the impact force on the water braid 12 during operation is reduced, which makes the force on the water braid 12 more uniform and achieves axial force balance of the water braid 12.

[0071] In addition, the double-ended connector 105 has identical male connectors at both ends, which match the female connector 102 of the rod body 101 and the internal thread of the working drill rod used by the drilling rig. During normal use, one end is glued to its external thread and screwed into the female connector 102 of the rod body 101, while the other end connects to the female connector 102 of the drill rod preceding the active drill rod 10, thus enabling the power head 1 to drive the drill rod. When the external thread connecting the connector to the drill rod wears to a certain extent, the threaded connection between the connector and the rod body 101 is loosened, the male connectors at both ends are swapped, and then glued again before connecting them to the rod body 101. Since the threads of the male connector previously connected to the rod body 101 are fixed during operation and do not wear, swapping the threads at both ends is equivalent to the double-ended connector 105 being usable twice, and its lifespan is twice that of the previous integral active drill rod 10. This reduces the consumption of the active drill rod 10 by the original drilling rig, thereby reducing resource waste and drilling rig operating costs.

[0072] Additionally, when the threads on one side of the double-ended connector 105 are worn and need to be removed and the installation direction reversed, the worn section of the double-ended connector 105 is fixed to the active drill rod 10 with adhesive. Specifically, a fastening adhesive is applied axially in a straight line above one side of the connector 105, and then symmetrically applied below that side. When the connector on this side is tightened to the female connector 102, the fastening adhesive on the left side of the adhesive-applied end will contact the threads of the female connector 102, and the fastening adhesive will spread more widely along the tightening direction. The further to the right, the fewer turns the fastening adhesive will contact the threads of the female connector 102, and the smaller the spread of the adhesive. After the adhesive-applied side is screwed into the female connector 102 of the rod body 101, the previously applied fastening adhesive in a straight line will... The tape will be spread out, forming an approximately trapezoidal shape projected onto the symmetrical plane of the joint's center, wider on the left and narrower on the right. One side of the tape is as described above, and the other side is applied using a similar method when replacing it. The trapezoidal tape, with its varying width, complements the strength of the male connector's threads, resulting in a more even distribution of stress on the threads. This also complements the inherent strength of the threads, effectively homogenizing the threaded connection's strength. This ensures both anti-loosening strength and eases disassembly, saving significant installation time and operating costs. Furthermore, it can serve as an emergency measure in remote locations where maintenance and replacement of the active drill rod 10 are inconvenient.

[0073] As shown in Figures 5 and 6, the water braid 12 includes a mandrel 121 and a water inlet assembly. The mandrel 121 is fixedly connected to and communicates with the connecting shaft 11, meaning both the mandrel 121 and the connecting shaft 11 are hollow shafts. The other end of the connecting shaft 11 is connected to the active drill rod 10. The mandrel 121 is connected to and rotatably connected to the water inlet assembly. A bearing seat 125 is also provided to support the mandrel 121, and a mandrel support bearing 126 is sleeved on the outer circumference of the mandrel 121 inside the bearing seat 125. The water inlet assembly includes a housing 122 and a water inlet hole 124. The housing 122 has a water supply chamber 123 communicating with the water inlet hole 124. The connecting shaft 11 has an external thread near the active drill rod 10 for threaded connection with the rear end of the active drill rod 10. The connecting shaft 11 has an internal thread near the water braid 12 for threaded connection with the mandrel 121, so as to transfer the drilling medium flowing into the water braid 12 to the active drill rod 10 and connect the active drill rod 10 and the water braid 12. The mandrel 121 is connected to the active drill rod 10 and rotates together with it during operation. The mandrel support bearing 126 ensures smooth rotation of the mandrel 121, reducing friction and wear during rotation and extending the service life of the equipment. The connecting shaft 11 and the hollow interior of the mandrel 121 allow pressurized fluid to be smoothly transmitted from the water inlet assembly to the active drill rod 10, ensuring a stable and continuous supply of drilling media and improving drilling efficiency. A grease nipple 1251 is provided on the bearing housing 125, communicating with the interior of the bearing housing 125. The grease nipple 1251 provides lubricating oil to the mandrel support bearing 126, maintaining lubrication, reducing friction under high load conditions, and extending the bearing's service life. Effective lubrication reduces bearing wear and heat accumulation, preventing bearing damage due to overheating and improving the reliability and durability of the equipment.

[0074] The water braid 12 is fixed to the gearbox 16 by a connecting sleeve 19, as shown in Figure 7. The connecting sleeve 19 includes a connecting flange, with oblong holes 191 on both the upper and lower sides for bolts to pass through, ensuring connection stability. A hexagonal hole is located in the center of the connecting sleeve 19. The right end of the mandrel 121 is a regular hexagon that mates with the hexagonal hole and is axially slidably connected to it. In use, the end of the mandrel 121 is inserted into the hexagonal hole, allowing the connecting sleeve 19 to rotate with the spindle 15, thus driving the mandrel 121 to rotate. The connecting flange is threadedly fixed to the spindle 15. A gap (at point M in Figure 6) is left between the inner end face of the connecting sleeve 19 facing the active drill rod 10 and the end face of the connecting shaft 11, allowing the limiting section 104 to slide axially along the chuck 14, enabling the active drill rod 10 to float axially a certain distance. The internal and external threads of the connecting shaft 11 achieve a stable connection with the active drill rod 10 and the mandrel 121. The bearing housing 125 and the housing 122 are fixedly connected by bolts. The mandrel 121 on both sides of the water inlet hole 124 is fitted with a sealing ring between itself and the housing 122 to achieve sealing of the drilling medium.

[0075] As shown in Figure 8, the brake assembly 18 includes a brake cover 181, a clamping piston 182, and a releasing piston 183. A sliding shaft 184 is provided inside the brake cover 181. The left end of the drive shaft 186 extends into the center of the clamping piston 182. Multiple brake slips 185 are distributed circumferentially on the drive shaft 186. In this embodiment, the number of brake slips 185 is three. The clamping piston 182 is sleeved on the outside of the brake slip 185 and can move axially along the drive shaft 186. The surface of the brake slip 185 away from the drive shaft 186 is an inclined surface. The surface of the clamping piston 182 opposite to the brake slip 185 is a slope that matches the inclined surface of the brake slip 185. The clamping piston 182 can slide to clamp the drive shaft 186 by pushing the brake slip 185 radially. The releasing piston 183 is slidably sleeved on the sliding shaft 184 and can push the clamping piston 182 to release the clamping. The surface of the clamping piston 182 opposite to the brake slip 185 is a slope that matches the inclined surface of the brake slip 185. The clamping piston 182 can slide so that its internal slope contacts the inclined surface of the brake slip 185. The drive shaft 186 is clamped by the radial movement of the brake slip 185, thereby restricting the rotation of the drive shaft 186. The axial sliding of the clamping piston 182 and the radial movement of the brake slip 185 enable rapid clamping and release of the drive shaft 186. The cooperation between the inclined plane and the slope provides a stable clamping force, ensuring that the drive shaft 186 will not slip during operation, ensuring the reliability of clamping the drive shaft 186, and adapting to drive shafts 186 of different diameters. Even if the surface of the drive shaft 186 is worn, stable clamping can be achieved by extending the sliding distance of the clamping piston 182. It has strong versatility and can be applied to various types of drilling rig power heads 1.

[0076] The brake cover 181 has a first oil inlet 187 and a second oil inlet 188. The first oil chamber is formed between the side of the release piston 183 away from the clamping piston 182 and the brake cover 181. The first oil inlet 187 can supply hydraulic oil to the first oil chamber. The side of the clamping piston 182 away from the release piston 183 has a second oil chamber. The second oil inlet 188 can supply hydraulic oil to the second oil chamber. Both the inner and outer walls of the release piston 183 are provided with sealing rings. The outer wall of the clamping piston 182 is also provided with sealing rings. The sealing rings effectively prevent hydraulic oil leakage and ensure that the pressure in the hydraulic structure remains stable. Pressurized oil enters the second oil chamber through the second inlet 188, pushing the clamping piston 182 to the left, causing its internal slope to contact the inclined surface of the brake slip 185. This pushes the brake slip 185 inward and restricts its radial displacement, thereby clamping the drive shaft 186 and braking it. Pressurized oil enters the first oil chamber through the first inlet 187, pushing the release piston 183 to move. Its end face pushes the clamping piston 182 to the right, releasing the radial displacement restriction on the brake slip 185 and thus releasing the rotation restriction on the drive shaft 186. The automatic control of the brake assembly 18 is achieved through hydraulic pressure, improving the automation level and efficiency of the operation. Hydraulic pressure provides stable and adjustable pressure, ensuring the accuracy of the clamping and releasing process. Furthermore, hydraulic pressure has high stability and reliability, ensuring that the brake assembly 183 can work stably under various operating conditions, reducing the failure rate and maintenance costs.

[0077] In existing directional drilling rig power heads 1 (such as the patent with publication number CN116905958A), when it is necessary to replace the active drill rod 10, the front end cover 13 needs to be removed first before unlocking the active drill rod 10. Since one end of the connecting shaft 11 is threaded to the active drill rod 10 and the other end is threaded to the spindle 121 of the water braid 12, when rotating the active drill rod 10 to unlock it, it is not possible to accurately unlock the active drill rod 10 from the connecting shaft 11. It is possible that the connecting shaft 11 is unlocked from the spindle 121 of the water braid 12. Since the space from the front end of the chuck 14 to the holder is very limited, even removing the active drill rod 10 alone in the narrow operating space will bring difficulties to the operation. If the connecting shaft 11 is unlocked from the spindle 121 of the water braid 12, the active drill rod 10 is not unlocked from the front end. Removing the connecting shaft 11 together becomes extremely difficult. Furthermore, if it's necessary to switch to the chuck 14 to hold the fishing drill rod for operation, the water braid 12 needs to be removed from the rear end of the gearbox 16, and the water braid 12 and connecting shaft 11 need to be removed from the rear end of the gearbox 16. Then, the end cover 942 needs to be removed to take out the active drill rod 10. During this process, it cannot be guaranteed that the connecting shaft 11 will be unlocked from the active drill rod 10. If the connecting shaft 11 is unlocked from the spindle 121 of the water braid 12, the active drill rod 10 and connecting shaft 11 need to be removed from the front end of the gearbox 16 together before the fishing drill rod can be installed into the chuck 14 and switched to the chuck 14 for holding. Therefore, the existing technology makes both replacing the active drill rod 10 and switching the chuck 14 to hold the fishing drill rod extremely difficult, severely impacting construction efficiency.

[0078] In this embodiment, after improving the power head 1, when the active drill rod 10 needs to be replaced, due to the ample operating space at the rear end of the gearbox 16, it is only necessary to first loosen the chuck 14, and then remove the entire assembly connecting the water braid 12, connecting shaft 11, and active drill rod 10 from the rear end of the gearbox 16. This allows for the rapid replacement of the damaged active drill rod 10. Then, the new active drill rod 10, connecting shaft 11, and water braid 12 are installed into the gearbox 16 from the rear end, and the active drill rod 10 is then passed sequentially through the main shaft 15, chuck 14, and front end cover 13, thus quickly completing the replacement of the active drill rod. The replacement of rod 10 reduces uncontrollable factors during the replacement process and increases construction efficiency. When it is necessary to switch to the work of retrieval drill rod, the above disassembly process is repeated. During installation, the retrieval drill rod only needs to be inserted into the main shaft 15 from the rear end of the gearbox 16, and then passed through the chuck 14 and the front cover 13 in sequence. Finally, the retrieval drill rod is clamped by the chuck 14 and rotated. At the same time, part of the active drill rod 10 in this technical solution is located in the chuck 14 and the main shaft 15, so that when the main shaft 15 drives the active drill rod 10 to rotate through the chuck 14, the rotation of the active drill rod 10 is more stable and can be more accurately connected with the drill rod.

[0079] Next, the hydraulic system connected to the chuck 14 of the existing power head 1 usually only has two states: loose and clamp, and does not have a graded control function. In actual operation, the hydraulic system controls the chuck 14 to clamp under high pressure for a long time, which can easily damage the active drill rod 10 and generate unnecessary energy consumption.

[0080] As shown in Figure 9-11, the staged hydraulic system includes a pressure reducing valve 41, a solenoid directional valve 42, a hydraulically controlled directional valve 43, a main pump, and an auxiliary pump. The solenoid directional valve 42 is a three-position four-way solenoid directional valve with ports A, B, P, and T. The hydraulically controlled directional valve 43 has ports P, T, A, and a hydraulically controlled port. The chuck 14 has a control port. Port A of the hydraulically controlled directional valve 43 is connected to the control port of the chuck 14. The main pump is connected to port P of the hydraulically controlled directional valve 43. The auxiliary pump's oil circuit is divided into two streams: one connects to the P port of the hydraulic directional valve 43, and the other connects to the P port of the solenoid directional valve 42 via the pressure reducing valve 41. The drain port of the pressure reducing valve 41 is connected to the T port of the solenoid directional valve 42 for draining oil. The oil outlet of the A port of the solenoid directional valve 42 is divided into two streams: one connects to the P port of the hydraulic directional valve 43, and the other connects to the hydraulic control port of the hydraulic directional valve 43. The B port of the solenoid directional valve 42 is connected to the T port of the hydraulic directional valve 43. The hydraulic directional valve 43 is a two-position three-way hydraulic directional valve 43. By controlling the oil circuit, it can automatically switch the direction of oil flow. Through the coordinated control of the solenoid directional valve 42 and the hydraulic directional valve 43, it can achieve precise adjustment of the pressure of the chuck 14, adapting to the needs of different working conditions. In normal drilling and fishing operations, it can quickly switch the direction of oil flow, ensuring that the chuck 14 is adjusted to the required state in the shortest possible time, thus improving work efficiency. The main pump flows to the P port of the hydraulic directional valve 43 via the first check valve 45, and the oil circuit of the auxiliary pump is connected to the P port of the hydraulic directional valve 43 via the second check valve 46; the A port of the solenoid directional valve 42 is connected to the P port of the hydraulic directional valve 43 via the third check valve 47; the pressure reducing valve 41 is a fixed-value pressure reducing valve 41, which can adjust the oil pressure to 6 MPa in this embodiment; in this embodiment, the solenoid directional valve 42 has Y1 position and Y2 position, and also includes an oil tank 44 for storing oil. The oil tank 44 is used to supply oil to the main pump and the auxiliary pump, and the oil supply flows back to the oil tank 44.

[0081] As shown in Figure 9, when the chuck 14 is released, positions Y1 and Y2 are de-energized. When both the left position Y1 and the right position Y2 of the solenoid directional valve 42 are de-energized, the solenoid directional valve 42 is in the neutral position, and the hydraulic directional valve 43 operates in the right position under the action of the spring force. When the pressure oil P1 from the main pump passes through the first check valve 45 to the outlet of the second check valve 46, the outlet of the third check valve 47, and the P port of the hydraulic directional valve 43, the oil flow is cut off. At the same time, one stream of pressure oil from the auxiliary pump P2 flows through the second check valve 46 to the outlet of the first check valve 45, the outlet of the third check valve 47, and the P port of the hydraulic directional valve 43, and the oil flow is cut off; another stream of pressure oil from the auxiliary pump P2 flows through the pressure reducing valve 41 to the P port of the solenoid directional valve 42, which is also cut off. The pressurized oil in the chuck 14 returns to the oil tank 44 through the right position of the hydraulic directional valve 43 and the middle position of the solenoid directional valve 42, and the chuck 14 is in the released state. At the same time, the control oil of the hydraulic directional valve 43 is discharged to the oil tank 44 through the middle position of the solenoid directional valve 42. The chuck 14 is in the released state and will not clamp or limit the active drill rod 10.

[0082] As shown in Figure 10, under the condition of low-pressure clamping of chuck 14, Y2 is energized. When Y2 is energized in the right position of solenoid directional valve 42, solenoid directional valve 42 is in the right-position working state, and hydraulic directional valve 43 is in the right-position working state under the action of spring force. The pressure oil from main pump P1 flows through the first check valve 45 to the outlet of the second check valve 46 and the outlet of the third check valve 47, and is cut off at port P of hydraulic directional valve 43. The control oil of hydraulic directional valve 43 is discharged to oil tank 44 through the right position of solenoid directional valve 42. One stream of pressurized oil from the auxiliary pump P2 passes through the second check valve 46 to the outlet of the first check valve 45, the outlet of the third check valve 47, and the P port of the hydraulic directional valve 43, where the oil flow is cut off. Another stream of oil passes through the pressure reducing valve 41 to the set pressure of 6MPa. Then, the pressurized oil flows through the right position of the solenoid directional valve 42 and then through the right position of the hydraulic directional valve 43 to the chuck 14. At this time, the chuck 14 is in a low-pressure clamping state of 6MPa, which limits the movement of the active drill rod 10.

[0083] As shown in Figure 11, under the condition of high-pressure clamping of chuck 14, Y1 is energized, solenoid directional valve 42 is in the left-hand working state, and hydraulic directional valve 43 is in the left-hand working state under the action of control oil. The pressure oil P1 from the main pump flows through the first check valve 45 to the outlet of the second check valve 46 and the outlet of the third check valve 47, and finally flows into chuck 14 through the left-hand position of hydraulic directional valve 43. The pressure oil P2 from the auxiliary pump is divided into two oil paths. One oil path is reduced to 6MPa through pressure reducing valve 41, flows through the left-hand position of solenoid directional valve 42 to the control port of hydraulic directional valve 43, causing hydraulic directional valve 43 to switch and be in the left-hand working state; the other oil path is through the second check valve 46 to the outlet of the first check valve 45 and the outlet of the third check valve 47, and finally flows into chuck 14 through the left-hand position of hydraulic directional valve 43. In this state, the main and auxiliary pumps merge to form a high-pressure oil source, which puts the chuck 14 in a high-pressure clamping state for retrieval.

[0084] The graded hydraulic system controls the chuck 14 to switch between three states: loose, low-pressure clamping, and high-pressure clamping. The loose state is primarily used when the power head 1 is not operating or when drill rods are being loaded into the chuck 14. Low-pressure clamping is primarily used when drilling is performed using the active drill rod 10 connected to the drill rod. High-pressure clamping is primarily used when the chuck 14 is holding the drill rod during drilling. By controlling the clamping pressure of the chuck 14 in stages, and by setting the diameter of the active drill rod 10's limiting section 104 to be slightly smaller than the inner diameter of the chuck 14's clamping mechanism, the system improves the stress distribution on the active drill rod 10, avoids energy waste caused by prolonged pressure buildup in the chuck 14, and enhances the adaptability of the power head 1 to various working conditions, including normal drilling and retrieval drilling.

[0085] Next, referring to Figures 12-20, improvements to the existing clamping device will be explained based on its shortcomings in drill pipe assembly and disassembly.

[0086] As shown in Figure 12, the clamp is a double clamp, including a base 200, a front clamp 2, and a rear clamp 20. The base 200 has a mounting part for the front clamp 2 and a mounting part for the rear clamp 20, which are used to mount the front clamp 2 and the rear clamp 20, respectively. Referring to Figure 13, the bottom surface of the base 200 is a mounting plate 201. The mounting part for the front clamp 2 includes a front support plate 203 and a rear support plate 205 symmetrically spaced on the mounting plate 201. Both the front support plate 203 and the rear support plate 205 have a through hole, and the two through holes are coaxial. Each through hole has an opening at its upper end, and the width of the opening is greater than or equal to the diameter of the large drilling tool (in this embodiment, the diameter of the bottom hole motor). The added openings allow the through holes in the front support plate 203 and the rear support plate 205 to be open upwards, enabling the drilling rig to operate from top to bottom when replacing large-diameter drill rods, such as bottom hole motors.

[0087] Due to the limitations of the drilling rig structure, there are generally two methods used when replacing drill rods with larger diameter ones at existing construction sites: one is to tilt the bottom-hole motor at a certain angle relative to each axis (i.e., the drilling axis) of the chuck's through hole before inserting it into the chuck. However, this method has a very limited scope of application; when the distance between the chuck and the hole wall is too small, the excessively tilted bottom-hole motor will not be able to align with the inner hole of the chuck. The other method is to remove the entire chuck, install the bottom-hole motor and send it into the hole, and then reinstall the chuck. This method has a wider scope of application and can be used even when the distance between the chuck and the hole wall is very small. However, the chuck is large, heavy, and complex in structure, and disassembling it completely consumes a lot of manpower and construction time, seriously reducing construction efficiency. The operation also poses significant safety hazards and is quite difficult. This embodiment adds an opening, changing the original method of pulling and disassembling the drill rod along the front and rear ends of the through hole axis to directly taking it out or putting it in from above the through hole, greatly reducing the space required for disassembly and also reducing the difficulty of replacing the drill rod.

[0088] As shown in Figure 13, a reinforcing plate 204 can be detachably connected to the openings of both through holes. Taking the front support plate 203 as an example, the connection method of the reinforcing plate 204 is as follows: a protrusion and a groove are provided on the top of the front support plate 203, and a groove and a protrusion matching the protrusion and groove on the top of the front support plate 203 are provided on the bottom of the reinforcing plate 204. The upper and lower protrusions and grooves interlock and nest to form a complete plane, which not only improves the overall structural strength of the support plate 221, but also facilitates the positioning assistance when installing the reinforcing plate 204. Finally, the reinforcing plate 204 is fixed to the front support plate 203 with screws or pins. The reinforcing plate 204 ensures the integrity of the through holes during drilling operations and avoids safety accidents caused by the through holes breaking open.

[0089] As shown in Figures 12 and 14, a swing body 22 is provided between the front support plate 203 and the rear support plate 205. The swing body 22 includes two support plates 221 arranged symmetrically front and rear. Both support plates 221 have guide mounting holes, and connecting flanges are provided in the guide mounting holes. In the direction of Figure 14, a flipping shaft seat 25 is provided on the lower right side of the support plate 221. A front cylinder mounting plate 222 is connected to the outer end face of each of the two support plates 221. A front clamping cylinder 23 is bolted to the front cylinder mounting plate 222. A swing lug seat 224 is fixedly connected to the lower part of the front cylinder mounting plate 222 near the flipping shaft seat 25. A swing cylinder 226 is rotatably connected to the swing lug seat 224 through a rotating shaft. Four front liner plates 223 are symmetrically arranged between the two support plates 221. The four front liner plates 223 are spliced ​​to form a guide space for the movement of the piston rod of the clamping cylinder, while also providing support for the swing component structure. Meanwhile, as shown in Figure 13, a flip plate 202 is fixedly connected to the front support plate 203 and the rear support plate 205 near the flip shaft seat 25. The flip plate 202 is provided with a flip hole, and a flip pin 227, which serves as the flip axis of the swing body 22, is installed in the flip hole. The swing body 22 is the main connecting component of the various parts in the front clamp 2, connecting the front clamping cylinder 23 and the base 200 into one unit, and connecting the front clamp 2 and the frame 3 of the drilling rig into one unit through the swing cylinder 226.

[0090] As shown in Figure 12, the swing cylinder 226 is the driving element that drives the swing body 22 to rotate around the flip pin 227. The piston rod of the swing cylinder 226 is hinged to the swing lug 224 of the swing body 22 via a pin, and the cylinder barrel of the swing cylinder 226 is hinged to the frame 3 of the drilling rig via a pin. The flip pin 227 is the axis of the swing body 22's flip. One end of the flip pin 227 near the swing body 22 is inserted into the flip shaft seat 25 of the swing body 22, and the other end is inserted into the through hole of the flip plate 202 of the base 200, and is limited at the end by a cotter pin or retaining ring. The swing body 22 mechanically swings out of the base 200 by switching the rotation center. Combined with the detachable reinforcing plate 204 structure of the base 200, a large amount of space is made inside and above the front clamp 2, realizing the installation of the bottom motor from top to bottom. This process only requires disassembling and assembling a few parts, which reduces the space requirement for the front end of the clamp when installing the bottom-hole motor and saves a lot of time and manpower for the overall removal of the clamp.

[0091] The gripper clamps the drill pipe by connecting slips to the piston rods of two symmetrically arranged clamping cylinders. To address the need for larger diameter drill pipes in drilling rigs, this embodiment further improves the design of the slips in the gripper. As shown in Figures 15 and 16, each slip includes an outer slip 24 and an inner slip 240. The inner surface of the outer slip 24 has several protrusions or small sharp teeth to increase the friction between the slip and the drill pipe. The diameter of the arc segment on the inner surface of the outer slip 24 matches the outer diameter of the inner slip 240. Three countersunk holes are formed on the inner surface of the outer slip 24 for installing screws connecting the piston rods in the clamping cylinders. A flat surface is provided at the top and bottom of the arc segment, with threaded holes for installing screws connecting the inner slip 240. A locking block is provided at each of the four corners of the flat surface. The four locking blocks, with their symmetrical stop surfaces, combine with the arc surface to form an installation space for connecting the inner slip 240. The inner slip 240 has symmetrical bosses on both its upper and lower sides. The side of each boss facing the center of the gripper has a countersunk hole for installing screws connecting to the outer slip 24. The outer diameter of the inner slip 240 matches the inner diameter of the outer slip 24 for easy installation. The inner surface of the inner slip 240 also has several protrusions or small sharp teeth for more stable clamping. The front projection of the inner slip 240 is a cross shape, which mates with the four stop surfaces on the outer slip 24 to achieve positioning along the front-rear axial direction of the gripper.

[0092] The inner diameter of the inner slip 240 matches the outer diameter of the smaller diameter drill pipe, while the inner diameter of the outer slip 24 matches the outer diameter of the larger diameter drill pipe. This allows for adjustment of the clamping mechanism by removing or adding the inner slip 240 when changing drill pipes of different sizes. The replacement operation is simply achieved by loosening the screws to remove or install the inner slip 240, further improving the ease of operation of this dual clamping device. The cylinder barrels of the front clamping cylinder 23 are symmetrically fixed to the front cylinder mounting plates 222 on both sides of the swing body 22. The piston rods of the front clamping cylinder 23 extend from both sides of the front clamping device 2 towards the center, and clamp the drill pipe using the slips on the piston rod.

[0093] When replacing the inner slip 240, the piston rod of the clamping cylinder retracts, creating an open space for removing and installing the slip. Only a few screws need to be removed and installed for quick slip replacement, making the operation convenient and fast. Furthermore, the inner slip 240 uses a large flat surface for axial positioning along the gripper, while the screws achieve radial positioning along the arc. The flat surface absorbs the shear force for the screws, significantly reducing the possibility of screw deformation and improving positioning reliability, thus preventing slippage during unscrewing.

[0094] Furthermore, the nested structure of inner and outer slips 24 and inner and outer guide sleeves 21 enables rapid adaptation to drill string specifications and replacement of accessories, and also expands the applicability of the clamp, especially suitable for directional drilling rigs using special drill strings such as ordinary drill pipes, fishing drill pipes, and bottom hole motors. Moreover, the integrated design of the clamp and guide sleeves ensures the guiding function of the drill pipe entering and exiting the clamp while saving space on the drilling rig.

[0095] As shown in Figures 12 and 17, the front clamp 2 also includes a guide sleeve assembly, which includes an outer guide sleeve 21 and an inner guide sleeve 210. The inner guide sleeve 210 and the outer guide sleeve 21 are detachably connected to the through hole, so as to integrate the guide sleeve into the clamp, thereby saving installation space and making the overall layout of the drilling rig more compact.

[0096] As shown in Figure 19, the outer diameter of the inner guide sleeve 210 is divided into two stages. The small diameter section of the inner guide sleeve 210 mates with the guide mounting hole on the swing body 22, and the large diameter section of the inner guide sleeve 210 mates with the through holes in the middle of the front support plate 203 and the rear support plate 205 of the base 200 to achieve axial positioning. At the same time, the inner diameter of the inner guide sleeve 210 is also divided into two stages. The small diameter section of the inner diameter is a through hole of equal diameter, which mates with the small diameter section of the outer guide sleeve 21. The large diameter section of the inner diameter is a countersunk stage, which mates with the outer guide sleeve 21. As shown in Figure 18, the outer guide sleeve 21 also has two-stage outer diameters. The large-diameter section of the outer guide sleeve 21 has a countersunk connecting hole for mounting screws to fix the outer guide sleeve 21 and inner guide sleeve 210 onto the swing body 22. The bottom surface of the countersunk stage of the large-diameter section of the inner guide sleeve 210 has a through hole corresponding to that of the outer guide sleeve 21. Screws are installed in the through hole to fix the outer guide sleeve 21 and inner guide sleeve 210 onto the swing body 22. Referring to Figure 17, the large-diameter section of the outer guide sleeve 21 mates with the countersunk stage of the inner guide sleeve 210 to achieve axial positioning of the outer guide sleeve 21. The inner diameter of the outer guide sleeve 21 matches the smaller outer diameter of the drill rod that can be used by the drilling rig, guiding the drill rod as it enters and exits the clamp 2. The inner guide sleeve 210 and outer guide sleeve 21 have significantly different structures, facilitating on-site parts management and identification.

[0097] Finally, referring to Figures 12 and 13, the mounting part of the rear clamp 20 includes a symmetrically arranged front side plate 209 and a rear side plate 207. The front side plate 209 and the rear side plate 207 serve as supporting members for the rear clamp 20. A U-shaped hole is provided in the middle of both the front side plate 209 and the rear side plate 207, allowing the tops of the front side plate 209 and the rear side plate 207 to be completely open. Four rear liner plates 206 are symmetrically arranged between the front side plate 209 and the rear side plate 207. The four rear liner plates 206 form a guide space for the movement of the rear clamping cylinder 230 and the cylinder piston rod, and also serve as structural supports. Rear cylinder mounting plates 208 are connected to the outer end faces of both sides of the front side plate 209 and the rear side plate 207. The rear clamping cylinders 230 are respectively fixedly connected to the rear cylinder mounting plates 208 by bolts. As shown in Figure 20, each U-shaped hole is connected to a semi-circular guide sleeve 25. The outer diameter of the semi-circular guide sleeve 25 is also divided into two stages. The smaller diameter section of the semi-circular guide sleeve 25 mates with the U-shaped hole, and the larger diameter section of the semi-circular guide sleeve 25 has a countersunk connecting hole on its end face. The countersunk connecting hole is used to install screws to fix the semi-circular guide sleeve 25 to the front side plate 209 or the rear side plate 207. The inner diameter of the semi-circular guide sleeve 25 that mates with the U-shaped hole can be matched with drill rods of different outer diameters on the drilling rig. The drill rod is inserted into the clamp through the top opening.

[0098] In traditional drilling rig structures, the clamp and guide sleeve are generally located as two independent components at the front end of the frame 3, occupying a significant amount of length space. To save space in the drilling direction, some drilling rigs have even eliminated the guide sleeve altogether. The traditional guide sleeve is a rotatable hollow cylinder, and one inner sleeve can only accommodate drill pipes of one outer diameter. When changing drill pipes, the guide sleeve must be replaced entirely or the inner sleeve must be replaced separately to accommodate the new drill pipe's outer diameter. Replacing the entire guide sleeve is simpler, but the spare parts cost is higher; replacing the inner sleeve separately is more complex, but the cost is lower, and this is the commonly used method in the field. Replacing the inner sleeve separately also presents a challenge in parts identification and management. Because the specifications of the drill pipes used on the same drilling rig are similar, the diameter difference is generally around 10mm, which translates to a difference of only a few millimeters in the inner sleeve thickness. Identifying such a small difference without measuring tools in the downhole field is extremely difficult, making on-site parts management challenging. The method of assembling a guide sleeve on the clamp in this embodiment solves this problem, further improving the ease of operation of the dual clamp, reducing the difficulty of changing drill rods during drilling, and improving work efficiency.

[0099] Finally, as shown in Figure 21, in response to the slippage phenomenon of the existing clamp during drill pipe uncoupling operations, this embodiment proposes an anti-slippage hydraulic system. By connecting the hydraulic motor 17 in the power head 1 to control the oil circuit and the clamping oil circuit 57 of the clamp, the pressure is increased during drill pipe uncoupling to achieve the purpose of preventing slippage.

[0100] During drill pipe uncoupling, the clamping force of the chuck needs to overcome the torque required to fully tighten the threads at the drill pipe threaded joint. The power head 1 needs to provide a large reversing torque to complete the uncoupling. Correspondingly, the chuck also needs to provide a large and stable clamping force to ensure that the drill pipe held by the power head 1 does not rotate with it when the power head 1 reverses, i.e., it does not slip. However, during the period when the chuck clamps the drill pipe under hydraulic pressure through the clamping cylinder and maintains pressure through the hydraulic lock, the hydraulic lock or clamping cylinder inevitably experiences varying degrees of leakage. Furthermore, the leakage amount and speed of the hydraulic oil gradually increase with usage time. Therefore, from clamping to reversing and uncoupling, the clamping force of the chuck will decrease, causing the chuck to slip during drill pipe uncoupling, ultimately leading to uncoupling failure or even a safety accident.

[0101] Based on this, the front clamping device 2 is driven by the front clamping cylinder 23, and the rear clamping device 20 is driven by the rear clamping cylinder 230. As shown in Figure 21, both the front clamping cylinder 23 and the rear clamping cylinder 230 are connected to clamping oil circuit 57 and releasing oil circuit 58 respectively to provide hydraulic power for the movement of the cylinder piston rod. The two oil circuits on the front clamping cylinder 23 are connected to the front hydraulic lock 53, and the two oil circuits on the rear clamping cylinder 230 are connected to the rear hydraulic lock 56. The working principle of the hydraulic system is specifically explained using the front clamping cylinder 23 as an example: the clamping oil circuit 57 is connected to the rodless chamber of the front clamping cylinder 23, and the releasing oil circuit 58 is connected to the rod chamber of the front clamping cylinder 23. When oil is supplied to the clamping oil circuit 57, the internal pressure of the rodless chamber increases, thereby pushing the piston rod to move outward and clamping the drill pipe through the connected slips. Meanwhile, the hydraulic motor 17 serves as the driving active component of the power head 1. The hydraulic motor 17 is connected to a forward rotation oil circuit 51 and a reverse rotation oil circuit 52. When the forward rotation oil circuit 51 is filled with oil, it drives the hydraulic motor 17 to drive the power head 1 to rotate forward. When the reverse rotation oil circuit 52 is filled with oil, it drives the hydraulic motor 17 to drive the power head 1 to rotate in reverse.

[0102] A branch oil circuit is provided between the reversing oil circuit 52 and the clamping oil circuit 57 for connection. A front check valve 54 is installed on the branch oil circuit, allowing oil from the reversing oil circuit 52 to flow only into the clamping oil circuit 57. During drill pipe uncoupling, the hydraulic motor 17 drives the power head 1 to reverse. At this time, oil flows through the reversing oil circuit 52, and a portion of the hydraulic oil flows through the front check valve 54 into the two rodless chambers of the front clamping cylinder 23. This replenishes the leaking hydraulic oil in the front clamping cylinder 23, improving the clamping strength of the front gripper 2 and preventing slippage. By directly utilizing the hydraulic oil in the reversing oil circuit 52, the hydraulic oil replenishment for clamping cylinder operations can be achieved without adding a new oil supply inlet. This reduces the complexity of the hydraulic system structure, lowers modification costs, and further ensures the timeliness and synchronization of hydraulic oil replenishment to the rodless chambers of the clamping cylinder. When the unhooking is completed, the reverse operation of the power head 1 stops, and the oil supply to the reverse oil circuit 52 is suspended. The replenishment of hydraulic oil to the rodless chamber can also be suspended simultaneously. At this time, even if the pressure in the clamping oil circuit 57 is greater than the internal pressure of the reverse oil circuit 52, the hydraulic oil will not flow back to the reverse oil circuit 52 under the reverse shut-off protection of the check valve, thereby improving the safety of the hydraulic system operation.

[0103] The front hydraulic lock 53 provides hydraulic oil pressure protection for the front clamping cylinder 23 in the clamping or releasing state. When hydraulic oil enters the front clamping cylinder 23 through the clamping oil circuit 57 or the releasing oil circuit 58 and then through the front hydraulic lock 53, the oil supply stops, and the front hydraulic lock 53 immediately enters a pressure-holding state to prevent hydraulic oil from flowing out of the front clamping cylinder 23, ensuring the stability of the front counterweight clamp in the clamping or releasing state. In this embodiment, the outlet of the front one-way valve 54 is connected to the outlet of the rodless chamber of the front clamping cylinder 23 connected to the front hydraulic lock 53.

[0104] A rear check valve 55 connects the clamping oil circuit 57 of the rear clamping cylinder 230 to the reversing oil circuit 52, and the front check valve 54 and the rear check valve 55 are interconnected to simplify the hydraulic system circuit and ensure synchronization of the two clamps. Furthermore, considering that in practical applications, there may be situations where only one clamping clamp is used, such as the front clamp 2 clamping while the rear clamp 20 is released, the rodless chamber of the front clamping cylinder 23 and the rodless chamber of the rear clamping cylinder 230 are not interconnected under the reverse shut-off action of the front check valve 54. Therefore, although the oil circuits at the inlets of the front check valve 54 and the rear check valve 55 are connected, it will not affect the oil circuit control of the rear clamping cylinder 230 in the released state of the rear clamp 20. Moreover, the reversing oil circuit 52 of the hydraulic motor 17 will not be affected by the shut-off action of the rear check valve 55, further ensuring the safety of the hydraulic system operation.

[0105] When the hydraulic motor 17 rotates forward, oil enters through the forward rotation oil circuit 51 and returns through the reverse rotation oil circuit 52. During the return flow of oil through the reverse rotation oil circuit 52, some hydraulic oil inevitably flows to the forward check valve 54 and the rear check valve 55, which may affect the gripper, which should be kept in a released state. Therefore, the opening pressures of the forward check valve 54 and the rear check valve 55 are set higher than the return pressure in the reverse rotation oil circuit 52. This ensures that the inlet valves of the check valves will not open under these conditions, preventing the branch oil circuit configuration from affecting the operational safety and stability of the original equipment. Furthermore, when both clamps are in the released state, the rod chamber in the clamping cylinder is under high pressure due to the pressure holding effect of the hydraulic lock, while the rodless chamber is in the low-pressure return chamber state. At this time, even in the extreme case of check valve failure, the pressure difference between the rod chamber and the rodless chamber can ensure that the released state of the two clamps is not affected. This forms a double insurance effect of releasing and maintaining the clamps, ensuring that the clamps in this hydraulic system will not affect the normal drilling work, and further ensuring the safety of construction.

[0106] By connecting the reverse oil circuit 52 of the hydraulic motor 17 and the clamping oil circuit 57 of the clamping cylinder in the clamp, and by setting a one-way valve and cooperating with a hydraulic lock, a hydraulic system for preventing slippage of the top clamp is formed, in which reverse linkage pressurization, forward rotation and individual clamping do not affect each other. This solves the problem of slippage caused by the decrease in clamping force due to leakage of the clamping cylinder and hydraulic lock in the existing hydraulic system of the top clamp, ensuring on-site construction safety and improving construction efficiency.

[0107] As shown in Figures 22-26, the drill rod storage box 8 and the positioning system are explained to address the shortcomings of the existing main manipulator 9 and drill rod storage structure.

[0108] Existing drilling rigs often employ high-precision loading devices such as multi-degree-of-freedom manipulators to transport drill rods between the drill rod storage box 8 and the frame 3. While this type of conveying system offers the advantage of larger capacity, it places high demands on the conveying device, requiring the use of a six-degree-of-freedom industrial manipulator. However, the positioning and target recognition technologies of existing industrial manipulators are unsuitable for the harsh environment of coal mine drilling sites—dark, dusty, and humid—resulting in extremely poor performance in mining drilling operations. Furthermore, existing manipulators use rotary reducers for attitude adjustment, occupying a large space and hindering the reduction of the overall drilling rig size. The space required for manipulator movement is also substantial, making drilling operations in narrow tunnels unfavorable.

[0109] As shown in Figure 26, the drill pipe storage box 8 includes a drill pipe frame 81, a rod placement slot 82, and a gripping robot 83. The drill pipe frame 81 is used to store drill pipes, and the axial direction of the drill pipe storage is consistent with the length direction of the frame 3 (i.e., the drilling axis direction), thus it can better accommodate the storage of longer drill pipes. The gripping robot 83 is installed on one side of the drill pipe frame 81. To save space and avoid the harsh environment at the borehole opening, in this embodiment, the gripping robot 83 is installed on the side of the drill pipe frame 81 facing the retraction direction. The gripping robot 83 has a claw-shaped component for gripping the drill pipes. The gripping robot 83 is connected to the drill pipe frame 81 by a translation mechanism to achieve the purpose of moving in a direction parallel to the installation side, thereby aligning with different drill pipe storage rows in the drill pipe frame 81. The gripping robot 83 has two degrees of freedom: translation along the installation side and vertical translation, which can drive the claw-shaped component to move in the above directions to grip different drill pipes in the drill pipe frame 81.

[0110] The drill rod placement slot 82 is fixedly installed on the side of the drill rod frame 81 facing the machine frame 3. The drill rod placement slot 82 contains a drill rod slot 821 and a drive device 823. The drill rod slot 821, fixedly installed on the side of the drill rod frame 81, is used to place the drill rod and has an arc matching the outer diameter of the drill rod. Movable baffles 822 are provided at both ends along the axial direction of the drill rod. The movable baffles 822 are connected to the drive device 823 and move along the length direction of the drill rod under the drive of the drive device 823. When a drill rod is placed in, the baffles move outwards (expanding the length direction) to increase the margin for error. After the drill rod is placed, the baffles move inwards (contracting the length direction) to align the drill rod with the drill rod frame 81 or the machine frame 3. By setting the drill rod placement length direction in the drill rod conveying system to be consistent with the direction of the machine frame 3, this design is suitable for the long length of directional drill rods and the construction characteristics of directional drilling rigs, saving drill rod placement space and meeting the requirements of large-capacity drill rod storage and reduced overall machine size.

[0111] As shown in Figures 1 and 22, the rod placement slot 82 has a recessed portion 824, and the frame 3 is equipped with an isotropic sensor 98, which is used to determine whether the main manipulator 9 has reached the set tilt angle. The main manipulator 9 is mounted on the frame 3 and is used to grab the drill rods in the drill rod storage box 8 onto the frame 3, and then the power head 1 and the gripper install the drill rods. The main manipulator 9 includes a pitch cylinder 92, a rotary actuator 93, a pitch arm 94, a rotary shaft 95, a rotating arm 96, and a gripper 97, as shown in Figure 23. The pitch arm 94 includes a rotating cylinder 944, a bearing seat 941, and a support body 943 fixedly connected between the rotating cylinder 944 and the bearing seat 941. The top of the piston rod of the pitch cylinder 92 is hinged to the side of the support body 943. The lower ends of the pitch arm 94 and the pitch cylinder 92 are rotatably connected to the moving platform 6. The rotary actuator 93 is fixed on the bearing seat 941. The output shaft of the rotary actuator 93, the rotating arm 96, and the gripper 97 are connected in sequence. When the piston rod of the pitch cylinder 92 retracts, the tilt angle of the rotating arm 96 increases; when the piston rod extends, the tilt angle of the rotating arm 96 decreases. A connecting sleeve 19 is provided on the rotating cylinder 944. An incremental sensor 945 and an angle indicator plate 946 are connected to the connecting sleeve 19. The incremental sensor 945 and the angle indicator plate 946 work together to determine whether the robot arm has reached a suitable angle for conveying the drill rod to the frame 3 (between the power head 1 and the gripper). This section is all prior art (see patent number: CN116877007A for details) and will not be described in detail again.

[0112] The positioning system in this embodiment includes a horizontal sensor 962, a horizontal sensing block 961, a flip sensor 947, and a flip sensing plate 948. The flip sensor 947 and the flip sensing plate 948 work together to determine whether the rotating arm 96 of the main robotic arm 9 has driven the gripper 97 to flip towards the frame 3. The horizontal sensor 962 and the horizontal sensing block 961 work together to determine whether the main robotic arm 9 is at a tilt angle of 0°.

[0113] As shown in Figure 23, an end cap 942 is connected to the right end of the bearing seat 941. The tilt sensor 947 is installed on the lower side of the bearing seat 941 or the end cap 942 near the end of the rotating arm 96. In this embodiment, it is specifically installed on the lower side of the end cap 942. As shown in Figure 22, a cylinder seat 91 is bolted to the moving platform 6. The bottom of the pitch cylinder 92 is rotatably connected to the cylinder seat 91. The rotary actuator 93 is installed on the end of the bearing seat 941 away from the end cap 942. The inner cavity of the bearing seat 941 has a mounting hole. The rotary shaft 95 is installed in the mounting hole. After the end cap 942 is fixedly installed on the bearing seat 941, it can limit the axial movement of the rotary shaft 95. The tilt sensor plate 948 is installed on the rotary shaft 95 or the end of the rotating arm 96 near the pitch arm 94. For ease of installation, in this embodiment, the tilt sensor plate 948 is specifically installed on the end face of the rotary shaft 95 near the tilt sensor 947 by bolts.

[0114] As shown in Figure 24, the horizontal sensing block 961 is mounted on the rotating arm 96, and the horizontal sensor 962 is mounted on the drill rod frame 81 or rod placement slot 82 via a bracket or fixed base, with the horizontal sensor 962 facing the robotic arm 96. Together with the horizontal sensing block 961 on the rotating arm 96, they form a sensing group. Specifically, as shown in Figure 26, the horizontal sensor 962 is connected to the side of the groove 824 on the rod placement slot 82. When the rotating arm 96 is in a horizontal position, the horizontal sensor 962 is connected to the horizontal sensing block 961, and the horizontal sensor 962 sends a signal to the automatic control system 7. Based on the acquired signal, the automatic control system 7 controls the pitch cylinder 92, causing the rotating arm 96 to stop rotating vertically. If the tilt angle of the main robotic arm 9 is 0°, i.e., the rotating arm 96 is in a horizontal position, the horizontal sensor 962 is connected to the horizontal sensing block 961, while the angle indicator plate 946 and the incremental sensor 945 are not connected.

[0115] As shown in Figure 25, in this embodiment, the flip-sensing plate 948 is an arc-shaped iron plate, and the flip sensor 947 and the flip-sensing plate 948 form a sensing group. When the gripper 97 is in a vertical position, the flip sensor 947 and the flip-sensing plate 948 are disconnected (i.e., the flip sensor 947 and the flip-sensing plate 948 do not overlap in the same axial direction), and there is no signal output. When the gripper 97 flips towards the frame 3, the flip-sensing plate 948 covers the flip sensor 947, and the sensor outputs a signal. It should be noted that the coverage area of ​​the flip-sensing plate 948 meets the requirements of the gripper 97's entire flip angle travel. The function of this sensing group is: when the sensor is turned on and there is a signal output, it indicates that the gripper 97 has flipped inward, that is, the gripper 97 is inside the frame 3. The signal is transmitted to the automatic control system 7, which then restricts the movement of other actuators to prevent the power head 1 from interfering with the movement of the gripper 97 and causing damage.

[0116] Based on the existing incremental sensor 945 and isotropic sensor 98 of the main manipulator 9, which determine whether the manipulator has reached a suitable angle to the frame 3 and whether the main manipulator 9 has reached the same tilt angle as the frame 3, the system further utilizes the added horizontal sensor 962 and horizontal sensing block 961 sensing group, and the tilt sensor 947 and tilt sensing plate 948 sensing group to ensure that the actuators in the drilling system can operate within the designed tilt angle range. Simultaneously with the rotation of the rotating arm 96, a signal is sent to the automatic control system 7 to promptly handle unexpected situations such as motion interference between the main manipulator 9 and the power head 1. The tilt controller, independent of the rotary drive 93 that drives the rotating wall, can monitor whether the rotating arm 96 has rotated to the correct position, increasing the reliability of the manipulator positioning system. Furthermore, as the boom 96 rotates towards the side of the frame 3, the tilt sensor plate 948 always covers the tilt sensor 947. This ensures that the tilt sensor 947 and the tilt sensor plate 948 will only disconnect when the boom 96 returns to its initial state, i.e., when it is closest to the drill pipe box, thus preventing motion interference between the moving head and the gripper 97. In addition, the added level sensor 962 allows the tilt sensor to use a simpler single-head hydraulic cylinder, further simplifying tilt control.

[0117] In summary, the mining drilling system in this solution improves and upgrades the structure of the power head 1, the gripper structure, and the control hydraulic systems of the chuck 14 and gripper. Combined with further improvements to the positioning system of the existing main manipulator 9, within the limited structural space of the original drilling system, it not only achieves convenient installation and removal of drill rods but also allows for different controls during construction to meet various needs. It is suitable for mining drilling rigs that require changing drill bit specifications during underground construction, and is particularly suitable for directional drilling rigs that simultaneously use ordinary drill rods, retrieval drill rods, and special drill bits such as bottom hole motors. The main manipulator 9 can operate within the designed inclination range of the drilling rig using four position sensors, further ensuring the reliability and safety of drilling operations. The entire drilling system has a simple structure and can meet the needs of a wider range of underground operating environments.

[0118] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A mining drilling system comprising a gantry, a powerhead, a gripper and a main manipulator, characterised in that: The power head comprises a main shaft, a water braid and a driving drill rod, the main shaft is internally provided with a connecting shaft, the water braid and the driving drill rod are respectively connected to two ends of the connecting shaft, the driving drill rod comprises a limiting section and a rotation-stopping section, one end of the main shaft is provided with a chuck, one end of the chuck is provided with a front end cover, the chuck is clamped on the limiting section, the front end cover is slidingly connected to the rotation-stopping section, and the front end cover can drive the driving drill rod to rotate, the chuck is connected with a staged hydraulic system, and the staged hydraulic system can control the clamping pressure of the chuck on the limiting section; The gripper comprises a front gripper and a rear gripper, the front gripper comprises front and rear support plates which are arranged at intervals, the front and rear support plates are each provided with a through hole, and two through holes are each provided with an opening, and the width of the opening is greater than or equal to the diameter of the large drill tool; the front and rear support plates are provided with a swing body, and the swing body can swing out of the front and rear support plates. The main manipulator comprises a positioning system and a swing arm and a gripper which are connected to each other, the positioning system comprises a horizontal sensor, a horizontal sensing block, a turnover sensor and a turnover sensing plate; the turnover sensor and the turnover sensing plate are used in cooperation to determine whether the swing arm of the main manipulator has driven the gripper to turn over to the rack; the horizontal sensor and the horizontal sensing block are used in cooperation to determine whether the main manipulator is at an angle setting position.

2. A mine drilling system according to claim 1, characterised in that: The drilling rod storage box comprises a drilling rod frame, a rod placing groove and a grabbing manipulator, the axial direction of the drilling rod is consistent with the length direction of the rack, and the grabbing manipulator is installed on the side surface of the drilling rod frame; the rod placing groove is installed on the side of the drilling rod frame facing the rack, the rod placing groove is provided with a drilling rod groove and a driving device, the drilling rod groove is arranged on the side surface of the drilling rod frame, and a movable baffle is arranged at each end along the axial direction of the drilling rod, and the movable baffle is connected with the driving device.

3. A mine drilling system according to claim 2, characterised in that: The main manipulator further comprises a pitching cylinder, a rotating driver, a pitching arm and a rotating shaft, the pitching arm comprises a shaft seat and a support body which are connected to each other, the rotating driver, the shaft seat, the swing arm and the gripper are sequentially connected, one end of the shaft seat away from the rotating driver is provided with an end cover, the piston rod of the pitching cylinder is rotationally connected with the side wall of the support body, and the rotating shaft is arranged between the shaft seat and the swing arm; The turnover sensor is installed on the lower side of the end of the shaft seat or the end cover close to the swing arm, and the turnover sensing plate is installed on the end of the rotating shaft or the swing arm close to the pitching arm; The horizontal sensing block is installed on the swing arm, and the horizontal sensor is installed on the drilling rod frame or the rod placing groove, and the horizontal sensor faces the swing arm of the manipulator.

4. A mine drilling system according to claim 1, characterised in that: The power head further comprises a hydraulic motor, the hydraulic motor is connected with a gearbox, the gearbox comprises a gear shaft and multiple gear stages, power of the hydraulic motor is transmitted to the driving drill rod after being speed-changed and torque-increased, and the main shaft is arranged in the interior of the gearbox.

5. A mining drilling system according to claim 4, characterised in that: The driving drill rod comprises a rod body and a double-end joint arranged at one end of the rod body, the limiting section and the rotation-stopping section are arranged on the rod body, a hexagonal shape is arranged on the outer periphery of the rotation-stopping section, a hexagonal through hole is arranged in the interior of the front end cover, the diagonal distance of the hexagonal shape on the outer periphery of the rotation-stopping section is smaller than the diameter of the chuck after being loosened, the outer diameters of the two shaft sections on the two sides of the limiting section are all greater than the minimum diameter of the chuck after being clamped, and the width of the limiting section is slightly greater than the clamping width of the chuck.

6. A mine drilling system according to claim 5, characterised in that: The water braid comprises a core shaft and a water inlet assembly, the core shaft is fixedly connected with a connecting shaft and communicates with the connecting shaft, and the core shaft communicates with the water inlet assembly and is rotationally connected with the water inlet assembly; the water inlet assembly comprises a shell and a water inlet hole, the shell is internally provided with a water supply cavity which communicates with the water inlet hole; the water braid further comprises a bearing seat which supports the core shaft, and a grease nipple which is arranged on the bearing seat and communicates with the inside of the bearing seat; The connecting sleeve connects the water braid to the end of the gearbox which is away from the hydraulic motor; the connecting sleeve comprises a connecting flange, the connecting flange is provided with a waist-shaped hole for bolts to pass through, and the end surface of the connecting sleeve which faces the driving drill rod is spaced apart from the end surface of the connecting shaft.

7. A mine drilling system according to claim 6, characterised in that: The brake assembly comprises a brake cover, a clamping piston and a loosening piston, the brake cover is provided with a sliding shaft, one end of a transmission shaft extends into the center of the clamping piston, a plurality of brake slips are circumferentially distributed on the transmission shaft, the clamping piston is sleeved on the brake slips and can move in the axial direction, the surface of the brake slip which is away from the transmission shaft is a slope, the surface of the clamping piston which is opposite to the brake slip is a slope surface which cooperates with the slope of the brake slip, the clamping piston can slide through the brake slip to clamp the transmission shaft, and the loosening piston is slidably sleeved on the sliding shaft and can push the clamping piston to release the clamping.

8. A mine drilling system according to claim 1, characterised in that: The step hydraulic control system comprises a pressure reducing valve, an electromagnetic reversing valve, a hydraulic control reversing valve, a main pump and a secondary pump; the electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve with A, B, P and T ports, and the electromagnetic reversing valve has Y1 and Y2 positions; the hydraulic control reversing valve is a hydraulic control reversing valve with P, T, A and hydraulic control ports, the chuck has a control oil port, the A port of the hydraulic control reversing valve is connected with the control oil port of the chuck, and the main pump is connected with the P port of the hydraulic control reversing valve; the oil path of the secondary pump is divided into two branches, one branch is connected to the P port of the hydraulic control reversing valve, and the other branch is connected to the P port of the electromagnetic reversing valve through the pressure reducing valve; the oil discharge port of the pressure reducing valve and the T port of the electromagnetic reversing valve are connected and discharge oil; the oil outlet of the A port of the electromagnetic reversing valve is divided into two branches, one branch is connected with the P port of the hydraulic control reversing valve, and the other branch is connected with the hydraulic control port of the hydraulic control reversing valve, and the B port of the electromagnetic reversing valve is connected with the T port of the hydraulic control reversing valve.

9. A mine drilling system according to claim 8, characterised in that: When the chuck is loosened, Y1 and Y2 positions are de-energized, the pressure oil from the main pump reaches the P port of the hydraulic control reversing valve to stop, and the pressure oil from the secondary pump flows through the pressure reducing valve to reach the P port of the electromagnetic reversing valve to stop; When the chuck is clamped at low pressure, Y2 is energized, the pressure oil from the main pump reaches the P port of the hydraulic control reversing valve to stop, and the pressure oil from the secondary pump reaches the P port of the hydraulic control reversing valve to stop, and the other branch flows through the electromagnetic reversing valve, the hydraulic control valve and reaches the control port of the chuck; When the chuck is clamped at high pressure, Y1 is energized, the pressure oil from the main pump flows into the control port of the chuck through the hydraulic control reversing valve, the pressure oil from the secondary pump reaches the control port of the hydraulic control reversing valve through the electromagnetic reversing valve to switch the working state of the hydraulic control reversing valve, and the other branch flows into the control port of the chuck through the hydraulic control reversing valve, and the hydraulic oil from the main pump and the secondary pump flows together.

10. A mining drilling system according to claim 1, characterized in that: The swing body comprises two support plates symmetrically arranged front and back, and guiding mounting holes are arranged on the two support plates; a turnover shaft seat is arranged below one side of the support plate; outer end faces of the two support plates are respectively connected with a front oil cylinder mounting plate, a front clamping oil cylinder is arranged on the front oil cylinder mounting plate; a swing ear seat is arranged below the front oil cylinder mounting plate close to the turnover shaft seat, and a swing oil cylinder is rotatably connected in the swing ear seat; a turnover plate is connected to one side of the front support plate and the rear support plate close to the turnover shaft seat, a turnover hole is arranged on the turnover plate, and a turnover pin shaft is arranged in the turnover hole.

11. A mine drilling system according to claim 10, characterised in that: A reinforcing plate is detachably connected to the opening, and a plurality of recesses and protrusions matched with each other are arranged between the top of the front support plate and the rear support plate and the bottom of the reinforcing plate.

12. A mine drilling system according to claim 11, characterised in that: A guiding sleeve group is arranged in each through hole, and the guiding sleeve group comprises an outer guiding sleeve and an inner guiding sleeve; the outer diameter of the inner guiding sleeve is divided into two levels, the small-diameter section of the inner guiding sleeve is matched with the guiding mounting hole on the swing body, and the large-diameter section of the inner guiding sleeve is matched with the through hole on the front support plate and the rear support plate.

13. A mine drilling system according to claim 12, characterised in that: The outer diameter of the outer guiding sleeve is divided into two levels, wherein a counter-sunk connecting hole is arranged on the large-diameter section of the outer guiding sleeve, and the counter-sunk connecting hole is used for connecting the outer guiding sleeve and the inner guiding sleeve on the swing body; the inner diameter of the inner guiding sleeve is also divided into two levels, the small-diameter section of the inner diameter is an equal-diameter through hole matched with the small-diameter section of the outer diameter of the outer guiding sleeve, and the large-diameter section of the inner diameter is a counter-sunk stage matched with the large-diameter section of the outer guiding sleeve.

14. A mine drilling system according to claim 13, characterised in that: The clamping device mounting part comprises a rear clamping device mounting part, and the rear clamping device mounting part comprises symmetrically arranged front and rear side plates, U-shaped holes are arranged in the middle of the front and rear side plates, the U-shaped holes make the top of the front and rear side plates completely open, and rear oil cylinder mounting plates are connected to the outer end faces of the front and rear side plates.

15. A mine drilling system according to claim 14, characterised in that: A half-ring guiding sleeve is connected to the U-shaped hole, and the outer diameter of the half-ring guiding sleeve is divided into two levels, wherein the small-diameter section of the half-ring guiding sleeve is matched with the U-shaped hole, and the large-diameter section of the half-ring guiding sleeve is used for fixing the half-ring guiding sleeve on the front or rear side plate.

16. A mine drilling system according to claim 15, characterised in that: The front and rear clamping devices are connected with clamping oil cylinders, the power head further comprises a hydraulic motor, an anti-slip hydraulic system is arranged between the hydraulic motor and the clamping oil cylinders, and the anti-slip hydraulic system can pressurize the clamping oil cylinders through the reverse oil path of the hydraulic motor in the clamping operation.

17. A mining drilling system according to claim 16, characterised in that: The piston rod in the clamping oil cylinder is detachably connected with an outer slipper, the inner side of the outer slipper is detachably connected with an inner slipper, the diameter of the inner surface arc section of the outer slipper is matched with the outer diameter of the inner slipper, a counter-sunk hole is arranged on the outer slipper, the piston rod of the clamping oil cylinder is detachably connected in the counter-sunk hole, the upper end and the lower end of the inner slipper are provided with protrusions, and the upper end and the lower end of the outer slipper are provided with clamping grooves, and the protrusions are detachably connected in the clamping grooves.

18. A mine drilling system according to claim 17, characterised in that: The anti-slip hydraulic system comprises a branch oil path arranged between the reverse oil path connected with the hydraulic motor and the clamping oil path connected with the clamping oil cylinder, a one-way valve is arranged on the branch oil path, and the one-way valve is only used for one-way flow of oil in the reverse oil path into the clamping oil path; the clamping oil path and the loosening oil path are commonly connected with a hydraulic lock.

19. A mining drilling system according to claim 18, characterised in that: The opening pressure of the oil inlet valve of the one-way valve is higher than the backflow pressure in the reverse oil path.

20. A mining drilling system according to claim 19, characterised in that: The front clamping oil cylinder is connected with the reversing oil passage through a front check valve, and the rear clamping oil cylinder is connected with the reversing oil passage through a rear check valve. The front check valve and the rear check valve are communicated with each other.

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