Intelligent directional coal mine drilling rig and drilling method thereof

Abstract

The present invention belongs to the technical field of coal mine drilling rigs, and relates to an intelligent directional coal mine drilling rig and a drilling method thereof. The intelligent directional coal mine drilling rig comprises a moving platform, a frame, a clamping device, a main manipulator, a power head, a drill pipe storage system, a control system and a hydraulic system. The present invention improves the structure of a power head by providing an angle adjuster having accurate angle adjusting and anti-rotation locking functions on the side of a transmission away from a main motor, a driving shaft in the transmission connecting the main motor and the angle adjuster; in addition, the control system comprises a tool face angle measurement and initialization system. Therefore, by means of cooperation between the tool face angle measurement and initialization system and the angle adjuster, the present invention solves the problems that drilling rigs in the prior art lack special tool face angle adjusting devices and thus have low precision and efficiency in trajectory adjustment and have difficulty in achieving automatic directional drilling.

Description

Coal mine intelligent directional drilling rig and drilling method thereof Technical Field

[0001] The invention belongs to the technical field of coal mine drilling rigs and relates to an intelligent coal mine directional drilling rig and a drilling method thereof. Background Art

[0002] Currently, the three main types of drilling rigs commonly used underground in my country's coal mines are conventional rotary drills, automatic (rotary) drills, and directional drills. Compared to conventional rotary drills, automatic drills offer significant advantages in automation and safety, including automatic rod raising and lowering, automatic drilling, remote control, and automatic data recording. Directional drills, on the other hand, offer significant advantages such as controllable drilling trajectories, deep drilling depths, and wide drilling coverage. With the widespread adoption of automatic and directional drills, coal mines are placing higher demands on drilling technology and equipment. Combining high automation with directional drilling capabilities is one of the most widespread and pressing requirements.

[0003] Existing automatic drilling rigs all utilize rotary drilling principles, offering fully automated drilling and automatic loading and unloading of small-sized drill rods. However, because the power head lacks automatic tool face angle adjustment, the drilling trajectory is unpredictable and uncontrollable, making directional drilling impossible. This, to a certain extent, limits disaster management effectiveness and further improvements in overall construction efficiency. Their automatic drill rod loading and unloading systems are generally suitable for smaller diameter and lighter drill rods, and the storage capacity is suitable for non-directional drilling (generally within 100 meters).

[0004] Furthermore, the drill pipe used in directional drilling is significantly longer and heavier than that used in rotary drilling, requiring significantly more drill pipe per drilling operation (at least 200-300 meters). However, the drill pipe handling systems of existing automated drilling rigs struggle to meet the demands of transporting the large-capacity, large-size drill pipes required for directional drilling. Existing directional drilling rigs generally have a low degree of automation, lacking dedicated tool face angle adjustment devices. This results in low drilling trajectory adjustment accuracy and efficiency, making automated directional drilling difficult. The lack of an automated drill pipe handling system means manual loading and unloading of drill pipes is still labor-intensive and poses safety risks. Furthermore, the lack of an electro-hydraulic control system for switching between operating modes prevents automated drilling operations.

[0005] Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an intelligent coal mine directional drilling rig and a drilling method thereof to solve the problems that the existing directional drilling rigs lack a dedicated tool face angle adjustment device and the initial value of the tool face angle cannot be measured and compensated or corrected.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A coal mine intelligent directional drilling rig, comprising a mobile platform, a frame, a clamp, a main manipulator, a power head, a drill rod storage system, a control system, and a hydraulic system. The frame, drill rod storage system, control system, hydraulic system, and main manipulator are all mounted on the mobile platform. The clamp and power head are respectively mounted at both ends of the frame. The power head comprises a main motor, a transmission, and a main shaft. The transmission has a drive shaft, one end of which is connected to the main motor, and the drive shaft is meshed with the main shaft through gears in the transmission. The drill rod is fixedly connected to the main shaft in a circumferential direction. A bottom hole motor is arranged at the front end of the drill rod to serve as a bottom hole drilling actuator. The other end of the drive shaft is connected to an angle adjuster through a transmission.

[0009] The angle adjuster includes a transmission shaft, a fixed gear plate, a movable gear plate, a slewing seat and a slewing reducer with a self-locking function, one end of the transmission shaft is circumferentially fixedly connected to the drive shaft, the fixed gear plate and the movable gear plate are both sleeved on the transmission shaft, and the fixed gear plate and the movable gear plate are engaged with each other in a helical gear, the fixed gear plate and the transmission shaft are circumferentially fixedly connected, the movable gear plate and the transmission shaft are rotatably connected, and the movable gear plate can slide along the axial direction of the transmission shaft;

[0010] The rotary seat is sleeved on the movable gear disc and is circumferentially fixedly connected, and the output disc of the rotary reducer is coaxial with and fixedly connected to the rotary seat to transmit the rotation of the output disc of the rotary reducer to the movable gear disc;

[0011] The control system includes a tool face angle detection and initialization system, the tool face angle detection and initialization system includes a first segment, a second segment, and a third segment connected in sequence, a first signal combination identifier is set in the first segment, a first sensor and a second signal combination identifier are set in the second segment, and a second sensor is set in the third segment, and the first sensor measures an angle φ between the first sensor and the first signal combination identifier, and the second sensor measures an angle ρ between the second sensor and the second signal combination identifier;

[0012] The first signal combination identifier includes a first signal source and a second signal source, and the first signal source and the second signal source are arranged opposite to each other and staggered in the first segment; the second signal combination identifier includes a third signal source and a fourth signal source, and the third signal source and the fourth signal source are arranged opposite to each other and staggered in the second segment.

[0013] Furthermore, the angle adjuster further comprises a driving piston and an adjuster connecting seat, wherein the driving piston is sleeved on the transmission shaft and is located on a side of the fixed gear disc away from the movable gear disc, and an end of the driving piston away from the driving shaft is connected to the movable gear disc;

[0014] The regulator connecting seat is sleeved on the driving piston. The outer circle of the regulator connecting seat is divided into three levels of diameter, and the diameter of the middle section is the largest. The end faces of both sides of the middle section are respectively connected to the transmission and the rotary reducer to achieve relative axial positioning between the transmission, the regulator connecting seat and the rotary reducer. The inner diameter of the regulator connecting seat is divided into three levels of aperture, among which the two sections of aperture away from the transmission match the outer diameter of the driving piston and are sleeved on the driving piston.

[0015] The driving piston is a two-stage stepped shaft, and the outer circle of its small diameter end is provided with a sealing groove, and a sealing ring is installed in the sealing groove, and cooperates with the corresponding position of the regulator connecting seat mounted thereon to form a first seal, and the outer circle of the large diameter end cooperates with the sealing ring installed at the corresponding position of the regulator connecting seat to form a second seal. A sealed cavity between the driving piston and the regulator connecting seat is formed between the first seal and the second seal, and an oil inlet connected to the sealed cavity is provided on the regulator connecting seat. Under the action of hydraulic oil entering the sealed cavity through the oil inlet, the driving piston pushes the movable gear disc in the direction away from the fixed gear disc, so that the movable gear disc can slide along the axial direction of the transmission shaft.

[0016] Furthermore, the angle adjuster also includes an angle adjuster end cover, the other end of the transmission shaft is rotatably connected to the angle adjuster end cover, the movable gear disc is a disc-shaped part with a central through hole, and the central through hole is a stepped through hole, and the stepped through hole is a large-diameter through hole facing the angle adjuster end cover, the movable gear disc is sleeved on the angle adjuster end cover through the large-diameter through hole and slidably connected, the end surface of the movable gear disc facing the driving piston is provided with first helical teeth distributed along the circumference, and the fixed gear disc is provided with second helical teeth meshing with the first helical teeth, and a spring is provided between the inner end surface of the large-diameter through hole and the end surface of the angle adjuster end cover opposite to the inner end surface, so that the first helical teeth and the second helical teeth are meshed under the thrust of the spring;

[0017] The outer circumferential surface of the movable gear disc is provided with evenly distributed bosses, the rotary seat is sleeved on the movable gear disc and is provided with grooves matching the bosses so as to be fixedly connected to the movable gear disc in the circumferential direction, and one end of the rotary seat is provided with a rotary reducer connecting plate fixedly connected to the output plate of the rotary reducer so as to transmit the rotation of the output plate in the rotary reducer to the movable gear disc.

[0018] Furthermore, the power head also includes a water braid, an active drill rod, a hexagonal hole connecting sleeve and a connecting shaft. The water braid includes a core shaft, a water inlet assembly, a bearing seat, a sealing shaft and a core shaft support bearing. The water inlet assembly is sleeved on the core shaft and rotatably connected. The bearing seat is sleeved on the core shaft and rotatably connected through the core shaft support bearings provided at both ends of the bearing seat.

[0019] The core shaft is a hollow shaft, the left end of which is fixedly connected to the connecting shaft, and the inner side of the right end of which is connected to the sealing shaft to seal the right end of the core shaft, and a water inlet hole is provided on the core shaft, and the water inlet hole is connected to the water inlet assembly, and the water inlet assembly includes a water inlet and a shell connected to the water inlet, the inner cavity of the shell is a symmetrical structure, and the symmetry plane is perpendicular to the axis of the core shaft to balance the axial force thereof, the water inlet assembly is sleeved on the core shaft through the shell, and the inner cavity of the shell is connected to the water inlet hole of the core shaft;

[0020] The connecting shaft is a hollow shaft and is arranged inside the main shaft. Its two ends are respectively connected to the core shaft of the water braid and the active drill rod with an axial floating structure, and a hexagonal head is provided at the end of the connecting shaft close to the core shaft. The hexagonal hole connecting sleeve is fixedly connected to the end of the main shaft close to the water braid and is sleeved on the connecting shaft. A hexagonal hole matching the hexagonal head is provided inside the connecting shaft to form a sliding connection between the connecting shaft and the hexagonal hole connecting sleeve to limit rotation, thereby allowing the connecting shaft and the core shaft to float axially.

[0021] Furthermore, the power head also includes a chuck, which is connected to the end of the main shaft away from the water braid and rotates with the main shaft. The axial floating structure of the active drill rod includes a spring and a drill rod end cover. The active drill rod and the chuck are key-connected, and the spring is arranged on the end face of the active drill rod close to the chuck so that the active drill rod can float axially. The drill rod end cover is sleeved on the active drill rod and fixedly connected to the chuck to limit the axial floating distance of the active drill rod.

[0022] Furthermore, the first segment is a bottom hole motor, the second segment is a measuring nipple mounting tube, and the third segment is a drill pipe.

[0023] Furthermore, during the measurement process, the second sensor of the third segment is pointed to the 0° direction, and the initial angle of the tool face angle of the first segment is The upward direction perpendicular to the horizontal plane is taken as the 0° direction of the second sensor.

[0024] Furthermore, the first signal source and the second signal source in the first signal combination identifier are the same type of signal sources, and the signal strengths they transmit are the same; the third signal source and the fourth signal source in the second signal combination identifier are the same type of signal sources, and the signal strengths they transmit are the same.

[0025] Furthermore, the hydraulic system includes a chuck pressure control system, which includes a pressure reducing valve, an electromagnetic reversing valve, a hydraulically controlled reversing valve, a main pump, an auxiliary pump, and a chuck;

[0026] The electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve with port A, port B, port P, and port T; the hydraulically controlled reversing valve has port P, port T, port A, and a hydraulic control port, and the chuck has a control oil port;

[0027] The main pump is connected to the P port of the hydraulically controlled reversing valve; the oil circuit of the auxiliary pump is divided into two branches, one branch is connected to the P port of the hydraulically controlled reversing valve, and the other branch is connected to the P port of the electromagnetic reversing valve through the pressure reducing valve; the oil drain port of the pressure reducing valve is connected to the T port of the electromagnetic reversing valve and drains oil;

[0028] The oil outlet of port A of the electromagnetic reversing valve is divided into two streams, one of which is connected to port P of the hydraulically controlled reversing valve, and the other is connected to the hydraulic control port of the hydraulically controlled reversing valve;

[0029] The B port of the electromagnetic reversing valve is connected to the T port of the hydraulically controlled reversing valve; the A port of the hydraulically controlled reversing valve is connected to the control oil port of the chuck.

[0030] Furthermore, the oil circuit of the main pump flows to the P port of the hydraulically controlled reversing valve through the first one-way valve, the oil circuit of the auxiliary pump is connected to the P port of the hydraulically controlled reversing valve through the second one-way valve, and the A port of the electromagnetic reversing valve is connected to the P port of the hydraulically controlled reversing valve through the third one-way valve.

[0031] Furthermore, the electromagnetic reversing valve has a Y1 position and a Y2 position.

[0032] Furthermore, in the first working condition, the Y1 and Y2 positions lose power, the pressure oil from the main pump reaches the P port of the hydraulically controlled reversing valve and is cut off; the pressure oil from the auxiliary pump flows through the pressure reducing valve and reaches the P port of the electromagnetic reversing valve and is cut off;

[0033] In the second working condition, Y2 is energized, and the pressure oil from the main pump reaches the P port of the hydraulically controlled reversing valve and is cut off. One stream of pressure oil from the auxiliary pump reaches the P port of the hydraulically controlled reversing valve and is cut off, while the other stream flows through the pressure reducing valve, the electromagnetic reversing valve, and the hydraulically controlled valve to the control port of the chuck.

[0034] In the third working condition, Y1 is energized, and the pressure oil from the main pump flows into the control port of the chuck through the hydraulically controlled reversing valve. One stream of pressure oil from the auxiliary pump reaches the control port of the hydraulically controlled reversing valve through the electromagnetic reversing valve to switch the working state of the hydraulically controlled reversing valve, and the other stream flows into the control port of the chuck through the hydraulically controlled reversing valve. The hydraulic oil from the main pump and the auxiliary pump merge.

[0035] Furthermore, the drill rod storage system includes several drill rod boxes arranged in a matrix, and the drill rods in all the drill rod boxes are oriented in the same direction; each drill rod box includes a base, and side panels are provided above the base, and partitions are provided on the side panels, and the distance between adjacent partitions matches the diameter of the drill rod.

[0036] Furthermore, a slide rail is provided on the side of the drill rod box in the same direction as the drill rod inside the box, and a grabbing manipulator is slidably provided on the slide rail. The grabbing manipulator is driven to slide on the slide rail by a translation assembly.

[0037] The translation assembly includes at least two levels of traveling cylinders. The first-level traveling cylinder is fixed on the matrix drill rod storage system, and a hoop plate is provided on its piston rod. The hoop plate slides in the slide rail under the drive of the first-level traveling cylinder, and the next-level traveling cylinder is fixed on the hoop plate; the last-level traveling cylinder is fixed on the hoop plate of the previous-level traveling cylinder, and its piston rod is fixedly connected to the grabbing robot. Sliders for cooperating with the slide rail are provided on both sides of the hoop plate.

[0038] Furthermore, the gripping manipulator comprises:

[0039] A first telescopic cylinder, one end of which is provided with a crossbeam assembly, and drives the crossbeam assembly to move in a direction close to or away from the first telescopic cylinder, and is slidably connected to the slide rail and fixedly connected to the translation assembly;

[0040] a second telescopic cylinder, disposed at an end of the crossbeam assembly away from the first telescopic cylinder, and moving on the crossbeam assembly in a direction approaching or away from the first telescopic cylinder;

[0041] A mechanical claw is provided at an end of the second telescopic cylinder away from the crossbeam assembly and is used for grabbing the drill rod.

[0042] Furthermore, the drill rod box is fixedly provided with a rod placement groove for fixing and temporarily storing the drill rod grabbed by the grabbing robot, the rod placement groove includes a drill rod groove seat fixedly provided on the drill rod box on the side close to the frame, the drill rod groove is provided on the drill rod groove seat, a second clamping oil cylinder is provided on the drill rod groove seat, a sliding plate is connected to the piston rod thereof, a drill rod baffle is fixedly provided on the sliding plate, and the second clamping oil cylinder drives the sliding plate to drive the drill rod baffle to move in the direction toward or away from the drill rod groove; there are two rod placement grooves and they are respectively arranged at both ends of the drill rod box on the side close to the frame, so that a space for temporarily storing the drill rod is formed between the drill rod baffle and the drill rod groove.

[0043] The jack-up plate is connected to the driving mechanism, and the driving mechanism is connected to the driving mechanism by the support frame, and the support frame is connected to the driving mechanism, and the driving mechanism is connected to the driving mechanism by the support frame.

[0044] The pitch arm includes a connecting sleeve, a support body, an axle seat and a rotating cylinder, one end of the rotating cylinder is fixedly connected to the connecting seat in the frame, the connecting sleeve is sleeved on the rotating cylinder and is rotatably connected, one end of the supporting body is fixedly connected to the connecting sleeve, and the other end is connected to the axle seat, and is hinged to the pitch cylinder and the support body, one end of the axle seat is connected to the rotary drive, a rotary shaft is installed in its inner cavity, and one end of the rotary shaft is circumferentially fixedly connected to the output shaft of the rotary drive, the other end of the rotary shaft is connected to the rotating arm, and the rotating arm is connected to the hand claw;

[0045] The hand claw comprises a mobile claw body, a clamping claw, a first clamping oil cylinder, a fixed seat and a mobile oil cylinder, the fixed seat is a concave cavity, the mobile oil cylinder is hinged in the concave cavity, the mobile claw body and the back side of the concave cavity form a mobile pair, and the rotating arm is connected to the hand claw through the side of the concave cavity, the top of the mobile claw body is a fixed claw, and is hinged with the clamping claw to achieve drill rod clamping and fixation, the bottom of the mobile claw body is hinged with the piston rod of the mobile oil cylinder to drive the mobile claw body to move; the mobile claw body has an internal cavity, the first clamping The oil cylinder is hinged in the internal cavity, and the back side of the clamping jaw is hinged to the piston rod of the first clamping oil cylinder to drive the clamping jaw to clamp the drill rod. When the piston rod of the mobile oil cylinder is fully retracted to move the mobile claw body to the highest point, the distance from the rotation center line of the rotating arm to the clamping center line of the mobile claw body is equal to the distance from the rotation center line of the rotating arm to the drilling center line of the frame. When the piston rod of the mobile oil cylinder is fully extended to move the mobile claw body to the lowest point, the clamping center line of the mobile claw body coincides with the placement center line of the drill rod temporarily stored in the rod placement slot.

[0046] Furthermore, it also includes a manipulator positioning system, which includes an isometric sensor, an incremental sensor, an angle identification plate and a pressure rod, the pressure rod is connected to the side of the fixed seat opposite to the rotating arm, the isometric sensor includes a proximity sensor, a pressure plate, a pressure plate seat, an elastic member, a support seat, a sliding rod, a sliding seat, a mounting frame, a sliding cylinder and a sliding cylinder seat, the bottom of the mounting frame is fixedly connected to the frame body in the frame, and the top is connected to and supports the sliding seat, the sliding rod and the sliding seat are matched to form a moving pair, and the sliding cylinder is respectively connected to the mounting frame and the sliding seat. The sliding cylinder seat on the sliding rod is hinged, the bottom of the support seat is fixedly connected to the sliding rod, and a proximity sensor is provided at one end of the support seat close to the hand claw, one end of the pressure plate seat is hinged to the support seat, and a side plate extending downwards is provided on the side close to the proximity sensor, so that the side plate and the proximity sensor are paired to form a signal sensing group, and an elastic member is provided between the pressure plate seat and the support seat, and the pressure plate seat is lifted in a natural state to prevent the side plate of the pressure plate seat from being connected to the proximity sensor, and the pressure plate is a bent plate, the top end of which is used to contact the pressure rod, and the bottom end is fixedly connected to the pressure plate seat;

[0047] The angle identification plate is a circular ring with a partial sector-shaped protrusion, the circular ring has a plate body and a sector-shaped block with a protrusion, the inner hole of the circular ring is movably sleeved on the side of the rotating cylinder facing the frame, the sector-shaped block is provided with a toggle slot, the frame body in the frame is fixedly connected to the side facing the manipulator with a toggle rod, the toggle rod is inserted into the toggle slot, so that when the inclination angle of the frame body changes, the angle identification plate and the frame body change the same angle, the incremental sensor is arranged on the side of the connecting sleeve close to the angle identification plate, and is located on the side of the connecting sleeve close to the isometric sensor, and the incremental sensor and the sector-shaped block are paired to form a signal sensing group;

[0048] When the drilling center lines of the manipulator and the frame are both in a horizontal position, the incremental sensor is in a horizontal position, and the edge line of the sector block close to the incremental sensor is above the horizontal line, the incremental sensor signal is not connected, and the vertical height of the pressure rod can press the pressure plate downward and connect the signal of the proximity sensor.

[0049] A drilling method for an intelligent coal mine directional drilling rig is characterized in that the intelligent coal mine directional drilling rig is provided, wherein the control system controls the driving conditions of the main motor, the rotary reducer, and the bottom hole motor and the meshing state of the fixed gear plate and the movable gear plate, so that the intelligent coal mine directional drilling rig has four working conditions: sliding directional drilling, rotary drilling, combined drilling, and salvaging drill rods. The sliding directional drilling includes the following steps:

[0050] dz0. Initial state: The tool face angle value is reset to zero via the tool face angle detection and initialization system. The chuck is then released via the chuck pressure control system. The front half of the gripper clamps the existing drill rod in the hole, while the rear half releases. The toothed disc slides axially, causing the fixed and movable toothed discs to engage helically, locking the angle adjuster. The pitch cylinder's piston rod II is fully extended, while piston rod I is fully retracted, bringing the main manipulator into a horizontal position. The piston rods of the movable cylinders are fully extended, aligning the gripper's gripping centerline with the rod placement centerline of the rod placement slot. The sliding cylinders of the isometric sensors are fully retracted.

[0051] dz01) First stage drill pipe delivery

[0052] dz01-1) Box selection: The translation assembly drives the grabbing manipulator to translate along the length of the drill rod box to grab drill rods from any drill rod box;

[0053] dz01-2) Row selection: The mechanical claw moves along the beam assembly to switch between rows of drill rods;

[0054] dz01-3) Layer selection: The first and second telescopic cylinders adjust the height of the mechanical claw according to the drill rod storage situation, so that it reaches a height suitable for the drill rod selected by the gripping system;

[0055] dz01-4) Grasping: The mechanical claws clamp the selected drill pipe to be grasped;

[0056] dz01-5) Lifting: The first telescopic cylinder is fully extended and the second telescopic cylinder is fully retracted, so that the mechanical claw is in the highest position;

[0057] dz01-6) Alignment: The translation assembly drives the grabbing manipulator to move along the slide rail to a position aligned with the middle of the line connecting the two rod slots;

[0058] dz01-7) Rod feeding: The mechanical claw moves along the crossbeam assembly to the top of the rod placement slot. The first and second telescopic cylinders move in combination to adjust the height of the mechanical claw and place the drill rod into the rod placement slot.

[0059] dz02) Second stage drill pipe delivery

[0060] dz02-1) Clamping the drill rod: The first clamping cylinder extends, and the clamping claws clamp the drill rod in the rod slot;

[0061] dz02-2) Claw extends: The piston rod of the mobile cylinder retracts, driving the mobile claw to move upward to reach the highest position;

[0062] dz02-31) Ascending: When the drilling inclination angle of the frame body is an upward inclination angle, or when the drilling inclination angle of the frame body is a downward inclination angle and the angle identification plate is rotated by the lever connected to the frame body, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill rod, and stops ascending. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is located in a lateral position where it can be contacted and pressed down by the pressure rod;

[0063] Or dz02-32) Raise: When the drilling inclination angle of the frame body is the downward pressure inclination angle, and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder is extended to position the pressure plate to be contacted and pressed down by the pressure rod;

[0064] dz02-41) Press down: When the previous step is dz02-31), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I is further extended until the pressure rod causes the side plate of the pressure plate seat of the isometric sensor to enter the sensing range of the proximity sensor. The isometric sensor is connected and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected;

[0065] Or dz02-42) press down: when the previous step is dz02-32), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, and the inclination angle of the manipulator decreases. When the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the pressure stops;

[0066] dz02-5) Turning: The rotary drive drives the claw to turn toward the frame body, and the drill rod is conveyed into the space between the power head on the frame body and the rear half of the gripper;

[0067] dz02-6) Claw release: The rear half of the gripper clamps the drill rod, the gripper releases, and the drill rod delivery is completed;

[0068] dz02-7) Flip recovery: The rotary drive drives the gripper to flip away from the frame, and the sliding cylinder of the isometric sensor retracts to retract the pressure plate;

[0069] dz02-8) Tilt angle zeroing: The piston rod II of the pitch cylinder is fully extended, and the piston rod I remains fully retracted, so that the tilt angle of the main manipulator returns to the horizontal position;

[0070] dz02-9) Claw retraction: The piston rod of the mobile cylinder is fully extended, so that the mobile claw body and the clamp return to the lowest position, and the main manipulator returns to its initial state.

[0071] dz03) drilling

[0072] dz03-1) Angle adjuster unlocking: by sliding the gear disc axially, the fixed gear disc and the movable gear disc are separated, thereby putting the angle adjuster into the unlocking state;

[0073] dz03-2) Rear end connection: The chuck pressure control system controls the chuck to be in a low-pressure clamping state, the main motor of the power head rotates forward, driving the active drill rod to rotate, and the power head moves forward driven by the propulsion cylinder in the frame, and the active drill rod is connected to the rear end of the drill rod delivered in step dz02;

[0074] dz03-3) Front-end connection: The rear half of the clamp is released, and the front half of the clamp clamps the last drill rod in the borehole. The active drill rod and the drill rod that was connected in the previous step continue to rotate and advance under the drive of the main motor and thrust cylinder. The front end joint of the drill rod is connected with the last drill rod in the hole, and then the front half of the clamp is released.

[0075] dz03-4) Angle adjuster locking: by axially sliding the movable gear disc, the fixed gear disc and the movable gear disc are in a state of helical meshing, thereby locking the angle adjuster;

[0076] dz03-5) Tool face angle adjustment: After the tool face angle detection and initialization system resets the tool face angle value to zero, a specified tool face angle is selected and the drive shaft is driven to rotate slowly through the rotary reducer. The rotational motion is then transmitted to the transmission through the drive shaft, and then transmitted to the drill pipe through the power head spindle. Finally, the rotational motion is transmitted to the bottom hole motor in the hole through the drill pipe to achieve accurate adjustment of the tool face angle;

[0077] dz03-6) Automatic drilling: The rotary reducer stops driving, and an external medium pump is used to introduce drilling medium into the bottom hole motor through a water braid to drive the bottom hole motor to rotate the drill bit, and the propulsion cylinder drives the power head and all drill rods connected to the active drill rod and the bottom hole motor forward to achieve sliding directional drilling;

[0078] dz03-7) Power head reset: After the current drill rod is fully drilled into the hole, the front half of the clamp clamps the current drill rod, and the back half remains loose. The gear disc is moved by axial sliding to separate the fixed gear disc and the movable gear disc, thereby unlocking the angle adjuster. The main motor rotates in the opposite direction to drive the active drill rod to reverse, disconnecting the connection with the rear end threaded joint of the drill rod, and pushing the cylinder to drive the power head back to the rear end of the frame. The chuck pressure control system controls the chuck to be in a loose state, and continues drilling according to steps dz01) to dz03) until the set trajectory and depth are completed.

[0079] Furthermore, the sliding directional drilling also includes a drill back process, which specifically includes the following steps:

[0080] tz0) Initial state

[0081] The drilling rig has completed the current drilling construction. The power head is located at the front end of the frame, and the active drill rod is connected to the end drill rod. The angle adjuster is in the locked state. The chuck pressure control system controls the chuck to be in the loose state. The front and rear halves of the clamp are both loosened. The first telescopic cylinder is fully extended, and the second telescopic cylinder is fully retracted, so that the mechanical claw is in the highest position and the mechanical claw is loose. There is no drill rod in the rod placement slot. The piston rod II of the main pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the main manipulator is in a horizontal position. The piston rod of the moving cylinder is fully extended, so that the drill rod clamping center line of the hand claw coincides with the drill rod placement center line of the rod placement slot, and the sliding cylinder of the isometric sensor is fully retracted;

[0082] tz01)Drill back

[0083] tz01-1) Sliding rod withdrawal: The chuck's multi-stage pressure control system controls the chuck to a low-pressure clamping state, and the thrust cylinder drives the power head, all drill rods connected to the active drill rod, and the bottom hole motor to retreat until the end drill rod is completely out of the hole;

[0084] tz01-2) Angle adjuster unlocking: by axially sliding the toothed disc, the fixed toothed disc and the movable toothed disc are separated, thereby unlocking the angle adjuster;

[0085] tz01-3) Front-end shackle: The rear half of the gripper clamps the end drill pipe, while the front half clamps the drill pipe immediately preceding the end drill pipe. The front and rear halves rotate relative to each other, pre-loosening the threaded connection between the two drill pipes. The rear half releases the gripper, and the main motor rotates in the opposite direction, driving the active drill pipe in the opposite direction. Simultaneously, the power head retreats under the drive of the thrust cylinder, and the connection between the end drill pipe and the preceding drill pipe is released.

[0086] tz01-4) Rear end shackle: The rear half of the clamp clamps the end drill pipe, the active drill pipe continues to reverse under the drive of the main motor, and retreats under the drive of the thrust cylinder, and the connection between the end drill pipe and the active drill pipe is loosened;

[0087] tz02) Second stage feed rod for drill retraction

[0088] tz02-1) Claw extends: The piston rod of the mobile cylinder retracts, driving the mobile claw to move upward to reach the highest position;

[0089] tz02-21) Ascending: When the drilling inclination angle of the frame body is an upward inclination angle, or when the drilling inclination angle of the frame body is a downward inclination angle and the angle identification plate is rotated by the lever connected to the frame body, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill rod, and stops ascending. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is located in a lateral position where it can be contacted and pressed down by the pressure rod;

[0090] Or tz02-22) Raise: When the drilling inclination angle of the frame body is the downward pressure inclination angle, and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder is extended to position the pressure plate to be contacted and pressed down by the pressure rod;

[0091] tz02-31) Press down: When the previous step is tz02-21), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I is further extended until the pressure rod causes the side plate of the pressure plate seat of the isometric sensor to enter the sensing range of the proximity sensor. The isometric sensor is connected and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected;

[0092] Or tz02-32) press down: when the previous step is tz02-22), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, and the inclination angle of the manipulator decreases. When the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the downward pressure stops;

[0093] tz02-4) Flip: The rotary drive drives the gripper to flip toward the frame body. The gripper that is not holding the drill rod flips into the space between the power head and the rear half of the gripper on the frame body and contacts the end drill rod.

[0094] tz02-5) Clamping the grab bar: The first clamping cylinder extends, the clamping claws clamp the end drill rod, and at the same time, the rear half of the gripper is released;

[0095] tz02-6) Flip recovery: The rotary actuator drives the gripper to flip away from the frame, and the sliding cylinder of the isometric sensor retracts to retract the pressure plate;

[0096] tz02-7) Tilt angle zeroing: The piston rod II of the pitch cylinder is fully extended, and the piston rod I remains fully retracted, so that the tilt angle of the main manipulator returns to the horizontal position;

[0097] tz02-8) Claw retraction: The piston rod of the mobile cylinder is fully extended, so that the mobile claw body and the clamping jaw return to the lowest position, and the end drill rod enters the rod placement groove;

[0098] tz02-9) Gripper release: The gripper is released and the main manipulator returns to its initial state;

[0099] tz03) Drilling back first stage feed rod

[0100] tz03-1) Alignment: The translation assembly drives the gripping manipulator to move along the slide rail to a position aligned with the middle of the line connecting the two rod slots;

[0101] tz03-2) Rod Removal: The mechanical claw moves along the crossbeam assembly to above the rod placement slot. The first and second telescopic cylinders move in combination to adjust the height of the mechanical claw, so that the mechanical claw contacts the drill rod in the rod placement slot, and the gripping center of the mechanical claw coincides with the center of the drill rod, and the mechanical claw clamps the drill rod;

[0102] tz03-3) Lifting: The second telescopic cylinder is fully retracted and the first telescopic cylinder is fully extended to lift the mechanical claw and drill rod to the highest position;

[0103] tz03-4) Box selection: The translation assembly drives the grabbing manipulator to translate along the slide rail and put the drill rods back into any drill rod box;

[0104] tz03-5) Column selection: The mechanical claw moves along the beam assembly to switch between columns and select the column where the drill rods are stored;

[0105] tz03-6) Layer selection: The first and second telescopic cylinders adjust the height of the mechanical claws based on the drill rod storage status determined in real time by the control system, and begin to return the drill rods to the lowest position in the designated column where drill rods can be placed;

[0106] tz03-7) Release the rod: the mechanical claw is released, the first telescopic cylinder is fully extended, and the second telescopic cylinder is fully retracted, so that the manipulator returns to the high position;

[0107] tz04) Reset the power head and clamp: The thrust cylinder drives the power head back to the front end of the frame, the main motor rotates forward, drives the active drill rod to rotate forward, and connects with the current end drill rod. The front half of the clamp is released, and the chuck pressure control system controls the chuck to be in a loose state. Continue to withdraw the drill according to steps tz01) to tz04) until all drill rods are withdrawn from the hole.

[0108] Furthermore, in the rotary drilling condition, the fixed gear disc and the movable gear disc are separated by axial sliding, so that the angle adjuster is always in the unlocked condition. The chuck pressure control system always controls the chuck to be in a low-pressure clamping state, and always drives the drill rod to rotate through the main motor to achieve rotary drilling.

[0109] Furthermore, in the composite drilling working condition, the fixed gear disc and the movable gear disc are separated by axial sliding, so that the angle adjuster is always in the unlocked working condition. The chuck pressure control system always controls the chuck to be in a low-pressure clamping state, and always drives the drill rod to rotate through the main motor. The drilling medium is introduced into the bottom hole motor through the water braid by using an external medium pump to drive the bottom hole motor to drive the drill bit to rotate, so as to achieve composite drilling.

[0110] Furthermore, in the drill rod salvaging working condition, the active drill rod, the connecting shaft and the water braid need to be removed, and the drill rod is directly connected through the chuck. The gear disc is moved by axial sliding so that the fixed gear disc and the movable gear disc are in a separated state, thereby making the angle adjuster always in the unlocked working condition. The chuck pressure control system always controls the chuck to be in a high-pressure clamping state when clamping the drill rod, and drives the drill rod to rotate through the main motor to achieve the salvage of the drill rod.

[0111] Furthermore, the tool face angle detection and initialization system resets the tool face angle value to zero.

[0112] Given the initial tool face angle ω, the following steps are included:

[0113] S1: Calculate the adjustment value δ and make adjustments:

[0114] When ω∈(0°,90°]∪(270°,360°), the initialization zero point is 0°;

[0115] At this time, the adjustment value δ and the adjustment direction are:

[0116] When ω∈(0°,90°], δ=ω, and adjust counterclockwise;

[0117] When ω∈(270°,360°), δ=360°-ω, adjust clockwise;

[0118] When ω∈(90°,270°], the initialization zero point is 180°;

[0119] At this time, the adjustment value δ and the adjustment direction are:

[0120] When ω∈(90°,180°], δ=180°-ω, adjust clockwise;

[0121] When ω∈(180°,270°], δ=ω-180°, and adjust counterclockwise.

[0122] Furthermore, before step S1, step S0 is also included: simplifying the initial tool face angle ω, when ω>360°, taking ω'=ω-360°, when ω<360°, first taking ω'=ω; in step S1, using ω' instead of ω.

[0123] Furthermore, after step S1, step S2 is also included, in which the tool face angle measurement value is reset to zero. When the tool face angle needs to be adjusted to γ, when the initialization zero point is 0°, the adjustment value γ'=γ; when the initialization zero point is 180°, the adjustment value γ'=γ-180°.

[0124] Furthermore, in step S2, a control system is provided, and during operation, only the tool face angle γ to be adjusted is input, and the control system calculates the actual adjustment value γ' according to the initialization zero point.

[0125] The beneficial effects of the present invention are:

[0126] 1. The intelligent directional drilling rig for coal mines improves the structure of the power head, sets an angle adjuster on the side of the transmission away from the main motor, and makes the transmission shaft in the angle adjuster fixedly connected to the drive shaft in the circumferential direction. Then, through the angle adjuster with accurate angle adjustment and anti-rotation locking functions, it can achieve accurate and efficient adjustment of the tool face angle, and prevent the rebound rotation of the power head main shaft caused by the elastic deformation of the drill pipe. This solves the problem of the lack of a dedicated tool face angle adjustment device in the existing drilling rig, low trajectory adjustment accuracy and efficiency, and difficulty in achieving automatic directional drilling.

[0127] At the same time, the driving force required for tool face angle adjustment is greatly reduced, which has a good energy-saving effect. The structure of the main motor's rotary brake device is simplified, and the functions of a large number of internal parts are transferred to an external rotary reducer, which greatly reduces the difficulty of maintenance and reduces the consumption of wearing parts.

[0128] Secondly, by integrating the water braid with the active drill rod through a connecting shaft, manual loading and unloading of the water braid during construction is avoided, and it is more suitable for intelligent drilling rigs; the water inlet component in the water braid adopts a shell symmetrical along the middle plane to connect with the core shaft, so that it is subjected to balanced force in the axial direction of the core shaft, thereby avoiding the unbalanced force on the core shaft support bearing caused by the drilling drive medium entering the core shaft, and the core shaft is connected to the active drill rod with an axial floating structure through the connecting shaft, which effectively avoids the water braid from being subjected to axial impact from the drill rod during drilling. Instead, it is transmitted to the main shaft and chuck through the active drill rod, and buffered by the spring, further protecting the core shaft support bearing from axial impact, thereby improving its service life and reducing the number of equipment maintenance times.

[0129] 2. When the drill rod box in the drill rod storage system is full of drill rods, since it is an integrated structure with the drilling rig, the matrix-type drill rod box layout can significantly increase the capacity of the drill rod box and reduce the labor intensity of workers. The translation assembly adopts a multi-stage oil cylinder drive mode, so that it has a larger moving stroke when the installation space is limited; the rod placement groove is clamped to the middle by the clamping oil cylinders on both sides, which makes it convenient for the control system to record the drill rod grabbing position information, and the matrix-type drill rod arrangement mode makes it convenient for the control system to record the number and position information of the drill rods in the drill rod box in a two-dimensional coordinate manner; secondly, the synchronous movement of the clamping jaws on both sides effectively avoids the position deviation of the drill rod during the clamping process, which can better ensure the accuracy of drill rod delivery, and the connecting rod mechanism is used to achieve synchronous clamping of the clamping jaws on both sides, which has a simple structure and is easy to manufacture.

[0130] 3. On the basis of the drill rod storage system transferring the drill rods in the drill rod box to the rod placement slot, the main manipulator transports the drill rods from the rod placement slot to the frame body, and then cooperates with the power head and the clamp to realize automatic loading and unloading of the drill rods. In addition, the inclination adjustment of the pitch arm in the main manipulator adopts the pitch cylinder drive adjustment parallel to the frame, instead of adopting the servo motor or rotary reducer in the prior art, which saves a lot of installation space in the direction perpendicular to the frame; and the claw lifts the drill rod upward instead of grabbing the drill rod downward in the prior art. After grabbing the drill rod, the manipulator can naturally avoid the frame and the attitude adjustment machine in the process of rotating counterclockwise toward the frame The required movement space of the structure and other components is significantly reduced, and it can be well adapted to narrow spaces, especially to the current highly integrated automatic directional drilling rigs, and has great application prospects; secondly, the drill rod conveying manipulator positioning system is simple and reliable, and only requires two position sensors, the equal angle sensor and the incremental sensor, to cooperate with each other, so as to work within the inclination range designed for the drilling rig and convey the drill rod to the rack of the corresponding drilling angle. The system is simple and reliable, which simplifies the workload during the drill rod conveying process and the maintenance workload of the positioning system during later use, and solves the problem of manual loading and unloading of drill rods in the directional drilling process, which is labor-intensive.

[0131] 4. The tool face angle detection and initialization system in the control system uses two signal sources of the same type at different distances from the sensor to form a directional combined signal. The two pairs of combined signals and sensors convert relative angle values ​​into absolute angle values, completing the measurement of the initial value of the tool face angle of the bottom hole motor, solving the problem of being unable to measure, compensate, or correct the initial value of the tool face angle. The measured tool face angle values ​​are simplified and calculated in sections, and two initialization zero points of 0° and 180° are set within the system, shortening adjustment time and improving efficiency.

[0132] Secondly, the chuck pressure control system forms a low-pressure control oil circuit through a pressure reducing valve, and utilizes the left, middle and right switching modes of the electromagnetic reversing valve, combined with the left and right switching modes of the hydraulic control reversing valve, to finally form three working states of the chuck control pressure, namely the chuck released state, the chuck low-pressure clamping state, and the chuck high-pressure clamping state, which can effectively ensure the stable output of the chuck clamping force and reduce overflow loss. The system can better cooperate with the control system to switch the drilling working conditions, and can keep the oil circuit unobstructed and clean during the high and low pressure switching, thereby improving the service life of related hydraulic components and avoiding long-term high-pressure operation, with good energy-saving effects.

[0133] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0134] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0135] FIG1 is a schematic structural diagram of an intelligent directional drilling rig for coal mines according to the present invention;

[0136] FIG2 is a schematic structural diagram of a rack from a first perspective;

[0137] FIG3 is a schematic structural diagram of the rack from a second perspective;

[0138] FIG4 is a schematic structural diagram of a support column assembly;

[0139] FIG5 is a schematic structural diagram of a power head mounting base from a first perspective;

[0140] FIG6 is a schematic structural diagram of the power head mounting base from a second perspective;

[0141] FIG7 is a schematic structural diagram of an angle lever;

[0142] Figure 8 is a schematic structural diagram of the rack connection base;

[0143] Figure 9 is a schematic structural diagram of the power head;

[0144] Figure 10 is a schematic cross-sectional view of the power head;

[0145] FIG11 is a schematic structural diagram of an angle adjuster;

[0146] Figure 12 is a schematic structural diagram of the driving piston;

[0147] Figure 13 is a schematic structural diagram of a movable toothed disc;

[0148] Figure 14 is a schematic structural diagram of a fixed toothed disc;

[0149] Figure 15 is a schematic structural diagram of the angle adjuster end cover;

[0150] Figure 16 is a schematic structural diagram of a rotary seat;

[0151] FIG17 is a schematic diagram of a partial structure of an angle adjuster;

[0152] Figure 18 is a schematic diagram of the structure of the water braid;

[0153] Figure 19 is a schematic structural diagram of the connecting shaft;

[0154] FIG20 is a schematic diagram of a drill pipe storage system;

[0155] Figure 21 is a schematic structural diagram of the drill pipe box;

[0156] FIG22 is a schematic structural diagram of a translation assembly from a first perspective;

[0157] FIG23 is a schematic diagram of the second perspective structure of the translation assembly;

[0158] Figure 24 is a schematic diagram of the structure of the grasping manipulator;

[0159] FIG25 is an isometric view of the mechanical gripper;

[0160] Figure 26 is a front view of the mechanical claw;

[0161] FIG27 is a schematic diagram of the motion principle of the mechanical claw;

[0162] Figure 28 is a schematic structural diagram of the rod placement slot;

[0163] Figure 29 is a schematic structural diagram of the main manipulator;

[0164] Figure 30 is a schematic diagram of the structure of the pitch cylinder;

[0165] FIG31 is a schematic structural diagram of the pitch arm from a first viewing angle;

[0166] FIG32 is a schematic diagram of the structure of the pitch arm from a second viewing angle;

[0167] Figure 33 is a schematic diagram of the main manipulator and the frame installation position;

[0168] Figure 34 is a schematic diagram of the structure of the gripper;

[0169] FIG35 is a schematic cross-sectional view of the gripper;

[0170] Figure 36 is a schematic structural diagram of a manipulator positioning system;

[0171] FIG37 is a schematic diagram of the first viewing angle structure of an isometric sensor;

[0172] FIG38 is a schematic diagram of the second viewing angle structure of the isometric sensor;

[0173] FIG39 is a schematic structural diagram of an angle identification plate;

[0174] FIG40 is a schematic diagram of a tool face angle detection and initialization system;

[0175] Figure 41 is a schematic diagram of the directions of the signal source and sensor;

[0176] FIG42 is a schematic diagram of a signal source setting method;

[0177] FIG43 is a schematic diagram of the working condition 1 of the chuck pressure control system;

[0178] FIG44 is a schematic diagram of the second working condition of the chuck pressure control system;

[0179] Figure 45 is a three-step working principle diagram of the chuck pressure control system.

[0180] Reference numerals: 1-mobile platform, 2-frame, 201-support column assembly, 20101-column, 20102-pressure cover, 20103-first end cover, 20104-column seat, 20105-rotating shaft, 20106-rotating seat, 202-clamp mounting seat, 203-frame body, 204-propulsion cylinder, 205-power head mounting seat, 20501-seat plate, 20502-side plate, 20503-first slider, 20504-cylinder plate, 206-angle lever, 207-frame connecting seat, 20701-fifth cylinder seat, 20702-base plate, 20703-left swivel seat, 20704-frame connecting seat spindle, 20705-right swivel seat, 20706-second end cover, 208-tilt adjustment cylinder, 209-power head displacement sensor, 3-gripper, 4-main manipulator, 401-first cylinder seat, 402-pitch cylinder, 40201-piston rod I, 40202-piston rod II, 40203-cylinder, 403-swivel drive, 404-pitch arm, 40401-connecting sleeve, 40402-increment Sensor mounting plate, 40403-support body, 40404-third end cover, 40405-shaft seat, 40406-second cylinder seat, 40407-sealing cover, 40408-rotating cylinder, 405-rotating shaft, 406-rotating arm, 407-hand claw, 40701-moving claw body, 40702-clamping claw, 40703-first clamping cylinder, 40704-fixed seat, 40705-moving cylinder, 40706-connecting flange, 408-pressure rod, 5-power head, 501-main motor, 502-transmission, 50201-drive shaft, 503-angle adjuster, 5030 1- transmission shaft, 50302- driving piston, 50302a- sealing groove, 50302b- large diameter end outer circle, 50303- rotary reducer, 50304- transmission piston, 50305- fixed gear plate, 50305a- gear plate, 50305b- fixed shaft, 50306- moving gear plate, 50306a- boss, 50306b- first oblique tooth, 50307- angle adjuster end cover, 50307a- maximum outer diameter section, 50307b- intermediate diameter section, 50307c- minimum diameter section, 50307d- spring mounting hole, 50308- bearing cover, 50 309-spring, 50310-slewing seat, 50310a-slewing reducer connecting plate, 50310b-end cover connecting plate, 50310c-groove, 50311-flat key, 504-water braid, 50401-core shaft support bearing, 50402-core shaft, 50403-water inlet assembly, 50404-bearing seat, 50405-grease nipple, 50406-distance sleeve, 50407-water braid end cover, 50408-cover plate, 50409-sealing shaft, 505-chuck, 506-active drill pipe, 507-connecting shaft, 50701-external thread, 50702-hexagonal head,50703 - Internal thread, 508 - Hexagonal hole connecting sleeve, 509 - Regulator connecting seat, 6 - Control system, 602 - Tool face angle detection and initialization system, 60201 - Bottom hole motor, 60202 - First signal source, 60203 - Measuring short section mounting pipe, 60204 - Second signal source, 60205 - First sensor, 60206 - Third signal source, 60207 - Fourth signal source, 60208 - Second sensor, 60209 - Drill pipe, 7 - Hydraulic system, 701 - Chuck pressure control system, 70101 - Pressure reducing valve, 70102 - electromagnetic reversing valve, 70103-first one-way valve, 70104-second one-way valve, 70105-third one-way valve, 70106-hydraulic reversing valve, 70107-oil tank, 8-drill pipe storage system, 801-drill pipe box, 80101-movable baffle, 80102-base, 80103-slide rail, 80104-side support, 802-translation assembly, 80201-second slider, 80202-hoop plate, 80203-second travel cylinder, 80204-cylinder mounting seat, 80205-first travel cylinder, 803-grabbing manipulator, 80 301-mechanical claw, 80301a-connector, 80301b-third clamping cylinder, 80301c-second clamping claw, 80301d-first clamping claw, 80301e-clamping claw fixing pin, 80301f-first pin, 80301h-second pin, 80301i-transmission rod, 80301j-transmission rod pin, 80302-second telescopic cylinder, 80303-crossbeam assembly, 80304-first telescopic cylinder, 804-rod slot, 80401-sliding plate, 80402-second clamping cylinder, 80403-drill rod slot seat, 80 404-drill rod slot, 80405-drill rod baffle, 9-manipulator positioning system, 901-isometric sensor, 90101-proximity sensor, 90102-pressure plate, 90103-pressure plate seat, 90104-spring assembly, 90105-support seat, 90106-sliding rod, 90107-sliding seat, 90108-mounting frame, 90109-sliding cylinder, 90110-sliding cylinder seat, 902-angle identification plate, 90201-plate body, 90202-toggle slot, 90203-sector block, 903-incremental sensor, Y-seal chamber. DETAILED DESCRIPTION

[0181] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The following embodiments and the features in the embodiments can be combined with each other without conflict.

[0182] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0183] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0184] Referring to Figures 1 to 45 , an intelligent directional drilling rig for coal mines is shown, comprising a mobile platform 1, a frame 2, a gripper 3, a main manipulator 4, a power head 5, a control system 6, a hydraulic system 7, a drill rod storage system 8, and a manipulator positioning system 9. The mobile platform 1 serves as a carrier and mobile platform for the upper components of the directional drilling rig. The frame 2, drill rod storage system 8, control system 6, hydraulic system 7, and main manipulator 4 are all mounted on the mobile platform 1. Furthermore, the mobile platform 1 can travel underground, enabling transfer and relocation. The mobile platform 1 can be a variety of travel devices, such as a crawler vehicle, a rubber-wheeled vehicle, or a rail vehicle, and can be driven by hydraulic, electric, or fuel. Based on the operating conditions and explosion-proof requirements of the underground drilling site, this application prefers a hydraulically driven crawler vehicle as the mobile platform 1. The frame 2 and drill rod storage system 8 are respectively arranged on either side of the mobile platform 1, the main manipulator 4 is arranged between the frame 2 and the drill rod storage system 8, and the control system 6 and hydraulic system 7 are arranged at the rear end of the mobile platform 1.

[0185] Referring specifically to Figures 2 through 8 , the frame 2 supports the drilling and drill rod handling actuators, including the power head 5, gripper 3, and main manipulator 4, as well as the drilling feed drive. The frame 2 includes a support column assembly 201, a gripper mounting base 202, a frame body 203, a propulsion cylinder 204, a power head mounting base 205, an angle lever 206, a frame connector 207, a tilt adjustment cylinder 208, and a power head displacement sensor 209.

[0186] The frame connecting seat 207 is used to connect the frame body 203 with the mobile platform 1, which includes a fifth cylinder seat 20701, a base plate 20702, a left swivel seat 20703, a frame connecting seat core shaft 20704, a right swivel seat 20705 and a second end cover 20706. The base plate 20702 is the main body of the frame connecting seat 207, and the front end thereof is provided with two first and fifth cylinder seats 20701 and symmetrical about the axis of the frame connecting seat 207, which are used for hinged installation of the tilting cylinder 208, and the rear end is respectively provided with The left and right swivel seats 20703 and 20705 are connected by the frame connection seat spindle 20704, which passes through the left and right swivel seats 20703 and 20705 and is rotatably connected. An ear seat corresponding to the frame connection seat spindle 20704 is provided below the frame body and is hingedly connected to achieve the hinged connection between the frame connection seat 207 and the frame body 203. The outer end surfaces of the left and right swivel seats are each provided with an end cap mounting flange for mounting a second end cap 20706, which axially limits the frame connection seat spindle 20704. In addition, the right swivel seat 20705 (i.e., the swivel seat on the side of the frame connection seat 207 near the main manipulator 4) is also provided with a mounting flange for mounting the rotating cylinder 40408 of the main manipulator 4.

[0187] The tilt adjustment cylinder 208 is a common hydraulic cylinder, the cylinder barrel of which is hingedly connected to the fifth cylinder seat 20701 via a pin, and the piston rod of which is hingedly connected to the ear seat corresponding to the lower portion of the frame body 203 via a pin. When the inclination angle of the frame body 203 is 0°, the piston rod of the tilt adjustment cylinder 208 only extends to a certain length and does not fully retract or extend. The specific extension length can be adaptively adjusted according to the different specifications of directional drilling rigs. When the piston rod of the tilt adjustment cylinder 208 is further extended, the frame body 203 rises and the inclination angle increases; when the piston rod of the tilt adjustment cylinder 208 is retracted, the frame body 203 is pressed down and the inclination angle decreases.

[0188] The frame body 203 is the main structural body and main load-bearing member of the frame 2, and has a hollow cavity in the middle. By setting various mounting interfaces, flanges, etc., other parts of the frame 2 and drilling rig components are mounted thereon. The outer side of the frame body 203 is provided with a slide rail symmetrical about the axis of the frame body 203. The slide rail is paired with the first slider 20503 in the power head mounting seat 205 to form a moving pair. Under the drive of the propulsion cylinder 204, the power head mounting seat 205 is moved back and forth along the axis of the frame body 203. The front end and bottom of the frame body 203 are respectively provided with ear seats hinged to the rotating shaft 20105, the tilting cylinder 208, and the frame connecting seat core shaft 20704;

[0189] The left and right sides of the cylinder barrel of the propulsion cylinder 204 are hinged to the inner side of the cavity of the frame body 203 through a pin to achieve a certain angle of pitch and swing of the propulsion cylinder 204, thereby reducing the processing accuracy requirements of the frame body 203 and other parts. The piston rod of the propulsion cylinder 204 is fixedly connected to the power head mounting seat 205;

[0190] The power head mounting base 205 includes a seat plate 20501 , a side plate 20502 , a first sliding block 20503 and a cylinder plate 20504 . The base plate 20501 is a mounting plate for the power head 5. It is provided with mounting holes corresponding to the bottom plate of the transmission 502 in the power head 5 and is bolted to the base plate. The side plates 20502 and the cylinder plate 20504 are combined and located within the cavity of the frame body 203, forming a mounting bracket for the piston rod of the propulsion cylinder 204. The top of the mounting bracket is fixedly connected to the bottom of the base plate 20501, preferably by welding. The cylinder plate 20504 is provided with a connection hole for connecting to the piston rod of the propulsion cylinder 204. The first slider is fixedly connected to the base plate 20501 by bolts and is located outside the frame body 203. It mates with the slide rail of the frame body 203 to form a moving pair, allowing the power head mounting base 205 to be slidably connected to the frame body 203. The base power head displacement sensor 209 is mounted on one side of the frame body 203 to detect the displacement of the power head mounting base 205.

[0191] The support column assembly 201 is used to support the front end of the frame body 203, especially as a guide and support member when the frame body 203 adjusts its inclination angle. It includes a column 20101, a pressure cover 20102, a column seat 20104, a rotating shaft 20105 and a rotating seat 20106. The column 20101 is symmetrically arranged at the front end of the frame body 203. The bottom of the column 20101 is connected to the mobile platform 1 through the column seat 20104, and the column The column base 20104 is fixedly connected to the mobile platform 1 and is hinged to the column 20101 via a pin. The middle portion of the column 20101, near the frame body 203, is press-fitted into a semicircular groove inside the rotating base 20106 by a pressure cover 20102. The rotating base 20106 is hinged to the hinge seat at the front end of the frame body 203 via two symmetrical rotating shafts 20105. The outer side of the rotating shaft 20105 is axially limited by the first end cover 20103.

[0192] The bottom of the clamp mounting base 202 is fixedly connected to the upper surface of the front end of the frame body 203, preferably by welding, and a clamp mounting hole is provided above the clamp mounting base 202, and the clamp 3 is fixed thereon by bolts;

[0193] The side of the angle shift lever 206 closest to the frame body 203 is a mounting plate, which is connected to the frame body 203 via bolts. The side of the angle shift lever 206 away from the frame body 203 is a cylindrical rod, the front end of which is inserted into the toggle slot 90202 on the angle identification plate 902. When the inclination angle of the frame body 203 changes, the angle shift lever 206 toggles the angle identification plate 902 through the toggle slot 90202, so that the angle of the angle identification plate 902 always changes with the frame body 203.

[0194] The clamp 3 is mainly responsible for clamping the drill rod, keeping the drill rod in position in the drilled hole, and cooperating with the power head 5 to realize the threaded connection and disassembly of the drill rod. The clamp 3 can be in various forms, such as a cylinder clamp, a pliers type, a chuck type, etc. Preferably, the clamp 3 of the present application is a cylinder clamp type double clamp, the front half of which is used to clamp the drill rod in the hole, and the back half cooperates with the power head 5 and the main manipulator 4 to connect and disconnect the drill rod. In addition, the front and back halves of the clamp 3 can be rotated relative to each other by a certain angle to pre-loosen the drill rod thread. The clamp 3 is connected to the frame body 203 by bolts in conjunction with the clamp mounting base 202.

[0195] The key to this application is that the coal mine intelligent directional drilling rig includes a power head 5, a drill rod storage system 8, a main manipulator 4 and a manipulator positioning system 9;

[0196] Refer specifically to Figures 9 to 17, in which the power head includes a main motor 501, a transmission 502, an angle adjuster 503, a water braid 504, a chuck 505, a main shaft, a connecting shaft 507, a hexagonal hole connecting sleeve 508 and an active drill rod 506. The main motor 501 is connected to the main shaft through the transmission 502, and the active drill rod is connected to one end of the main shaft through the chuck 505. The water braid 504 is arranged at the end of the transmission 502 corresponding to the active drill rod, and is connected to the active drill rod through the connecting shaft 507 built into the main shaft. The angle adjuster 503 is arranged at the end of the transmission 502 corresponding to the main motor 501, and the transmission shaft 50301 in the angle adjuster 503 is fixedly connected circumferentially with the drive shaft 50201 in the transmission 502.

[0197] The main motor 501 is one of the power sources for rotating the active drill rod. The rotational power required for rotary drilling, combined drilling, and connecting and breaking out the drill rod comes from the main motor 501. The main motor 501 can be any of a variety of rotary power drive devices, such as a hydraulic motor or an electric motor. Due to the complex working conditions and explosion-proof requirements of coal mines, the main motor 501 in this embodiment is preferably a hydraulic motor.

[0198] The transmission 502 is the speed-changing transmission mechanism of the directional drilling rig's power head. It primarily transmits the speed and torque output by the main motor 501 and the angle adjuster 503 to the main shaft (i.e., the drill pipe) at a specific transmission ratio, thereby meeting the requirements of drilling and drill pipe connection and breakout. Based on existing hydraulic motor technology and drilling requirements, the transmission 502 is generally selected to have both speed reduction and torque-increasing transmission functions. The transmission 502 includes a drive shaft 50201, one end of which is spline-connected to the output shaft of the main motor 501 for circumferential fixation, and the other end is spline-connected to the transmission shaft 50301 in the angle adjuster 503 for circumferential fixation. This transmission transmits the speed and torque output by the main motor 501 and the angle adjuster 503 to the main shaft and the active drill pipe 506 at a specific transmission ratio, thereby meeting the requirements of directional drilling and drill pipe connection and breakout.

[0199] The angle adjuster 503 includes a transmission shaft 50301, a slewing seat 50310, an adjuster connecting seat 509, a bearing pressure cover 50308, a spring 50309, a driving piston 50302, a transmission piston 50304, a fixed gear plate 50305, a movable gear plate 50306 and an angle adjuster end cover 50307 which are sequentially sleeved on the transmission shaft 50301 from left to right, and a slewing reducer 50303 with a self-locking function, and the transmission ratio of the slewing reducer 50303 is greater than the transmission ratio of the transmission 502; the left end of the transmission shaft 50301 is a spline, which is inserted into the drive shaft 50201 of the transmission 502, and the drive shaft 50201 is provided with a keyway that matches the spline on the transmission shaft 50301, so that the transmission shaft 50301 and The drive shaft 50201 forms a spline connection, thereby forming a circumferential fixed connection; the right end of the transmission shaft 50301 is connected to the fixed gear disc 50305 sleeved on the transmission shaft 50301 through a flat key 50311 to form a circumferential fixed connection, and is rotatably connected to the angle adjuster end cover 50307 through a bearing, and the angle adjuster end cover 50307 is located on the side of the fixed gear disc 50305 away from the drive shaft 50201, that is, on the right side of the fixed gear disc 50305, and a distance sleeve is provided on both sides of the bearing, and a bearing pressure cover 50308 is provided on the side of the angle adjuster end cover 50307 away from the fixed gear disc 50305, which is fixed to the angle adjuster end cover 50307 by bolts to position the bearing.

[0200] The driving piston 50302 is a hollow two-stage stepped shaft, which is sleeved on the transmission shaft 50301, and the outer circle of the small diameter end is provided with a sealing groove 50302a, in which a sealing ring is installed, and cooperates with the inner hole at the corresponding position of the regulator connecting seat 509 sleeved on the driving piston 50302 to form a first seal, and the outer circle 50302b of the large diameter end cooperates with the sealing ring installed in the sealing ring installation groove at the corresponding position on the regulator connecting seat 509 to form a second seal; the first seal and the second seal form a sealed chamber Y between the driving piston 50302 and the regulator connecting seat 509, and the regulator connecting seat 509 is provided with an oil inlet connected to the sealed chamber Y. The hydraulic oil enters the sealed chamber Y through the oil inlet on the regulator connecting seat 509, pushing the driving piston 50302 to move from the small diameter end to the large diameter end, and the small diameter end of the driving piston 50302 is the end close to the driving shaft 50201;

[0201] Preferably, the driving piston 50302 is provided with a two-step inner hole, and the side facing the angle adjuster end cover 50307 is a large-diameter inner hole, and the transmission shaft 50301 is provided with a corresponding shoulder matching the two-step inner holes, thereby limiting the displacement distance of the driving piston 50302 in the axial direction to prevent the driving piston 50302 from moving beyond the limit.

[0202] The transmission piston 50304 is a disc-shaped part with a central through hole, which is sleeved on the transmission shaft 50301, and the left end is in contact and connected with the large diameter end of the driving piston 50302, and the right end is in contact and connected with the movable gear disc 50306. Its main function is to transmit the driving force of the driving piston 50302 (the driving force for displacement to the right end) to the movable gear disc 50306, so that the movable gear disc 50306 moves toward the angle adjuster end cover 50307.

[0203] The main body of the movable gear disc 50306 is a disc-shaped part with a central through hole, and a stepped through hole in the middle for passing the transmission shaft 50301 and the fixed shaft 50305b of the fixed gear disc 50305, and the through hole facing the angle adjuster end cover 50307 is a large-diameter through hole, the inner end surface of the large-diameter through hole is used to withstand the end thrust of the spring 50309, and the end surface of the movable gear disc 50306 facing the transmission piston 50304 is provided with first bevel teeth 50306b distributed along the circumference, and the outer circumferential surface is provided with evenly distributed bosses 50306a, which cooperate with the grooves 50310c in the inner hole of the rotary seat 50310 sleeved thereon, so as to transmit the rotation and torque of the rotary reducer 50303 connected to the rotary seat 50310;

[0204] The fixed gear disc 50305 comprises a gear disc 50305a and a fixed shaft 50305b located at the center of the gear disc 50305a. The fixed shaft 50305b is a hollow shaft with a keyway provided in its internal through-hole, enabling a keyed connection between the fixed gear disc 50305 and the transmission shaft 50301, thereby securing the fixed gear disc 50305 and the transmission shaft 50301 in the circumferential direction and restricting rotation between the fixed gear disc 50305 and the transmission shaft 50301. The fixed shaft 50305b is inserted into the central through-hole of the movable gear disc 50306. The end surface of the gear disc 50305a facing the movable gear disc 50306 is provided with circumferentially distributed second helical teeth that mesh with the first helical teeth 50306b of the movable gear disc 50306. Specifically, the fixed gear disc 50305 is secured to the transmission shaft 50301 via a flat key 50311, preventing relative rotation between the fixed gear disc 50305 and the transmission shaft 50301. The two ends of the fixed gear disc 50305 are axially stopped by means of the shaft shoulder of the transmission shaft 50301 and the distance sleeve 50406.

[0205] The main body of the angle adjuster end cover 50307 is a three-stage stepped hollow disc structure, which is mounted on the transmission shaft 50301 through a bearing sleeve, and the maximum outer diameter section 50307a is respectively provided with a flange connected to the rotary seat 50310 mounted on the movable toothed disc 50306, and a flange connected to the bearing pressure cover 50308. The intermediate diameter section 50307b is used to cooperate with the rotary seat 50310 and limit the axial movement distance of the movable toothed disc 50306. The minimum diameter section 50307c is used to cooperate with the movable toothed disc 50306, that is, the large diameter through hole in the movable toothed disc 50306 matches the outer circle of the minimum diameter section 50307c. The angle adjuster and the movable gear disc 50306 are matched and form an axial sliding connection, and the end face of the minimum diameter section 50307c is provided with a plurality of spring mounting holes 50307d evenly distributed along the circumference for mounting the spring 50309, wherein the minimum diameter section 50307c is the end of the angle adjuster end cover 50307 close to the drive shaft 50201, and the bearing pressure cover 50308 is fixed to the outside of the angle adjuster end cover 50307 by bolts to limit the bearing axially; the spring 50309 is installed between the angle adjuster end cover 50307 and the movable gear disc 50306 through the spring mounting hole 50307d to provide a thrust to the movable gear disc 50306 toward the fixed gear disc 50305.

[0206] The main body of the rotary seat 50310 is cylindrical and is sleeved on the outside of the movable gear plate 50306. The left end of the rotary seat 50310 is a rotary reducer connecting plate 50310a for connecting the output plate of the rotary reducer 50303 with a self-locking function. The right end is an end cover connecting plate 50310b for installing the angle adjuster end cover 50307. The middle diameter section 50307b in the angle adjuster end cover 50307 is aligned with the inner cavity of the rotary seat 50310. A mating connection is provided to leave space for installing the movable gear disc 50306; the interior of the rotating seat 50310 is a through hole, and is provided with a groove 50310c corresponding to the boss 50306a of the movable gear disc 50306, and a circumferential fixed connection is formed between the rotating seat 50310 and the movable gear disc 50306 through the boss 50306a and the groove 50310c, and the movable gear disc 50306 can be axially displaced relative to the rotating seat 50310.

[0207] The regulator connecting seat 509 is used to connect the angle regulator 503 with the transmission 502. The transmission 502 is sleeved on the drive shaft 50201 and is mainly used to transmit the torque and rotation of the drive shaft 50201 to the main shaft. The regulator connecting seat 509 is a hollow cylinder, and its outer circle is divided into three levels of diameter. Among them, the diameter of the middle section is the largest to form a middle bulge. The end faces on both sides of the middle section are respectively attached to and fixedly connected with the transmission 502 and the rotary reducer 50303 to achieve relative axial positioning between the three components. The left section (close to the end of the drive shaft 50201) is inserted into the cavity of the transmission 502 and connected to the bearing sleeved on the drive shaft 50201, and serves as an axial stop for the bearing sleeved on the drive shaft 50201. A sealing groove is provided on it, and the cavity of the transmission 502 is sealed by installing a sealing ring; the right section extends into the interior of the rotary reducer 50303 to facilitate the installation guide of the rotary reducer 50303.

[0208] The inner diameter of the regulator connecting seat 509 is also divided into three levels of aperture, among which the inner diameter of the left inner section matches the transmission shaft 50301 and is provided with a sealing groove, and the transmission 502 is sealed for the second time by installing a sealing ring; the middle inner section and the right inner section respectively match the outer diameters of the two-stage stepped shaft of the driving piston 50302, and a sealing ring installation groove is provided on the right inner section, and a sealing ring is installed, that is, the middle inner section and the right inner section respectively match the outer circle of the small diameter end and the outer circle of the large diameter end 50302b of the driving piston 50302, forming a first seal and a second seal respectively, thereby forming a sealed chamber Y, among which the sealing groove 50302a with a sealing ring installed corresponding to the middle inner section is provided on the driving piston 50302, forming a first seal. Seal, a sealing groove is provided on the right inner section and a sealing ring is installed to match the outer circle 50302b of the large diameter end to form a second seal. A sealing chamber Y is formed between the regulator connecting seat 509 and the driving piston 50302 through the first seal and the second seal, and an oil inlet is provided on the outer surface of the regulator connecting seat 509 at a position corresponding to the sealing chamber Y. The hydraulic oil enters the sealing chamber Y through the oil inlet on the regulator connecting seat 509, pushing the driving piston 50302 to move from the right end, and then pushing the transmission piston 50304 and the moving gear disc 50306, and further compressing the spring 50309 through the moving gear disc 50306, thereby releasing the helical tooth engagement between the moving gear disc 50306 and the fixed gear disc 50305.

[0209] The rotary reducer 50303 is mounted on the right section of the regulator connection base 509 and fixedly connected to the middle section of the regulator connection base 509. The output disk (such as a geared disk or worm gear) of the rotary reducer 50303 is fixedly connected to the rotary base 50310 via bolts, thereby limiting the relative rotation between the output disk and the rotary base 50310. The rotary reducer 50303 has two main functions: first, it drives the drive shaft 50201 to rotate at a relatively slow speed (compared to the drive by the main motor 501) through the transmission 50301, and transmits this rotation through the transmission 502, thereby accurately controlling the output rotation angle. Second, because the rotary reducer 50303 has a self-locking function and its self-locking torque is greater than the output torque of the main motor 501, in the locked state, it can prevent the main motor 501 from driving the drive shaft 50201 to rotate, thereby locking and preventing the entire transmission 502 from rotating.

[0210] Preferably, the rotary reducer 50303 is a worm gear rotary reducer with a self-locking function. Specifically, the rotary reducer connecting plate 50310a is connected to the worm wheel, which serves as the output plate of the worm gear rotary reducer. The worm wheel is mounted on the drive shaft 50301 via the adjuster connecting seat 509 and the drive piston 50302 to ensure synchronous rotation of the worm wheel and the rotary seat 50310. Existing worm gear rotary reducers have a transmission ratio of 1:100 or higher. However, the minimum speed of the spindle driven by the main motor 501 (the spindle driven via the transmission 502) in the prior art is approximately 50 rpm (300° / s). Therefore, the angle adjuster 503, through the worm gear rotary reducer, can control the spindle output speed to within 1 / 100 of the prior art (≤3° / s), greatly facilitating accurate adjustment and timely stopping, significantly improving the accuracy and efficiency of tool face angle adjustment.

[0211] Specifically, the worm-gear rotary reducer includes a drive source, a worm, a worm wheel, and a slewing bearing. The slewing bearing is sleeved on the regulator connecting seat 509 and fixedly connected. The worm wheel is rotatably connected to the outer circle of the slewing bearing via a roller and is cooperatively connected with the worm, thereby achieving the purpose of achieving the coaxiality of the output disk (i.e., the worm wheel) of the rotary reducer and the slewing seat 50310. The drive source is connected to one end of the worm to drive the worm to rotate. Since the worm-gear transmission has the characteristic of reverse self-locking, reverse self-locking can be achieved, that is, only the worm can drive the worm wheel, and the worm wheel cannot drive the worm to move, thereby providing a self-locking function. The drive source is an electric motor or a hydraulic motor. In this embodiment, a hydraulic motor is preferably used to adapt to complex coal mining operations.

[0212] In another embodiment, the rotary reducer 50303 is any one of the rotary reducers such as RV reducer, harmonic reducer, etc., and the structure serving as the output disk (or called rotary disk) in the aforementioned rotary reducer is also fixedly connected to the rotary seat 50310.

[0213] The angle adjuster 503 has two working conditions, and its working principle is as follows:

[0214] Locking working condition: No pressure oil enters the sealed chamber Y formed by the driving piston 50302 and the regulator connecting seat 509 from the oil inlet of the regulator connecting seat 509, the driving piston 50302 is not driven by the external pressure oil, and the spring 50309 always applies an axial force to the movable gear disc 50306 toward the fixed gear disc 50305, keeping the helical teeth of the movable gear disc 50306 meshing with the helical teeth of the fixed gear disc 50305; at this time, the main motor 501 and the driving shaft 50201 are connected to the rotary reducer 50303 through the transmission shaft 50301, the fixed gear disc 50305, the movable gear disc 50306, and the rotary seat 50310, and the rotary reducer 50303 is locked. 0303 has a self-locking function within its working capacity (that is, the self-locking torque of the rotary reducer 50303 is greater than the output torque of the main motor 501), thereby forming a locking effect on the transmission system of the transmission 502, and the main motor 501 cannot transmit motion through the transmission 502; however, if the rotary reducer 50303 is driven at this time, the rotary reducer 50303 can drive the drive shaft 50201 to rotate at a relatively slow speed (compared with the drive of the main motor 501), and transmit the rotation and torque through the transmission 502, thereby accurately controlling the rotation angle of the main shaft and the active drill rod 506, thereby accurately and efficiently adjusting the tool face angle.

[0215] Unlocking condition: Pressurized oil is injected into the sealed chamber Y between the drive piston 50302 and the regulator connector 509 through the oil inlet of the regulator connector 509. The hydraulic pressure drives the drive piston 50302, pushing the transmission piston 50304 and the movable gear plate 50306 in a direction away from the fixed gear plate 50305. At this time, the spring 50309 is squeezed by the movable gear plate 50306 and contracts, disengaging the helical teeth of the movable gear plate 50306 from the fixed gear plate 50305. The self-locking effect of the rotary reducer 50303 cannot be transmitted to the transmission shaft 50301, the drive shaft 50201, and the main motor 501. Therefore, the main motor 501 can drive the drive shaft 50201 to rotate, thereby outputting rotation and torque through the transmission 502.

[0216] Refer specifically to Figures 18 and 19. The water braid 504 is a water inlet device for drilling drive water. The driving water enters the main shaft of the power head through the water braid 504, and then reaches the drill bit position through several connected drill rods. The main feature of the water braid 504 is axial force balance. It includes a core shaft 50402, a water inlet assembly 50403, a bearing seat 50404, a sealing shaft 50409 and a core shaft support bearing 50401. The water inlet assembly 50403 is sleeved on the core shaft 50402 and rotatably connected. The bearing seat 50404 is sleeved on the core shaft 50402 and rotatably connected through the core shaft support bearings 50401 built into both ends of the bearing seat 50404. The sealing shaft 50409 is threadedly connected to the right end of the core shaft 50402 to seal the right end of the core shaft 50402.

[0217] The core shaft 50402 is a hollow shaft, and its left end is fixedly connected to the connecting shaft 507 by a thread. The thread on the core shaft 50402 is an external thread 50701, and the thread on the connecting shaft 507 is an internal thread 50703. A water inlet hole is provided in the middle of the core shaft 50402, and the water inlet hole is connected to the water inlet assembly 50403. The right end is provided with a mounting thread for mounting the sealing shaft 50409.

[0218] The water inlet assembly 50403 includes a water inlet and a shell connected to the water inlet. The water inlet is used to connect to a water pipe joint. The shell is sleeved on the core shaft 50402 and rotatably connected. The inner cavity of the shell is connected to the water inlet hole of the core shaft 50402, and the shell cooperates with the bearing seat 50404, that is, one side of the shell is connected to one side of the bearing seat 50404, forming a core shaft mounting structure. At the same time, the inner cavity of the shell is a symmetrical structure, and the symmetry plane is perpendicular to the axis of the core shaft 50402 to balance the axial force, thereby achieving axial force balance of the water braid 504. Because the inner cavity of the shell in the water inlet assembly 50403 is completely symmetrical about the middle plane, the force exerted by the driving water on the water inlet assembly 50403 is balanced in the direction of the core shaft axis, thereby improving the force on the core shaft support bearing 50401 and extending its service life.

[0219] Preferably, a sealing ring is provided between the shell and the core shaft 50402 to form a sealing structure.

[0220] Specifically, a cover plate 50408 is screwed onto the right end of the core shaft 50402 to axially secure the sealing shaft 50409. A water braid end cap 50407 is screwed onto the right end of the bearing seat 50404 to axially secure the core shaft support bearing 50401. A grease nipple 50405 is provided on the bearing seat 50404, connecting to the inner cavity of the bearing seat 50404. A sealing ring is also provided at the connection between the sealing shaft 50409 and the core shaft 50402 to prevent water leakage.

[0221] The connecting shaft 507 is a hollow shaft and is internally arranged in the main shaft. Its two ends are respectively connected to the core shaft 50402 of the water braid 504 and the active drill rod 506, so as to transmit the axial impact received by the water braid 504 to the active drill rod 506 with an axial floating structure, so as to improve the stress condition of the water braid 504. An external thread 50701 is provided at the left end of the connecting shaft 507 for connecting with the threaded hole at the right end of the active drill rod 506, and an internal thread 50703 is provided at the right end of the connecting shaft 507 for connecting with the external thread 50701 of the core shaft 50402; a hexagonal head 50702 is provided on the outer side of the right end of the connecting shaft 507, and the hexagonal hole connecting sleeve 508 is fixedly connected to the end of the main shaft of the power head near the water braid 504 through a threaded connection. The inner hole of the hexagonal hole connecting sleeve 508 is a hexagonal hole that matches the hexagonal head 50702. The hexagonal head 50702 at the right end is inserted into the hexagonal hole of the hexagonal hole connecting sleeve 508, thereby forming a moving pair between the hexagonal hole connecting sleeve 508 and the connecting shaft 507, thereby limiting the rotation of the connecting shaft 507. The moving pair formed between the hexagonal hole connecting sleeve 508 and the connecting shaft 507 cooperates with the axial floating structure that limits the displacement of the active drill rod 506, so that the core shaft 50402, the connecting shaft 507, and the active drill rod 506 as a whole also have an axial floating structure that limits the displacement, thereby giving the connecting shaft 507 and the core shaft 50402 in the water braid 504 also an axial floating function.

[0222] Among them, the axial floating structure of the active drill rod 506 includes a spring and a drill rod end cover. The active drill rod 506 can be connected to the chuck 505 by transmitting torque through a spline, a flat key, etc., and a mounting hole is provided on the right end face of the active drill rod 506. A spring is installed between the active drill rod 506 and the chuck 505 through the mounting hole, so that the active drill rod 506 has an axial floating function for buffering axial impact, and then the drill rod end cover fixedly connected to the chuck 505 is used for axial limitation, so that the active drill rod 506 has an axial floating function for limiting displacement.

[0223] Specifically, assuming that the maximum distance between the right end face of the active drill rod 506 and the corresponding left end face of the chuck 505 is a, and the pitch of the thread of the active drill rod 506 and the drill rod joint connected thereto is p, then a≤p. This is because the axial impact of the threaded joint must occur within the displacement of one pitch (of course, it is very likely that the impact will occur at each pitch). If one thread (one pitch) cannot be connected, the subsequent threads will certainly not be able to connect. However, the floating distance should not be too small. If it is too small, the floating buffering effect will not be exerted due to insufficient floating distance. Therefore, based on the basic symmetry of the two sides of the thread, the minimum value of a is selected to be slightly larger than 0.5p. Preferably, a∈[0.65p,0.95p], and 0.65p is most preferred.

[0224] The hexagonal head 50702 and the intermediate cylindrical section of the connecting shaft 507 naturally form multiple, evenly distributed axial stop faces. These stop faces, in conjunction with the left end face of the hexagonal connecting sleeve 508, limit rightward axial displacement of the connecting shaft 507. Assuming the distance b from the stop face to the left end face of the hexagonal connecting sleeve 508 when the active drill rod 506 and the connecting shaft 507 are at the forwardmost position under floating conditions, then b should be greater than a. This distance ensures that the floating function of the active drill rod 506 is fully utilized, preventing axial rightward impacts from being directly transmitted from the connecting shaft 507 to the core shaft support bearing 50401. In addition, the distance b is appropriately larger (i.e. not too larger) than the distance a between the active drill rod 506 and the end face of the chuck 505, preferably b≥a+0.35p, so that even when a selects the minimum preferred value of 0.65p, a buffer distance of more than one pitch can be ensured, so that the axial buffer structure has a better buffer protection effect, and can limit the rightward displacement of the connecting shaft 507 in the extreme case that the floating function of the active drill rod 506 fails or the end face of the active drill rod 506 and the chuck 505 are crushed, thereby avoiding serious damage to the chuck 505 or other parts of the power head.

[0225] The main shaft is housed within the housing of the transmission 502 and rotates under the drive of the transmission 502. The end of the main shaft, away from the water braid 504, is connected to a chuck 505, driving the rotation of the chuck 505. The chuck 505 then transmits torque to the active drill rod 506. Specifically, the active drill rod 506, the connecting shaft 507, the hexagonal hole connecting sleeve 508, the core shaft 50402 in the water braid 504, the sealing shaft 50409, and the cover plate 50408 all rotate relative to the water inlet assembly, the bearing seat 50404, the water braid end cover 50407, and the housing of the transmission 502.

[0226] Through the above connection relationship, the water braid 504 can achieve axial force balance during the drilling process, thereby solving the problem of easy damage to the core shaft support bearing 50401. Its working principle is as follows:

[0227] Drilling drive water is fed from the water inlet assembly 50403 into the core shaft 50402, then passes through the core shaft 50402, the connecting shaft 507, and the active drill rod 506 directly to the bottom hole motor and drill bit. Firstly, because the inner cavity of the housing of the water inlet assembly 50403 is completely symmetrical about the midplane, the force exerted by the drive water on the water inlet assembly 50403 is balanced along the axis of the core shaft, greatly improving the stress on the core shaft support bearing 50401 and thereby extending its service life.

[0228] Secondly, the core shaft 50402 of the water braid 504 is connected to the active drill rod 506 through the connecting shaft 507. The cooperation of the hexagonal head 50702 of the connecting shaft 507 and the hexagonal hole of the hexagonal hole connecting sleeve 508 forms a stable moving pair, which prevents relative rotation. In combination with the axial floating function of limiting displacement of the active drill rod 506, it can float back and forth to buffer the axial impact received by the power head during drilling, and limit the axial floating distance of the active drill rod 506, the connecting shaft 507 and the core shaft 50402, thereby protecting other parts. The connecting parts make the connecting shaft 507 and the core shaft 50402 have an axial floating displacement. Therefore, the water braid 504 (core shaft 50402) moves axially along with the active drill rod 506 and the connecting shaft 507 during the rotation process of the active drill rod 506 and the drilling process of the power head. The axial impact received is transmitted to the active drill rod 506, and the active drill rod 506 is damped and absorbed by the spring installed between the active drill rod 506 and the main shaft, thereby further improving the stress condition of the core shaft support bearing 50401.

[0229] The axial displacement restriction of the active drill rod 506 by the drill rod end cover can be adaptively adjusted according to the actual needs of other related components to adapt to different coal mine drilling rigs.

[0230] To sum up, the solution of the symmetrical shell inner cavity of the water inlet assembly 50403 in the water braid 504 combined with the connecting shaft 507 transmitting the impact to the active drill rod 506 with a floating function improves the stress condition of the core shaft support bearing 50401. The axial force generated by the pressure of the drilling drive water in the water braid 504 is evenly distributed, and the working impact of the power head is borne by the active drill rod 506 with a floating function. Therefore, the drilling drive water pressure balancing mechanism solves the problems of unbalanced liquid pressure inside the water braid 504 of the existing drilling rig, lack of force transmission mechanism, and easy damage of the core shaft support bearing 50401. It is particularly suitable for situations where the drilling drive water pressure is high, such as when mud pulses are used in directional drilling.

[0231] The chuck 505 is the drill rod clamping mechanism of the directional drilling rig's power head. Generally, the chuck 505 in this embodiment does not hold the drill rod during drilling. Therefore, a normally open chuck 505 is preferred. This allows for the removal of the active drill rod 506 at the front of the chuck 505 when a larger diameter drill rod needs to be temporarily replaced or salvaged during downhole drilling. Specifically, a piston-type hydraulic chuck 505 such as that disclosed in Chinese Patent Publication No. CN105822238B is preferred.

[0232] The active drill rod 506 is a drill rod connection mechanism during normal drilling. The front end of the active drill rod 506 is provided with a threaded joint similar to the drill rod male joint, which is used to connect with the drill rod added to the drilling rig during drilling. It is connected to the front end of the chuck 505 through the drill rod end cover and bolts to limit the axial displacement of the active drill rod 506, and a spring is provided between the active drill rod 506 and the chuck 505 to enable the active drill rod 506 to have an axial floating function.

[0233] In another embodiment, the active drill rod 506 is directly connected to the main shaft. Its specific structure is a floating drill rod connection device disclosed in Chinese patent publication number CN112253017B, which also has axial floating kinetic energy to meet the requirement that one end of the connecting shaft 507 is connected to the active drill rod 506 with an axial floating structure. The focus is on transferring the active drill rod 506 from being connected to the chuck 505 to being connected to the main shaft. The remaining details are disclosed in the above patent and will not be repeated here.

[0234] The above-mentioned power head can provide various operating conditions for the intelligent directional drilling rig, including sliding directional drilling, tool face angle adjustment, rotary drilling, compound drilling and drill pipe fishing. Its working principle is as follows:

[0235] (1) Sliding directional drilling

[0236] During sliding directional drilling, the angle adjuster 503 is locked, preventing the main shaft from rotating under the drive of the main motor 501. The power head is connected to multiple drill rods via the active drill rod 506, with the front end of the drill rod equipped with a downhole motor. The drilling drive medium (pressure fluid) enters the power head through the water braid 504, passes through the connecting shaft, the active drill rod, and the drill rod, and enters the downhole motor, driving the downhole motor to rotate, implementing sliding directional drilling.

[0237] (2) Tool face angle adjustment

[0238] Under the tool face angle adjustment condition, the angle adjuster 503 is in a locked condition, and the spindle cannot rotate under the drive of the main motor 501, but can only rotate under the drive of the rotary reducer 50303. At this time, oil is not supplied to the main motor 501, but oil is supplied to the hydraulic motor in the rotary reducer 50303.

[0239] The rotary reducer 50303 drives the transmission shaft 50301, which in turn drives the main shaft and active drill rod 506 via the drive shaft 50201 in the transmission 502. The active drill rod 506 then drives the connected drill rods, thereby adjusting the tool face angle. Because the rotary reducer 50303 has a large transmission ratio, combined with the transmission ratio of the transmission 502, efficient and accurate tool face angle adjustment can be achieved by controlling the rotational speed of the rotary reducer 50303.

[0240] (3) Rotary drilling

[0241] Under rotary drilling conditions, the angle adjuster 503 is in the unlocked condition, and the main shaft can rotate under the drive of the main motor 501. Supplying oil to the main motor 501 can drive the main shaft and drill pipe to rotate and implement rotary drilling. At this time, the driving medium is not provided to the bottom hole motor through the water braid 504.

[0242] (4) Composite drilling

[0243] During hybrid drilling, angle adjuster 503 is unlocked, allowing the spindle to rotate under the drive of main motor 501. This allows hybrid drilling by providing drive medium to the bottom-hole motor through water braid 504, which in turn drives the bottom-hole motor, while also driving the drill rod through main motor 501.

[0244] (5) Salvage drill pipe

[0245] When a drill is lost, a salvage drill rod is needed to remove the drill rod from the hole. Generally, the diameter of the salvage drill rod is larger than the diameter of the construction drill rod, so a chuck 5 is needed to clamp the salvage drill rod for construction. Under the salvage drill rod working condition, the active drill rod 506, the connecting shaft 507, and the water braid 504, etc. must be removed first, the salvage drill rod must be installed into the power head, and the salvage drill rod must be clamped by the chuck 505, and then several salvage drill rods must be connected in sequence until they contact the lost drill rod in the hole. Under this working condition, the angle adjuster 503 is in the unlocked working condition, and the main shaft can rotate under the drive of the main motor 501.

[0246] Referring specifically to Figures 20 to 28 , the drill rod storage system 8 comprises a drill rod box 801, a translation assembly 802, a gripping manipulator 803, and a rod placement slot 804. This system utilizes a matrix-like storage system with multiple rows in the horizontal direction and multiple layers in the vertical direction to store drill rods. To further increase the capacity of the drill rod boxes, two drill rod boxes are positioned adjacent to each other on the mobile platform 1 on the same plane. This allows all drill rods to be loaded into the drill rod boxes during the relocation of the directional drilling rig and transported to the construction site along with the rig.

[0247] The main functions and structural features of each component are as follows:

[0248] The drill rod storage system includes drill rod boxes 801 arranged in a matrix, which are used to securely store and arrange drill rods. The top of the drill rod box 801 is open, and the side panels 80104 are evenly spaced with drill rod storage slots via partitions. The base 80102 is bolted to the mobile platform 1. To facilitate manual replenishment and retrieval of drill rods, reversible baffles 80101 are installed on the outside of the side panels 80104. These baffles 80101 have pin holders on the top and lugs on the bottom, which connect to the pin holders on the base 80102 and side panels 80104 via connecting pins. Slide rails 80103 are installed on the outside of the drill rod box along the length of the drill rods, allowing for the translational movement of the grabbing manipulator 803.

[0249] The translation assembly 802 is a drive device for moving the grabbing manipulator 803 along the slide rail 80103 on the outside of the drill rod box 801. This embodiment uses a two-stage travel cylinder as an example. The cylinder barrel of the first travel cylinder 80205 is fixedly connected to the drill rod box 801 via a cylinder mounting seat 80204. The piston rod of the first travel cylinder 80205 is fixedly connected to the end cover plate of the hoop plate 80202. When the piston rod of the first travel cylinder 80205 is extended, it pushes the hoop plate 80202 to move. Second sliders 80201 are provided on the upper and lower sides of the hoop plate 80202, and the second sliders 80201 mate with the slide rail 80103 to form a moving pair between the hoop plate 80202 and the drill rod box 801. The cylinder barrel of the second travel cylinder 80203 is fixedly mounted on the hoop plate 80202, and the piston rod of the second travel cylinder 80203 is fixedly connected to the grabbing manipulator 803.

[0250] The grabbing manipulator 803 is used to transport the drill rod from the drill rod box 801 to the designated rod placement slot 804. The grabbing manipulator 803 is composed of components such as a mechanical claw 80301, a first telescopic cylinder 80304, a second telescopic cylinder 80302, and a crossbeam assembly 80303. The first telescopic cylinder 80304 is arranged vertically on one side of the drill rod box 802 and connected to the slide rail 80103. One end of the crossbeam assembly 80303 is connected to the top of the first telescopic cylinder 80304. The second telescopic cylinder 80302 is connected to the other end of the crossbeam assembly 80303 and arranged vertically downward. The mechanical claw 80301 is connected to the bottom of the second telescopic cylinder 80302. The main functions and features of each component include:

[0251] (1) First telescopic cylinder 80304

[0252] The first telescopic cylinder 80304 is externally provided with a cylinder lug for connecting to the piston rod of the second travel cylinder 80203. It is also provided with a slider that matches the slide rail 80103, allowing the first telescopic cylinder 80304 to move along the slide rail 80103 on the outside of the drill pipe box 801 under the action of the translation assembly 802. A first telescopic cylinder fixedly connected to the cylinder wall is internally provided within the first telescopic cylinder 80304, and the piston rod of the first telescopic cylinder is fixedly connected to the crossbeam assembly 80303, allowing the crossbeam assembly 80303 to move up and down along the first telescopic cylinder 80304. The first telescopic cylinder is fixedly connected to the lower end cap of the first telescopic cylinder 80304, and the piston rod of the first telescopic cylinder is fixedly connected to the crossbeam assembly 80303 via a first pin. When the piston rod of the first telescopic cylinder is actuated, it drives the crossbeam assembly 303 to move up and down.

[0253] (2) Crossbeam assembly 80303

[0254] The crossbeam assembly 80303 is provided with a sliding track, which is used to drive the second telescopic cylinder 80302 and the mechanical claw 80301 to move along the length of the crossbeam assembly 80303. In this application, the sliding track is preferably driven by a motor driving a translation gear that engages a rack. The motor is fixedly mounted on the motor mounting seat in the second telescopic cylinder 80302, and the rack is fixedly connected to the bottom of the crossbeam assembly 80303 via bolts.

[0255] (3) Second telescopic cylinder 80302

[0256] The mechanical claw 80301 and the second telescopic cylinder 80302 and other parts can move along the length direction of the beam assembly 80303. In this application, it is preferred that the motor drives the translation gear to engage the rack to move. Therefore, the top of the second telescopic cylinder 80302 is provided with a motor mounting seat and a track seat, both of which are fixedly connected to the outside of the second telescopic cylinder 80302 by welding; the track seat can move along the slide rail arranged in the beam assembly; the inside of the second telescopic cylinder 80302 is provided with a second telescopic oil cylinder fixedly connected to the cylinder wall, and the piston rod of the second telescopic oil cylinder is fixedly connected to the mechanical claw 80301, so that the mechanical claw 80301 can move up and down along the second telescopic cylinder 80302; the second telescopic oil cylinder is fixedly connected to the upper end cover of the second telescopic cylinder 80302, and the piston rod of the second telescopic oil cylinder is fixedly connected to the mechanical claw 80301 through the first pin shaft. When the piston rod of the second telescopic oil cylinder acts, it drives the mechanical claw 80301 to move up and down.

[0257] (4) Mechanical claw 80301

[0258] The upper part of the mechanical claw 80301 is a connecting body 80301a fixedly connected to the second telescopic cylinder 80302, and the lower part is provided with a first clamping jaw 80301d and a second clamping jaw 80301c, and a third clamping cylinder 80301b is provided inside. Under the retraction action of the piston rod of the third clamping cylinder 80301b, the clamping section of the lower part of the clamping jaw is synchronously contracted inward from both ends to clamp the drill rod; the piston rod of the third clamping cylinder 80301b is extended, and the various components move in reverse to release the drill rod. Specifically, the cylinder barrel of the third clamping cylinder 80301b is fixedly connected to the connecting body 80301a through the first pin 80301f, and the piston rod of the third clamping cylinder 80301b is hinged to the cylinder connecting hole provided in the first clamping jaw 80301d through the second pin 80301h; the second clamping jaw 80301c and the first clamping jaw 80301d are respectively provided with fixed pin connecting holes, and are hingedly fixed to the connecting body 80301a through the clamping jaw fixed pin 80301e; a transmission rod 80301i is also provided between the second clamping jaw 80301c and the first clamping jaw 80301d, and connecting holes are provided on both the first clamping jaw 80301d and the second clamping jaw 80301c, and both ends of the transmission rod are connected through The transmission rod pin 80301j cooperates with the connecting hole to be hinged with the second clamping jaw 80301c and the first clamping jaw 80301d respectively, thereby transmitting the movement of the first clamping jaw 80301d to the second clamping jaw 80301c, and under the action of the retraction of the piston rod of the third clamping cylinder 80301b, the lower clamping sections of the first clamping jaw 80301d and the second clamping jaw 80301c are synchronously contracted inward from both ends to clamp the drill rod, and the piston rod of the third clamping cylinder 80301b is extended, and the various components move in reverse to release the drill rod; and the lower half of the first clamping jaw 80301d and the second clamping jaw 80301c are clamping sections whose inner and outer surfaces are mainly arcs, and the inner arc of the clamping section matches the outer surface of the drill rod.

[0259] Specifically, the main functions and structural features of each part in the mechanical claw 80301 are as follows.

[0260] (1) Connector 80301a

[0261] It is used to securely mount components such as the cylinder and gripper, and also connects the gripper to the second telescopic cylinder or other related components. Connector 80301a is a generally symmetrical, open, thick-walled cavity structure. The top portion is the arm connection end, which can accommodate various connection configurations. The preferred pin-and-stop socket connection is shown. Therefore, a first pin hole and stop for securing the pin are provided, as well as a second pin hole for securing the first pin 80301f. The middle portion features a cylinder mounting cavity and reinforcing ribs. The lower portion is the gripper mounting structure, equipped with a third pin hole for mounting the gripper's securing pin 80301e and a gripper active cavity.

[0262] (2) First clamping jaw 80301d

[0263] The first clamping jaw 80301d consists of two parts. The upper section is a "7"-shaped connecting section, equipped with holes for connecting the cylinder, the transmission rod, and the fixing pin. These holes are respectively used to pass through the second pin 80301h, the transmission rod pin 80301j, and the clamping jaw fixing pin 80301e, thereby forming a rotational pair with the cylinder piston rod, the transmission rod 80301i, and the connecting body 80301a. A transmission rod mounting groove extends downward from the top of the connecting section for receiving the transmission rod 80301i. The lower section is a clamping section, with both inner and outer surfaces primarily arc-shaped, used to clamp the drill rod. The inner arc of the clamping section matches the outer surface of the drill rod, while the outer shape is designed based on the structure of the drill rod storage device and the drill rod placement layout.

[0264] (3) Second clamping jaw 80301c

[0265] The second clamping jaw 80301c consists of two parts. The upper section is the connecting section, equipped with holes for the fixing pin and the transmission rod. These holes are used to pass through the clamping jaw fixing pin 80301e and the transmission rod pin 80301j, respectively, thereby forming a revolute joint with the connector and the transmission rod. A transmission rod mounting slot extends downward from the top of the connecting section, for receiving the transmission rod 80301i. The lower section is the clamping section, with both inner and outer surfaces primarily arc-shaped, used to clamp the drill rod. The inner arc of the clamping section matches the outer surface of the drill rod, while the outer shape is designed based on the structure of the drill rod storage device and the drill rod placement layout.

[0266] (4) Transmission rod 80301i

[0267] The transmission rod 80301i is a flat connecting rod with a connecting hole at each end for mounting the transmission rod pin 80301j, thus forming two rotational pairs with the second clamping jaw 80301c and the first clamping jaw 80301d. The ends of the rod are arc-shaped to save space for movement.

[0268] The mechanical claw component setting method in this embodiment is as follows:

[0269] The top end of the connector 80301a is connected to the upper end components of the second telescopic cylinder 80302, serving as the fixed frame for the mechanical gripper 80301. The barrel of the third clamping cylinder 80301b forms a revolute pair R1 with the connector 80301a. The barrel and piston rod form a translation pair T1. The piston rod and the first clamping jaw 80301d form a revolute pair R2. The first clamping jaw 80301d forms a revolute pair R3 with the connector 80301a. The second clamping jaw 80301c forms a revolute pair R4 with the connector 80301a. The transmission rod 80301i forms revolute pairs R5 and R6 with the first and second clamping jaws 80301d, 80301c, respectively. When the mechanical gripper 80301 switches between a released and a clamped state, the motion states of the various components and kinematic pairs are shown in Figure 27.

[0270] The mechanical claw mechanism is a 5-link mechanism with a single degree of freedom. Therefore, a driving member (the third clamping cylinder 80301b) is used to enable the mechanism to have a certain movement, thereby realizing the clamping and loosening of the first clamping jaw 80301d and the second clamping jaw 80301c.

[0271] The setting features and functions of components and kinematic pairs are as follows:

[0272] (1) The line connecting the center points of the revolving pairs R2 and R5, and the line connecting the center points of R3 and R4 are both perpendicular to the axis of the cylinder 2.

[0273] (2) The transmission rod 80301i is parallel to the axis of the cylinder 2 and is located on the perpendicular bisector of the line connecting the center points of R3 and R4, and the center point of R6 is located below the line connecting the center points of R3 and R4.

[0274] The movement process of the mechanical claw is as follows:

[0275] (1) Assume that the piston rod of the third clamping cylinder 80301b is fully extended and the clamping jaws are completely released to the initial state.

[0276] (2) The piston rod of the third clamping cylinder 80301b retracts, driving the connecting section of the first clamping jaw 80301d to swing upward by a specific angle β. The clamping section of the first clamping jaw 80301d then swings inward by an angle β, achieving inward contraction. Simultaneously, the piston rod drives the cylinder barrel to swing right by a specific angle (approximately 1 / 3β) due to the feedback from the swinging of the first clamping jaw 80301d.

[0277] (3) The first clamping jaw 80301d transmits the swing to the second clamping jaw 80301c synchronously through the transmission rod 80301i, driving the clamping section of the second clamping jaw 80301c to swing upward by an angle β, and the clamping section of the second clamping jaw 80301c swings inward by an angle β, realizing synchronous inward contraction with the first clamping jaw 80301d, thereby clamping the drill rod.

[0278] (4) When the mechanical claw needs to be released, the third clamping cylinder 80301b extends and the rods move in the opposite direction.

[0279] The above technical solution can solve the problem that the single-sided clamping mechanical claw of the drill rod grasping manipulator requires a large movement space, which is not conducive to the mechanical claw's structural layout, and the problem that the drill rod is easily deflected during grasping. It can also solve the problem that the existing double-sided clamping mechanical claw has a complex structure, high manufacturing cost, and great processing difficulty.

[0280] The rod slot 804 includes a sliding plate 80401, a second clamping oil cylinder 80402, a drill rod slot seat 80403, a drill rod slot 80404 and a drill rod baffle 80405. The drill rod slot seat 80403 is fixedly connected to the side of the drill rod box 801 facing the frame 2, and a drill rod slot 80404 is provided on the upper part, and a cylinder mounting hole and a slide rail are provided inside; the inner surface of the upper half of the drill rod slot 80404 is mainly arc-shaped and matches the outer diameter of the drill rod; the cylinder barrel of the second clamping oil cylinder 80402 is fixedly connected to the bottom of the drill rod slot seat 80403 through a pin shaft, and the piston rod is connected to the sliding plate 80401, and the sliding plate 80401 is provided by setting The upper slide rail of the drill rod slot seat 80404 is slidably connected to it, so that the sliding plate 80401 is driven by the second clamping oil cylinder 80402 to move along the slide rail in the length direction of the drill rod slot seat 80404, and then the drill rod baffle 80405 fixed to the sliding plate 80401 is driven to move; there are two rod placement grooves 804, which correspond to the two ends of the drill rod respectively, and are aligned with the position of clamping the drill rod in the frame 2, so as to facilitate the placement of the drill rod, and the drill rod baffle 80405 connected to the sliding plate 80401 through the cooperation of the second clamping oil cylinder 80402 can limit the drill rod axially, thereby adapting to drill rods of different lengths to a certain extent and improving the fault tolerance rate.

[0281] The working principle of the above drill pipe storage system is as follows:

[0282] Installation and fixation: The drill rod box 801 is fixedly connected to the crawler vehicle through the base 80102, the movable baffle 80101 is opened, the drill rod box 801 is filled with drill rods, and the movable baffle 80101 is connected to the side 80104 with a latch.

[0283] Box selection principle: Under the action of the translation assembly 802, the grabbing manipulator 803 moves along the axial direction of the drill rod through the drill rod box 80103 and directly switches between the two drill rod boxes, and can grab the drill rods in the two drill rod boxes.

[0284] Column selection principle: The mechanical claw 80301 of the grabbing manipulator 803 can move along the crossbeam 80304 to switch the columns of drill rods in the drill rod box.

[0285] Layer selection principle: The telescopic cylinder in the telescopic tube of the grabbing manipulator drives the grabbing manipulator to move up and down to grab drill rods of different layers.

[0286] Rod placement slot fault tolerance mechanism: When there is no drill rod in the rod placement slot 804, the second clamping cylinder 80402 therein should be extended to expand the placement space along the length direction of the drill rod; when the drill rod is placed, the second clamping cylinder 80402 therein should be retracted so that the drill rod is aligned with the drill rod box 802 or the rack 2, which facilitates the subsequent transportation process.

[0287] Drill pipe delivery process

[0288] (1) From the drill rod box to the rod slot

[0289] Initial state: Assume that the drill rod box 801 is fully loaded with drill rods (this may not be necessary in practice), and the gripping manipulator 803 is located at any position on the slide rail 80103. Without interfering with the drill rods or the drill rod box, the first telescopic cylinder 80304 and the second telescopic cylinder 80302 are extended or retracted to any length, i.e., the mechanical gripper 80301 is at a random height and is released.

[0290] a1) Box selection: Under the control of the control system 6, the translation assembly 802 drives the grabbing manipulator 803 along the slide rail 80103 to grab drill rods from any drill rod box. In this application, the drill rods are preferably grabbed from the left drill rod box;

[0291] a2) Row selection: Generally, the drill rods are transported starting from the row closest to the rack 2. The rack-and-pinion mechanism formed by the second telescopic cylinder 80302 and the crossbeam assembly 80303 drives the mechanical claw to move along the crossbeam assembly, thereby achieving switching between rows;

[0292] a3) Layer selection: The oil cylinders in the first telescopic cylinder 80304 and the second telescopic cylinder 80302 adjust the height of the mechanical claw 80301 according to the drill rod storage situation determined in real time by the control system 5, so that it is suitable for grabbing the drill rod selected by the system.

[0293] a4) Grasping: The mechanical gripper 80301 clamps the selected drill rod to be grasped;

[0294] a5) Lifting: The internal cylinder of the first telescopic cylinder 80304 is fully extended, and the internal cylinder of the second telescopic cylinder 80302 is fully retracted, so that the mechanical claw 80301 is in the highest position;

[0295] a6) Alignment: The translation assembly 802 drives the grabbing manipulator 803 to move along the slide rail 80103 to a position aligned with the rack 2. To improve efficiency, this position is the same as the selection position of the left drill rod box, that is, the location of the rod slot 804.

[0296] a7) Rod Release: The gear rack driven by the motor of the second telescopic cylinder 80302 and the crossbeam assembly 80303 moves the mechanical claw along the crossbeam assembly to the top of the rod placement slot 804. Simultaneously, the second clamping cylinder 80402 in the rod placement slot extends, expanding the space for placing drill rods. The internal cylinder of the second telescopic cylinder 80302 extends, placing the drill rod in the slot. Simultaneously, the second clamping cylinder 80402 in the rod placement slot retracts, more accurately aligning the drill rod with the frame 2. The mechanical claw 80301 then releases, and the internal cylinder of the second telescopic cylinder 80302 fully retracts, moving along the crossbeam assembly 80303 and the slide rail 80103 to the top of the next drill rod to be grasped.

[0297] (2) Place the drill rod box from the rod slot

[0298] Initial state: Assume that the main manipulator 4 has put a drill rod back into the rod placement slot 804, and the rod placement slot 804 is clamped.

[0299] b1) Lifting: The internal oil cylinder of the first telescopic cylinder 80304 is fully extended, and the internal oil cylinder of the second telescopic cylinder 80302 is fully retracted, so that the mechanical claw is in the highest position.

[0300] b2) Alignment: The translation assembly 802 drives the grabbing manipulator to move along the slide rail 80103 to the position aligned with the rack 2. The mechanical claw 80301 moves along the crossbeam assembly 80303 to the top of the drill rod in the rod slot. The mechanical claw is released and the second clamping cylinder 80402 of the rod slot extends, expanding the space in the rod slot.

[0301] b3) Grasping: The internal cylinder of the second telescopic cylinder 80302 extends until the mechanical claw contacts the drill rod and clamps the mechanical claw. The internal cylinder of the second telescopic cylinder 80302 is fully retracted, and the internal cylinder of telescopic cylinder I 80304 is fully extended, so that the mechanical claw and drill rod are in the highest position.

[0302] b4) Box selection: The mechanical claw carries the drill rod and moves along the slide rail 80103. In this application, it is preferred to place the drill rod into the right drill rod box first.

[0303] b5) Selecting a column: The mechanical claw carries the drill rod and moves along the crossbeam assembly 80303 to a storage position with vacant space in any column in the drill rod box. In this application, it is preferred to place the drill rod starting from the column farthest from the rack 2.

[0304] b6) Rod release: The oil cylinder of the first telescopic cylinder 80304 retracts and the oil cylinder in the second telescopic cylinder 80302 extends until the drill rod contacts the bottom plate of the drill rod box or the drill rod that has been placed. The mechanical claw is released and the drill rod is put back. The oil cylinder inside the second telescopic cylinder 80302 retracts completely and the oil cylinder of the first telescopic cylinder 80304 extends completely to prepare for transporting the next drill rod.

[0305] The following is the specific process of grabbing the drill rod and putting it back.

[0306] The drill rod box 801 is fixedly connected to the mobile platform 1 through the base 80102. The movable baffle 80101 is opened and the drill rod box 801 is filled with drill rods. After the drill rods are loaded, the movable baffle 80101 is connected to the side panel 80104 with a latch. Under the action of the translation assembly 802, the grabbing manipulator 803 moves along the axial direction of the drill rod through the slide rail 80103 of the drill rod box 801 to grab the drill rods in the left and right drill rod boxes 801. The mechanical claw 80301 can move along the crossbeam assembly 80303 to grab the drill rods between each column. The translation assembly 802 can increase the translation distance of the grabbing manipulator 803 through a two-stage walking cylinder.

[0307] When the grabbing manipulator 803 needs to grab the drill rod in the right drill rod box, the first travel cylinder 80205 and the second travel cylinder 80203 are all retracted. At this time, the grabbing manipulator 803 is located in the middle of the right drill rod box. The telescopic cylinder in the telescopic cylinder of the grabbing manipulator 803 is controlled to drive the mechanical claw 80301 to move up and down to grab drill rods of different layers; the mechanical claw 80301 and the second telescopic cylinder 80302 can move along the crossbeam slide rail (rack). In this application, a motor-driven gear and rack are engaged to grab drill rods in different columns; when the mechanical claw 80301 is fully released, the clamping cylinder in the mechanical claw 80301 is fully extended. When the drill rod needs to be clamped, the piston rod of the clamping cylinder in the mechanical claw 80301 is retracted. In response, the piston rod drives the first clamping jaw 80301d to rotate around the fixed pin shaft, and its clamping section of the clamping jaw swings inward and contracts. The first clamping jaw 80301d synchronously transmits the swing to the second clamping jaw 80301c through the transmission rod, driving the clamping section of the left clamping jaw to swing inward and contract, so that the left and right clamping jaws synchronously contract inward to clamp the drill rod; after the mechanical claw 80301 moves to place the drill rod into the drill rod slot 80404 of the transfer device, the clamping cylinder in the mechanical claw 80301 extends, and the mechanical claw 80301 releases the drill rod; under the action of the second clamping cylinder 80402 in the rod placement slot 804, the position of the drill rod is adjusted toward the middle by the two sides of the drill rod baffle 80405 and the drill rod is clamped at the same time, and the drill rod is added when other mechanisms (main manipulator 4) grab the drill rod onto the frame 2.

[0308] When the grabbing manipulator 803 needs to grab the drill rod in the left drill rod box, the first travel cylinder 80205 is fully extended, and the second travel cylinder 80203 controls the movement stroke of the piston rod to achieve the optimal position for the grabbing manipulator 803 to grab the drill rod.

[0309] Drill pipe replacement process:

[0310] When putting the drill rod back, the second clamping cylinder 80402 in the rod placement slot 804 is extended, and then other mechanisms (main manipulator 4) send the drill rod back to the rod placement slot 804, the axial space for placing the drill rod is increased, and the fault tolerance rate is increased; before the mechanical claw 80301 moves to the rod placement slot 804 to grab the drill rod, the second clamping cylinder 80402 in the rod placement slot 804 clamps once and then releases to calibrate the relative position of the drill rod and the drill rod box 801; subsequently, the mechanical claw 80301 grabs the drill rod under the action of the clamping cylinder in the mechanical claw 80301, and the mechanical claw 80301 moves along the crossbeam assembly 80303, selects the free drill rod position in the drill rod box 801 through the electronic control program, accurately positions it through the travel cylinder, and puts the drill rod back into the drill rod box 801.

[0311] Referring specifically to Figures 29 to 39, the main manipulator 4 includes a first cylinder seat 401, a pitch cylinder 402, a slewing drive 403, a pitch arm 404, a slewing axis 405, a rotating arm 406, a claw 407 and a pressure rod 408; the bottom of the first cylinder seat 401 is connected to the drilling rig mobile platform by bolts and is located between the drill rod box 801 and the frame 2, and a U-shaped through groove and a circular through hole are provided on the upper part, which are connected to the pitch cylinder 402 by a pin shaft, so that one end of the pitch cylinder 402 is fixedly rotatably connected to the mobile platform 1.

[0312] The pitch cylinder 402 is a double-head combination cylinder, which includes a cylinder barrel 40203 and a piston rod I40201 and a piston rod II40202 located at both ends of the cylinder barrel. The vertical plane where the axis of the pitch cylinder 402 is located is parallel to the vertical plane where the axis of the frame 4 is located. The piston rod II40202 at one end of the pitch cylinder 402 is hinged to the first cylinder seat 401 through a pin shaft, and the piston rod I40201 at the other end of the pitch cylinder 402 is hinged to the pitch arm 404 through a pin shaft.

[0313] The pitch arm 404 is the main supporting component of the main manipulator 4, carrying other parts of the main manipulator 4 and connected to the frame 2. It includes a connecting sleeve 40401, an incremental sensor mounting plate 40402, a support body 40403, a third end cover 40404, an axle seat 40405, a second oil cylinder seat 40406, a sealing cover 40407 and a rotating cylinder 40408. The main body of the rotating cylinder 40408 is a multi-step cylinder with flanges at both ends, which are respectively used to install the sealing cover 40407 and connect to the frame connecting seat 207 in the frame 2. The rotating cylinder 40408 is provided with an angle identification plate mounting section on the side close to the frame 2. The outer diameter of the angle identification plate 902 matches the inner diameter of the angle identification plate 902. The angle identification plate 902 is movably mounted thereon, and the angle identification plate 902 rotates with the random frame 2.

[0314] The connecting sleeve 40401 is a cylindrical structure, which is sleeved on the rotating cylinder 40408 and rotatably connected to the rotating cylinder 40408. An incremental sensor mounting plate 40402 is provided on the side near the angle identification plate 902 for mounting the incremental sensor 903. The incremental sensor mounting plate 40402 is located on the center horizontal line of the connecting sleeve 40401 so that the incremental sensor 903 is at 0° when the main manipulator 4 is in the initial position. The sealing cover 40407 is fixedly connected to the rotating cylinder 40408 via the flange of the rotating cylinder 40408, which can effectively prevent water, coal slag, etc. from entering the interior of the connecting sleeve 40401.

[0315] One end of the support body 40403 is fixedly connected to the connecting sleeve 40401, and the other end is connected to the shaft seat 40405. A second cylinder seat 40406 is provided in the middle of the support body 40403 on the side close to the first cylinder seat 401 for connecting to the pitch cylinder 402.

[0316] The right side of the shaft seat 40405 is provided with a mounting flange of the rotary driver 403, and the left side is provided with a mounting flange of the third end cover 40404, so as to respectively connect the rotary driver 403 and the third end cover 40404. A mounting hole is provided in the inner cavity thereof for installing the rotary shaft 405. After the third end cover 40404 is fixedly installed on the shaft seat 40405, the axial position of the rotary shaft 405 can be limited, and one end of the rotary shaft 405 is circumferentially fixedly connected to the output shaft of the rotary driver 403, and the other end is connected to the rotating arm 406, and the rotating arm 406 is connected to the claw 407.

[0317] When the piston rod I 40201 is fully retracted and the piston rod II 40202 is fully extended, the main manipulator 4 (rotating arm 406) is in a horizontal position, that is, the inclination angle of the upper plane of the main manipulator 4 is 0°, which is the initial position of the main manipulator 4. At this time, the angle of the incremental sensor 903 is also 0°; the piston rod II 40202 is retracted, the main manipulator 4 rises, and the inclination angle increases; when the main manipulator 4 is in a horizontal position, the piston rod II 40202 is fully extended, and the piston rod I 40201 continues to be extended, and the main manipulator 4 swings down to form a negative inclination angle.

[0318] The rotary drive 403 is used to provide rotary power to the main manipulator 4, and the movement is transmitted to the gripper 407 through the rotary shaft 405 and the rotating arm 406, so that the gripper 407 can turn towards or away from the power head 5. The rotary drive 403 can be any mechanism that can achieve rotary motion. In this application, a hydraulic motor or a swing cylinder is preferred.

[0319] The rotating shaft 405 is essentially a cylindrical shaft, with a flange on its left end that mates with the rotating arm 406. Its right end is equipped with a connecting structure, such as a spline or key, that mates with the rotating actuator 403, creating a circumferentially fixed connection. The rotating arm 406 is a long, rod-like component that connects the rotating shaft 405 to the gripper 407. It is preferably a hollow, cylindrical shape for ease of processing and weight control.

[0320] The gripper 407 is an actuator for clamping the drill rod, possessing two degrees of freedom: translation and clamping. The gripper 407 comprises a movable claw body 40701, a clamping jaw 40702, a first clamping cylinder 40703, a fixed base 40704, a movable cylinder 40705, and a connecting flange 40706. The fixed base 40704 comprises a bottom plate with an approximately U-shaped cross-section and two side plates symmetrically arranged on one side of the bottom plate. The bottom plate and the two side plates form a concave cavity for accommodating the movable cylinder 40705. A pair of first slide rails are symmetrically arranged on the other side of the bottom plate. Two connecting flanges 40706 are symmetrically positioned, fixed to either side of the side plates of the fixed base 40704 and connected to the rotating arm 406 and the pressure rod 408, respectively. The top of the movable claw body 40701 is a fixed claw, which cooperates with the clamping jaw 40702 to clamp and secure the drill rod. The fixed claw and the clamping jaw 40702 are hingedly connected via a pin. The bottom of the movable claw body 40701 is provided with a third cylinder seat connected to the movable cylinder 40705, for mounting the piston rod of the movable cylinder 40705. The inner cavity of the third cylinder seat is used to accommodate the first clamping cylinder 40703. Second slide rails are provided on both side panels of the cavity of the movable claw body 40701, which cooperate with the first slide rails of the fixed seat 40704 to form a moving pair, allowing the movable claw body 40701 to slide back and forth under the drive of the movable cylinder 40705. When the piston rod of the movable cylinder 40705 is extended, the movable claw body 40701 moves downward in Figure 29; conversely, when the piston rod of the movable cylinder 40705 is retracted, the movable claw body 40701 moves upward. Moreover, when the piston rod of the mobile cylinder 40705 is fully retracted and the mobile claw body 40701 moves to the highest point, the distance from the rotation center line of the rotating arm 406 to the clamping center line of the mobile claw body 40701 is equal to the distance from the rotation center line of the rotating arm 406 to the center line of the drill rod on the frame 2 (which is also the position between the power head and the clamper), so that the mobile claw body 40701 can transfer the drill rod from the initial position to the drilling center line between the power head 5 and the clamper 3.

[0321] Specifically, the piston rod of the movable oil cylinder 40705 is connected to the movable claw body 40701 via a pin, and the cylinder barrel is hinged to the fixed base 40704 via bilaterally symmetrical pins. Therefore, while the movable oil cylinder 40705 telescopes and drives the movable claw body 40701, it also maintains rotational freedom, preventing the sliding track from becoming stuck. The clamping jaw 40702 is provided with a fourth cylinder seat on the back side of the drill rod clamping surface, which connects to the first clamping cylinder 40703. This seat is hinged to the piston rod of the first clamping cylinder 40703 via a pin. The barrel of the first clamping cylinder 40703 is also hinged to the movable claw body 40701 via a pin.

[0322] Typically, the clamping claw 40702 is disposed on a side of the gripper 407 close to the frame 2 to avoid motion interference with the drill rod during the flipping process of the gripper 407 when transporting or retrieving the drill rod.

[0323] One end of the pressure rod 408 is a flange connected to the hand claw 407, and the other end is a round rod used to press down the pressure block of the isometric sensor 901 to make it send a signal.

[0324] The manipulator positioning system 9 includes an isometric sensor 901, a pressure rod 408, an incremental sensor 903 and an angle identification plate 902. The function of the isometric sensor 901 is to determine whether the main manipulator 4 has reached the same inclination angle as the frame 2. It includes a proximity sensor 90101, a pressure plate 90102, a pressure plate seat 90103, a spring group 90104, a support seat 90105, a sliding rod 90106, a sliding seat 90107, a mounting frame 90108, a sliding cylinder 90109 and a sliding cylinder seat 90110. The lower part of the mounting frame 90108 is provided with a flange to The sensor 901 is mounted on the frame 2, and the upper part is a rod for connecting and supporting the sliding seat 90107. The sliding cylinder 90109 is hinged to the mounting frame 90108 and the sliding cylinder seat 90110 fixed to the sliding rod 90106 through a pin shaft. The sliding rod 90106 and the sliding seat 90107 cooperate to form a moving pair, that is, the sliding rod 90106 is built into the sliding seat 90107 and is slidably connected, and moves under the drive of the sliding cylinder 90109, thereby extending or retracting the remaining parts mounted thereon toward the hand claw 407 of the main manipulator 4. The lower part of the seat 90105 is fixedly connected to the sliding rod 90106, and a hinge hole is provided on it. The pressure plate seat 90103 is installed on it through a pin shaft and is hinged. A proximity sensor 90101 is provided at the end of the support seat 90105 close to the hand claw 407. The pressure plate seat 90103 is a hollow shell, and a side plate extending downward on the side facing the proximity sensor 90101 is paired with the proximity sensor 90101 to form a signal sensing group. When the side plate of the pressure plate seat 90103 enters the sensing range of the proximity sensor 90101, the sensor outputs a signal; 3 and the support seat 90105. A spring group 90104 is provided between the spring group 90104 and the support seat 90105. The spring group 90104 is used to support the pressure plate seat 90103 and lift the pressure plate seat 90103 in a natural state to prevent the side plate of the pressure plate seat 90103 from being connected to the proximity sensor 90101. The spring group 90104 can be one or more springs, or a supporting structure can be added outside or inside the spring group 90104. In other embodiments, other elastic members can also be provided. The pressure plate 90102 is an overturned L-shaped bent plate, the upper section of which is used to contact the pressure rod 408, and the lower section is used to be fixedly connected to the pressure plate seat 90103.

[0325] The working principle of the above-mentioned isometric sensor 901 is as follows:

[0326] In the natural state, the pressure plate seat 90103 and the pressure plate 90102 are lifted upward by the action of the spring group 90104, and the side panel extending downward in the pressure plate seat 90103 is not within the sensing range of the proximity sensor 90101, and the signal of the proximity sensor 90101 is disconnected; when the main manipulator 4 moves downward and approaches the same inclination position of the frame 2, the pressure rod 408 at its front end contacts the pressure plate 90102 and presses the pressure plate 90102 and the pressure plate seat 90103 downward. When the side panel extending downward in the pressure plate seat 90103 reaches the position that the proximity sensor 90101 can sense, the signal of the proximity sensor 90101 is connected.

[0327] The angle identification plate 902 is a circular ring with a partial fan-shaped protrusion, which has a plate body 90201 and a protruding fan-shaped block 90203. The fan-shaped block 90203 is provided with a toggle groove 90202. A toggle rod is fixed to the side of the frame 2 facing the main manipulator 4, and the toggle rod is inserted into the toggle groove 90202, so that when the inclination angle of the frame 2 changes, the angle identification plate 902 is kept at the same angle as the frame 2; the inner hole of the circular ring matches the outer diameter of the angle identification plate mounting section of the rotating cylinder 40408 of the pitch arm 404 in the main manipulator 4 facing the frame 2, so that the angle identification plate 902 can be movably mounted on the rotating cylinder 40408.

[0328] The sector block 90203 is paired with the incremental sensor 903 to form a signal sensing group. When the inclination angle of the frame 2 is 0°, the lower edge of the sector block 90203 is at an angle of θ on the horizontal line. The initial angle of the main manipulator 4 (i.e., the inclination angle of the upper plane of the main manipulator 4, i.e., the centerline of the swing arm 106) is 0°. In other words, the initial angle of the incremental sensor 903 is 0°. In other words, the initial inclination angle of the incremental sensor 903 is at least θ less than the lower edge of the sector block 90203. At this time, the signal is not connected. Therefore, when the inclination angle of the main manipulator 4 increases, the incremental sensor 903 will not connect until it moves upward and into the coverage area of ​​the sector block 90203, indicating that the main manipulator 4 is at an inclination angle suitable for conveying drill pipe.

[0329] The side plate of the pressure plate seat 90103 formed by the equiangular sensor 901 and the pressure rod 408 and the signal sensing group paired with the proximity sensor 90101 and the signal sensing group paired with the sector block 90203 and the incremental sensor 903 cooperate with each other to form a positioning system, thereby realizing the positioning of the manipulator during the drill rod transportation process. The positioning system is simple and reliable. The relationship between the two signal sensing groups is that when the initial angle of the incremental sensor 903 position is 0°, that is, when the main manipulator 4 is in a horizontal position (that is, the initial position), if the frame body in the frame 2 is also in a horizontal position, and the sliding rod 90106 moves under the drive of the sliding cylinder 90109, and the remaining parts installed thereon (support seat 90105 and pressure plate seat 204) are extended toward the hand claw 407 of the main manipulator 4, the pressure rod 408 can contact the pressure plate 90102, that is, the vertical height of the pressure rod can press the pressure plate downward, and press the pressure plate 90102 and the pressure plate seat 90103 downward, and the downward extending side plate of the pressure plate seat 90103 reaches the position that can be sensed by the proximity sensor 90101, and the signal of the proximity sensor 90101 is connected, thereby realizing their mutual cooperation for positioning in the drill rod conveying process. It should be noted that the positional relationship between the pressure rod and the equiangular sensor in this paragraph is only used to indicate their relationship in the vertical direction, so as to indicate the coordination relationship between the side plate of the pressure plate seat 90103 formed by the equiangular sensor 901 and the pressure rod 408 and the signal sensing group paired with the proximity sensor 90101 and the signal sensing group paired with the sector block 90203 and the incremental sensor 903, but it is not used as a limitation on their lateral position. Their lateral relationship can be adjusted by the sliding cylinder 90109 as needed to avoid motion interference.

[0330] The drill rod conveying process of the drill rod conveying manipulator for a directional drilling rig is as follows:

[0331] Assume that the drilling inclination angle of the frame 2 is α, when α is greater than 0°, it is an upward inclination angle, and when α is less than 0°, it is a downward inclination angle;

[0332] Transporting drill rods to rack 2:

[0333] s1) Initial state of the manipulator: The piston rod II 40202 of the pitch cylinder 402 is fully extended, and the piston rod I 40201 is fully retracted, so that the inclination angle of the main manipulator 4 is 0°, that is, the swing arm 106 is in a horizontal position. At this time, the angle identification plate 902 is not connected to the incremental sensor 903, the gripper 407 is in a vertical position, and the fixed jaws of the clamping jaw 40702 and the movable jaw body 40701 are opened upward. The clamping jaw 40702 is opened due to the retraction of the first clamping cylinder 40703, the piston rod of the movable cylinder 40705 is fully extended, and the movable jaw body 40701 and the clamping jaw 40702 are in the lowest position. The drill rod to be transported is positioned at its initial position. The drill rod is then taken out of the drill rod box 801 by other transport devices (grabbing manipulator 803) of the drilling rig. The front and rear ends of the drill rod are placed in the drill rod slots 80404 of the two rod placement slots 804, respectively. At this point, the drill rod clamping center of the gripper 407 coincides with the center of the drill rod to be transported. Simultaneously, the sliding cylinder 90109 is fully retracted, causing the proximity sensor 90101 and the pressure plate 90102 to retract, thereby avoiding interference with the pressure rod 408 of the main manipulator 4.

[0334] In another embodiment, the drill rod can also be directly placed in the initial position by a worker or the clamping center line of the claw body 40701 can be moved, thereby meeting the need of the main manipulator 4 to take and put back the drill rod from the initial position;

[0335] s2) Clamping the drill pipe: The first clamping cylinder 40703 extends, causing the clamping jaws 40702 to cooperate with the fixed jaws to clamp the drill pipe;

[0336] s3) The claw extends: the piston rod of the mobile cylinder 40705 retracts, driving the mobile claw body 40701 and the clamping claw 40702 to move upward to reach the highest position;

[0337] s4) Raise: The piston rod II 40202 of the pitch cylinder 402 retracts, and the pitch arm 404 drives the rotary axis 405 and the rotating arm 406 to increase their inclination angle. When the main manipulator 4 reaches the upward inclination angle (α+θ), the incremental sensor 903 enters the coverage range of the angle identification plate 902. The incremental sensor 903 is turned on and sends a signal, indicating that the main manipulator 4 has reached the inclination angle suitable for conveying drill pipes, and the upward movement stops. At the same time, the sliding cylinder 90109 extends, placing the pressure plate 90102 in a position where it can be contacted and pressed down by the pressure rod 408.

[0338] In the actual construction process, since the drilling inclination angle of the frame 2 needs to be specifically set according to the construction needs, if α is a negative value and its absolute value is greater than θ, the incremental sensor 903 will directly enter the coverage range of the angle identification plate 902, and the incremental sensor 903 will be turned on and send a signal. At this time, there is no need to raise it. At this time, according to the situation where it has been raised to the point where the incremental sensor 903 is turned on and sends a signal, the corresponding adjustment steps can be performed;

[0339] s5) Pressing down: The piston rod II 40202 of the pitch cylinder 402 extends, and the manipulator pitch arm 404 drives the rotary shaft 405 and the rotating arm 406 to press down, reducing the inclination angle. When the inclination angle of the main manipulator 4 reaches α (i.e., the same as the drilling inclination angle of the frame 1), the pressure rod 408 causes the side plate in the pressure plate seat 90103 to enter the sensing range of the proximity sensor 90101. The proximity sensor 90101 is turned on and outputs a signal, stopping the downward pressure. At the same time, since the inclination angle of the main manipulator 4 is reduced by θ, the incremental sensor 903 leaves the coverage range of the angle identification plate 902, and the signal is disconnected;

[0340] During the actual construction process, since the drilling inclination angle of the frame 2 needs to be specifically set according to the construction needs, if the incremental sensor 903 still does not leave the coverage range of the angle identification plate 902 after the piston rod II 40202 is fully extended, the piston rod I 40201 can be further extended to further reduce the inclination angle of the main manipulator 4 until the pressure rod 408 presses down the pressure plate 90102 so that the side plate in the pressure plate seat 90103 enters the sensing range of the proximity sensor 90101, the proximity sensor 90101 is turned on and outputs a signal, and then the downward pressure is stopped;

[0341] s6) Flipping: The rotary drive 403 drives the gripper 407 to flip toward the frame 2 via the rotary shaft 405 and the rotating arm 406, preferably rotating 90° counterclockwise, so that the drill rod is conveyed into the drilling centerline between the power head 5 and the gripper 3 on the frame 2;

[0342] s7) Release the gripper: After the gripper 3 or the power head 5 has clamped the drill rod, the gripper 40702 is released, and the drill rod conveying is completed;

[0343] s8) Flipping and recovery: The rotary driver 403 drives the gripper 407 to flip away from the frame 2, preferably by rotating 90° clockwise, so that the gripper 407 leaves the frame 2. At the same time, the sliding cylinder 90109 retracts, causing the pressure plate 90102 to retract to avoid contact and interference with the pressure rod 408.

[0344] In another embodiment, the piston rod of the moving cylinder 40705 can be fully extended as needed, and the moving claw body 40701 and the clamping claw 40702 are located away from the frame 2 to avoid motion interference.

[0345] s9) Tilt angle reset: The piston rod I of the pitch cylinder is fully retracted, and the piston rod II is fully extended, so that the tilt angle of the main manipulator 4 returns to 0°.

[0346] s10) Claw retraction: The piston rod of the mobile cylinder 40705 is fully extended, so that the mobile claw body 40701 and the clamping claw 40702 return to the lowest position, and the main manipulator 4 returns to its initial state.

[0347] Remove the drill rod from the rack:

[0348] q1) Initial state: Same as step s1, except that no drill rod is placed at the initial position;

[0349] q2) Extend the claw: same as step s3;

[0350] q3) Upward: Same as step s4;

[0351] q4) Press down: same as step s5;

[0352] q5) Flipping: Same as step s6, except that the empty claw flips in and just contacts the drill rod;

[0353] q6) Clamping the grab bar: The first clamping cylinder 40703 extends, and the clamping claw 40702 clamps the drill rod;

[0354] q7) Flip and restore: Same as step s8.

[0355] q8) Reset the inclination angle to zero: Same as step s9.

[0356] q9) Claw retraction: Same as step s10, when the claw retracts to the lowest position, the drill rod returns to its initial position.

[0357] q10) Claw release: The first clamping cylinder 40703 retracts, the clamping claw 40702 releases, and the main manipulator 4 returns to its initial state. Other devices or workers can remove the drill rod or place it in this position.

[0358] The control system 6 primarily refers to an electronic control system, including a controller and its supporting functional modules, sensors, a human-computer interaction system, and a drilling trajectory measurement system. The control system 6 receives operator control commands and, through compilation, converts them into execution parameters for various mechanisms or systems on the drilling rig, thereby enabling intelligent directional drilling, trajectory measurement, and drill rod handling. The control system 3 of this application is not limited to component type and can be used with any drilling rig involved in this application by matching program types and parameters. The key point is that it includes a drilling condition drive module and a tool face angle detection and initialization system.

[0359] The drilling condition drive module is used for automatic switching control of the drilling condition. Since the power head 5 in this embodiment has two rotary drive devices, the main motor 501 and the angle adjuster 503, combined with the external drilling medium pump driving the bottom hole motor through the water braid, it can realize the switching of sliding directional drilling, tool face angle adjustment, rotary drilling (similar to salvage drilling), and composite drilling functions. In the drilling condition drive module, the control switch of the main motor 501 is set to MI, the control switch of the rotary reducer 50303 in the angle adjuster 503 is set to MII, the drilling drive medium control switch is set to P, and the lock / unlock working condition selection switch of the angle adjuster (i.e., whether to inject hydraulic oil into the sealed chamber Y) is set to T. The control method is shown in the following table:

[0360] In the table, T=1 indicates that the regulator 503 is in a locked state, and T=0 indicates that the regulator 503 is in an unlocked state;

[0361] MI=1 indicates that the main motor 501 is hydraulically driven, and MI=0 indicates that the main motor 501 is not hydraulically driven;

[0362] MII=1 indicates that the rotary reducer 50303 is hydraulically driven, and MII=0 indicates that the rotary reducer 50303 is not hydraulically driven;

[0363] P=1 indicates that the medium pump outputs driving medium to the bottom hole motor, and P=0 indicates that the medium pump has no output.

[0364] The tool face angle detection and initialization system consists of:

[0365] As shown in Figure 40, the tool face angle detection and initialization system consists of a first signal source 60202 and a second signal source 60204 installed in the bottom hole motor 60201, a first sensor 60205, a third signal source 60206, and a fourth signal source 60207 installed in the measuring short section mounting tube 60203, and a second sensor 60208 installed in the drill pipe 60209.

[0366] Working principle of the tool face angle detection and initialization system

[0367] (1) Sensor and signal source direction description

[0368] According to the convention of directional construction, the tool face angle is usually 0°, which is directly above the circumference (12 o'clock direction). Therefore, the 0° direction of the two signal sources and the sensor is the same, as shown in Figure 41.

[0369] To simplify the control system and reduce component count, the first and second signal sources 60202 and 60204 use the same signal type and intensity, distinguished by their distance from the sensor. The third and fourth signal sources 60206 and 60207 are similar. The signal source setup is shown in Figure 42.

[0370] A first signal source 60202 and a second signal source 60204 are respectively positioned on two circumferences distributed along the axis within the bottom-hole motor 60201. The projections of the two signal sources in the vertical plane are located at opposite ends of the same diameter of the circle. A first sensor 60205 is mounted within the measuring nipple mounting tube 60203. The third signal source 60206, the fourth signal source 60207, and the second sensor 60208 are configured similarly to the aforementioned signal sources and sensors. The direction of the combined signal from the third and fourth signal sources is consistent with that of the first sensor 60205, facilitating conversion between relative and absolute angle values.

[0371] The side views involved in the tool face angle detection and initialization system are all from the drill pipe 60209 looking towards the bottom hole motor 60201, that is, from right to left in Figure 40.

[0372] (2) Sensor measurement principle

[0373] The first signal source 60202 and the second signal source 60204 are considered a combined signal, referred to as the first combined signal. Since the first and second signal sources 60202 and 60204 have the same strength, but the first signal source 60202 is closer to the first sensor 60205, the strength of the first signal source 60202 received by the first sensor 60205 is significantly stronger than that of the second signal source 60204. Therefore, the first combined signal is directional. Similarly, the third and fourth signal sources 60206 and 60207 form a second directional combined signal.

[0374] The first sensor 60205 and the second sensor 60208 can respectively measure the relative angle value (0 to 360°) between the first combined signal and the second combined signal.

[0375] (3) Basic working principle of the system

[0376] The drill rod 60209 is located outside the hole and is connected to the drill rod 60209 connection mechanism of the drilling rig (chuck 505 or active drill rod 506, etc.), which can more conveniently and accurately rotate the initial direction of the second sensor 60208 to the 0° direction.

[0377] The measuring nipple mounting tube is installed in front of drill pipe 60209 and connected to it via a threaded joint. Due to the varying angles and tightness of the threads, the second combined signal will not accurately point in the 0° direction after the joint is connected. For the same reason, the initial direction of the second combined signal is also difficult to adjust. However, the second sensor 60208 can measure the relative value of the second combined signal's direction. Since the initial direction of the second sensor 60208 coincides with 0°, the angle ρ between the second combined signal and the second sensor 60208 is actually the absolute value.

[0378] Similarly, the first combined signal on the bottom hole motor 60201 does not point exactly to the 0° direction, and its initial direction is not easy to adjust. The first sensor 60205 measures the relative angle of the first combined signal on the bottom hole motor 60201 in front of it. Then the absolute value of the angle of the first combined signal is

[0379] (4) Relative angle measurement process

[0380] Assume that the bottom hole motor 60201, the measuring short joint installation tube 60203 and the drill pipe 60209 have been connected as shown in Figure 40 and entered into the hole. At this time, the actual angle of the tool face angle of the bottom hole motor 60201 is unknown.

[0381] Adjust the second sensor 60208 to point to the 0° direction.

[0382] The first sensor 60205 measures the relative angle between the first combined signal on the bottom hole motor 60201 and the first combined signal on the bottom hole motor 60201

[0383] The second sensor 60208 measures the relative angle ρ between the second combined signal on the measuring short joint mounting tube 60203 and it.

[0384] Since the second sensor 60208 points to the 0° direction, ρ is actually an absolute value at this time, so the initial angle of the tool face angle of the bottom hole motor 60201 is

[0385] (5) Tool face angle initialization process

[0386] 1) Simplified ω value

[0387] Since the tool face angle is the projection angle in the vertical plane, it is only necessary to take its angle value within a circle. Therefore, the ω value can be simplified by taking 360° as a cycle.

[0388] If ω>360°, first take ω'=ω-360°

[0389] If ω<360°, first take ω'=ω

[0390] 2) Calculation and adjustment of adjustment value

[0391] In this embodiment, two initialization zero positions are set at 0° and 180°. The bottom hole motor 60201 adjusts the initialization angle according to the closer zero point to improve efficiency. The specific method is as follows:

[0392] When ω'∈(0°,90°]∪(270°,360°), the initialization zero point is 0°.

[0393] At this time, the adjustment value δ and the adjustment direction are:

[0394] When ω'∈(0°,90°], δ=ω', and adjust counterclockwise;

[0395] When ω'∈(270°,360°), δ=360°-ω', and adjust in clockwise direction.

[0396] When ω'∈(90°,270°], the initialization zero point is 180°.

[0397] At this time, the adjustment value δ and the adjustment direction are:

[0398] When ω'∈(90°,180°], δ=180°-ω', adjust clockwise;

[0399] When ω'∈(180°,270°], δ=ω'-180°, and adjust counterclockwise.

[0400] 3) System reset processing

[0401] When the zero point is initialized to 0°, the tool face angle is adjusted to 0° according to the adjustment value calculated in the previous step, and the tool face angle measurement value of the measurement system is reset to zero. When the tool face angle needs to be adjusted, the tool face angle value entered is the mechanism execution value.

[0402] When the initialization zero point is 180°, adjust the tool face angle to 180° according to the adjustment value calculated in the previous step, and at the same time, reset the tool face angle measurement value of the measurement system to zero. When the tool face angle needs to be adjusted, the tool face angle value entered is the same as the initialization zero point of 0°. When executing, the system automatically subtracts 180° before adjusting.

[0403] The hydraulic system 7 includes a drive motor, a hydraulic pump, a hydraulic valve, a hydraulic cylinder, a hydraulic motor, a hydraulic reducer and various hydraulic accessories. The hydraulic system of the present application can be of various types, and can be matched with the control system and various actuators of the present application through appropriate component parameters and function selection. Due to the demand for large driving force of the coal mine drilling rig and the strict explosion-proof safety requirements underground, the hydraulic system is preferably driven by a flameproof motor, and the mechanical energy is converted into hydraulic energy by the hydraulic pump, thereby driving the power head 5, the frame 2, the clamp 3, the main manipulator 4, the crawler vehicle (mobile platform 1) and the drill rod storage system 8 and other actuators to work. The key is that it includes a chuck pressure control system, which is used to cooperate with the drilling condition drive module in the control system 6 to realize automatic switching of the power head drilling condition.

[0404] The chuck pressure control system specifically includes a pressure reducing valve 70101, an electromagnetic reversing valve 70102, a first one-way valve 70103, a second one-way valve 70104, a third one-way valve 70105, a hydraulically controlled reversing valve 70106, a chuck 505 and an oil tank 70107. The pressure reducing valve 70101 is a fixed-value pressure reducing valve, which can reduce the upstream hydraulic pressure to the set pressure, and can form a low-pressure oil circuit or a control oil circuit; the solenoid reversing valve 70102 is a three-position four-way solenoid reversing valve, which can automatically switch the oil flow direction of the oil through electromagnetic reversing; the first one-way valve 70103, the second one-way valve 70104, and the one-way valve III5 can all control the one-way flow of the oil; the hydraulically controlled reversing valve 70106 is a two-position three-way hydraulically controlled reversing valve, which can automatically switch the oil flow direction of the oil by controlling the oil circuit; the chuck 505 is used to clamp the drill pipe, and is in a loose state when not drilling. When the drill pipe needs to be clamped, it relies on pressure oil to maintain clamping. When casing needs to be lowered or pulled out, it needs to maintain a high-pressure clamping state; the oil tank 70107 is a component for storing hydraulic oil in the hydraulic system, and also plays a role in cooling and heat dissipation to a certain extent.

[0405] The pipe connections are:

[0406] The oil circuit P1 from the main pump flows through the first one-way valve 70103 into the P port of the hydraulic control reversing valve 70106; the oil circuit P2 from the auxiliary pump is divided into two streams, one stream of oil flows through the second one-way valve 70104 into the P port of the hydraulic control reversing valve 70106, and the other stream of oil flows through the pressure reducing valve 70101 into the P port of the electromagnetic reversing valve 70102. The oil drain port of the pressure reducing valve 70101 and the T port of the electromagnetic reversing valve 70102 are connected to the oil circuit. The oil outlet of port A of the electromagnetic reversing valve 70102 is divided into two streams, one stream of oil flows through the third one-way valve 70105 and is connected to port P of the hydraulically controlled reversing valve 70106, and the other stream of oil is connected to the hydraulic control port of the hydraulically controlled reversing valve 70106; port B of the electromagnetic reversing valve 70102 is connected to port T of the hydraulically controlled reversing valve 70106; port A of the hydraulically controlled reversing valve 70106 is connected to the control oil port of the chuck 505.

[0407] This system provides three working conditions, as shown in Figures 43 to 45.

[0408] As shown in Figure 43, the chuck 505 is in the released state. When both the left position Y1 and the right position Y2 of the solenoid reversing valve 70102 are de-energized, the solenoid reversing valve 70102 is in the neutral position, and the hydraulically controlled reversing valve 70106 operates in the right position under the action of the spring. When the pressure oil P1 of the main pump passes through the first check valve 70103 and reaches the outlets of the second check valve 70104, the outlet of the third check valve 70105, and the P port of the hydraulically controlled reversing valve 70106, the oil flow is shut off. Simultaneously, a stream of pressure oil P2 from the auxiliary pump flows through the second check valve 70104 and reaches the outlet of the first check valve 70103, the outlet of the third check valve 70105, and the P port of the hydraulically controlled reversing valve 70106, shutting off the oil flow. Another stream of pressure oil P2 from the auxiliary pump flows through the pressure reducing valve 70101 and reaches the P port of the solenoid reversing valve 70102, shutting off the oil flow. The pressure oil in the chuck returns to the oil tank 70107 through the right position of the hydraulic control reversing valve 70106 and the middle position of the electromagnetic reversing valve 70102. The chuck 505 is in a loosened state. At the same time, the control oil of the hydraulic control reversing valve 70106 is drained to the oil tank 70107 through the middle position of the electromagnetic reversing valve 70102.

[0409] As shown in Figure 44, chuck 505 is in a low-pressure clamping state. When the electromagnetic reversing valve 70102 is energized in the right position (Y2), it operates in the right position. The hydraulically controlled reversing valve 70106, under the action of the spring, operates in the right position. Pressurized oil from main pump P1 flows through the first check valve 70103 to the outlet of the second check valve 70104, the outlet of the third check valve 70105, and the port P of the hydraulically controlled reversing valve 70106. The pressure oil is then shut off. The control oil of the hydraulically controlled reversing valve 70106 then drains through the right position of the electromagnetic reversing valve 70102 to the oil tank 70107. A stream of pressure oil P2 from the auxiliary pump passes through the second one-way valve 70104 to the outlet of the first one-way valve 70103, the outlet of the third one-way valve 70105, and the P port of the hydraulically controlled reversing valve 70106, and the oil is cut off; another stream of oil passes through the pressure reducing valve 70101 to reduce the set pressure to 6MPa, and then the pressure oil flows through the right position of the electromagnetic reversing valve 70102, and then passes through the right position of the hydraulically controlled reversing valve 70106 to reach the chuck 505. At this time, the chuck is in a 6MPa low-pressure clamping state.

[0410] As shown in Figure 45, the chuck 505 is in a high-pressure clamping state. When the solenoid directional control valve 70102 is in the left position (Y1), energized, it operates in the left position. The hydraulically controlled directional control valve 70106, under the action of the control oil, also operates in the left position. Pressure oil P1 from the main pump flows through the first check valve 70103, reaching the outlet of the second check valve 70104 and the outlet of the third check valve 70105, where it is blocked. Finally, it flows through the left position of the hydraulically controlled directional control valve 70106 and into the normally open hydraulic chuck. The pressure oil P2 from the auxiliary pump is split into two oil paths. One path is reduced in pressure to 6 MPa by check valve 1, flows through the left position of solenoid directional control valve 70102, and reaches the control port of hydraulic control directional control valve 70106, causing the hydraulic control directional control valve to switch to the left position. The other path passes through the second check valve 70104, reaches the outlet of the first check valve 70103, and then the outlet of the third check valve 70105, blocking it. Finally, it flows through the left position of hydraulic control directional control valve 70106 and flows into the chuck 505. In this state, the main and auxiliary pumps merge to form a high-pressure oil source, which clamps the normally open chuck in a high-pressure state.

[0411] The workflow of the intelligent directional drilling rig is as follows:

[0412] 1. Automatic directional drilling

[0413] (1) Drilling conditions (taking any drill rod during drilling as an example)

[0414] dz0) Initial state

[0415] Assuming that the designed drilling inclination angle is α (taking the drilling inclination angle α as an upward inclination angle as an example), and the frame body 203 has been adjusted to the inclination angle, the drill bit, bottom hole motor, trajectory measurement probe and other drilling tools are ready, the tool face angle detection and initialization system 602 resets the tool face angle value to zero;

[0416] The power head 5 is equipped with an active drill rod 506, a connecting shaft 507, a hexagonal hole connecting sleeve 508, and a water braid 504. The power head is located at the rear end of the frame 2 (i.e., the propulsion displacement is 0), and no drill rod is connected to the active drill rod 506. The angle adjuster 503 is in a locked state, and the chuck pressure control system 701 controls the chuck 505 to be in a loose state.

[0417] There is a drill rod in the clamping hole of the front half of the clamping device 3, and the back half is loosened. The drill rod box 801 is filled with drill rods (or the number that meets the drilling depth requirement). The grabbing manipulator 803 is located at any position that does not interfere with the drill rod and other parts of the drilling rig. The internal cylinder of the first telescopic cylinder 80304 is fully extended, and the internal cylinder of the second telescopic cylinder 80302 is fully retracted, so that the mechanical claw 80301 is in the highest position and the mechanical claw is loosened. There is no drill rod in the rod placement slot 804, and the second clamping cylinder 80402 is loosened to expand the drill rod placement space. The main manipulator 4 has an inclination angle of 0°, the hand claw 407 is in a vertical position, and the clamping claw 40702 and the moving claw body 40701 are opened upward and straight At the initial position (i.e., the rod placement slot 804), the clamping jaw 40702 opens under the action of the retraction of the first clamping cylinder 40703, the piston rod of the moving cylinder 40705 is fully extended, the moving claw body 40701 and the clamping jaw 40702 are in the lowest position, the drill rod clamping center of the hand claw 407 coincides with the drill rod placement center of the rod placement slot 804, and the sliding cylinder 90109 of the isometric sensor 901 is fully retracted, causing the proximity sensor 90101 and the pressure plate 90102 to retract, thereby avoiding motion interference with the pressure rod 408 of the main manipulator 4. If the directional drilling rig is not in the above-mentioned initial state, it will automatically run back to the above-mentioned state after power is turned on and the automatic drilling function is started.

[0418] dz01) First stage drill pipe delivery (drill pipe storage system)

[0419] dz01-1) Box selection: According to the settings of the control system 6, the translation component 802 drives the grabbing manipulator 803 along the slide rail 80103 to grab drill rods from any drill rod box 801; in this application, the drill rods are preferably grabbed from the left drill rod box;

[0420] dz01-2) Row Selection: The rack and pinion formed by the second telescopic cylinder 80302 and the crossbeam assembly 80303 drives the mechanical claw 80301 to move along the crossbeam assembly, thereby switching between rows. This application preferably starts with the row of drill rods closest to the rack.

[0421] dz01-3) Layer selection: The oil cylinders in the first telescopic cylinder 80304 and the second telescopic cylinder 80302 adjust the height of the mechanical claw according to the drill rod storage situation, so that it is suitable for grabbing the drill rod selected by the gripping system;

[0422] dz01-4) Grasping: The mechanical claw 80301 clamps the selected drill rod to be grasped;

[0423] dz01-5) Lifting: The internal oil cylinder of the first telescopic cylinder 80304 is fully extended, and the internal oil cylinder of the second telescopic cylinder 80302 is fully retracted, so that the mechanical claw is in the highest position;

[0424] dz01-6) Alignment: The translation assembly 802 drives the grabbing manipulator to move along the slide rail 80103 to a position aligned with the frame 2 (i.e., the middle position of the two rod slots 804). To improve efficiency, this position in this application is the same as the box selection position of the left drill rod box.

[0425] dz01-7) Rod delivery: The gear rack formed by the second telescopic cylinder 80302 and the crossbeam assembly 80303 drives the mechanical claw 80301 to move along the crossbeam assembly to above the rod placement slot 804. The internal cylinders of the first telescopic cylinder 80304 and the second telescopic cylinder 80302 move in combination to adjust the height of the mechanical claw, placing the drill rod in the rod placement slot 804. At the same time, the second clamping cylinder 80402 of the rod placement slot retracts to align the drill rod more accurately with the frame 2. The mechanical claw is released, the internal cylinder of the first telescopic cylinder 80304 is fully extended, and the internal cylinder of the second telescopic cylinder 80302 is fully retracted. The mechanical claw moves along the crossbeam assembly 80303 and the slide rail 80103 to prepare for the next drill rod to be grasped.

[0426] dz02) Second stage drill pipe delivery (main manipulator 4)

[0427] dz02-1) Drill rod clamping: The first clamping cylinder 40703 extends, and the clamping jaws 40702 clamp the drill rod in the rod placement slot 804. At the same time, the second clamping cylinder 80402 in the rod placement slot extends, expanding the drill rod placement space (both facilitating the removal of the current drill rod and preparing for the subsequent drill rod placement).

[0428] dz02-2) The claw extends: the piston rod of the mobile cylinder 40705 retracts, driving the mobile claw body 40701 and the clamping claw 40702 to move upward to reach the highest position.

[0429] dz02-3) Raise: The piston rod II 40202 of the pitch cylinder 402 retracts, and the upward inclination angle of the main manipulator increases. When the upward inclination angle of the main manipulator reaches (α+θ), the incremental sensor 903 enters the coverage range of the angle identification plate 902. The incremental sensor 903 is turned on and sends a signal, indicating that the main manipulator 4 is at an inclination angle suitable for conveying drill pipes, and stops raising. At the same time, the sliding cylinder 90109 of the isometric sensor 901 extends, placing the pressure plate 90102 in a lateral position where it can be contacted and pressed down by the pressure rod 408;

[0430] dz02-4) Pressing down: The piston rod II 40202 of the pitch cylinder 402 extends, and the inclination angle of the main manipulator 4 decreases. When the inclination angle of the main manipulator reaches α (i.e., the same as the inclination angle of the frame body 203), the pressure rod 408 causes the side plate of the pressure plate seat 90103 of the isometric sensor to enter the sensing range of the proximity sensor 90101. The isometric sensor is turned on and outputs a signal, and the main manipulator 4 stops pressing down. At the same time, since the inclination angle of the main manipulator decreases by θ, the incremental sensor 903 leaves the coverage range of the angle identification plate 902, and the signal of the incremental sensor 903 is disconnected;

[0431] dz02-5) Flipping: The rotary drive 403 drives the gripper to flip in the direction of the frame 2. The preferred solution is to rotate 90° counterclockwise as shown in Figure 1. The drill rod is conveyed into the space between the power head 5 and the rear half of the gripper 3 on the frame body 203.

[0432] dz02-6) Claw release: The rear half of the gripper 3 clamps the drill rod, the gripper 40702 is released, and the drill rod conveying is completed;

[0433] dz02-7) Flip recovery: The rotary actuator 403 drives the gripper 407 to flip away from the frame. The preferred solution is to rotate it 90° clockwise as shown in Figure 1. At the same time, the sliding cylinder 90109 of the isometric sensor 901 retracts, causing the pressure plate 90102 to retract and avoid contact and interference with the pressure rod 408.

[0434] dz02-8) Tilt angle zeroing: The piston rod II 40202 of the pitch cylinder 402 is fully extended, and the piston rod I 40201 remains fully retracted, so that the main manipulator tilt angle returns to 0°;

[0435] dz02-9) Claw retraction: The piston rod of the mobile cylinder 40705 is fully extended, so that the mobile claw body 40701 and the clamping claw 40702 return to the lowest position, and the main manipulator returns to its initial state.

[0436] dz03) drilling

[0437] dz03-1) Angle adjuster unlocking: The drilling mode drive module selects the "rotary drilling" mode, connecting the hydraulic system 7 to the oil circuit of the sealed chamber Y in the angle adjuster 503. The hydraulic pressure drives the drive piston 50302 toward the movable toothed disc, pushing the transmission piston 50304 and the movable toothed disc 50306, causing the movable toothed disc 50306 to separate from the fixed toothed disc 50305, thereby switching the angle adjuster 503 to the unlocked mode.

[0438] dz03-2) Rear-end connection: The chuck pressure control system controls the chuck to a low-pressure clamping state. The main motor 501 of the power head 5 rotates forward, driving the active drill rod 506 to rotate. At the same time, the power head is driven forward by the propulsion cylinder 204 in the frame 2, and the active drill rod 506 is connected to the rear end of the drill rod delivered in step dz02.

[0439] dz03-3) Front-end connection: The rear half of the clamp 3 is released, and the active drill pipe and the drill pipe that has been connected in the previous step continue to rotate and advance under the drive of the main motor and the thrust cylinder. The front end joint of the drill pipe is connected with the last drill pipe in the hole (this drill pipe is clamped by the front half of the clamp), and then the front half of the clamp is released;

[0440] dz03-4) Angle adjuster locked: The drilling working condition drive module selects the "tool face angle adjustment" working condition, stops supplying oil to the sealing chamber Y of the angle adjuster 503, and the movable toothed disc 50306 engages with the fixed toothed disc 50305 under the action of the spring 50309, and the angle adjuster switches to the locked working condition.

[0441] dz03-5) Tool face angle adjustment: The rotary reducer 50303 drives the transmission shaft 50301 to rotate slowly, and transmits the rotational motion to the transmission 502 through the motor drive shaft 50201. The rotational motion is then transmitted to the drill pipe through the power head spindle and finally to the bottom hole motor in the hole to achieve accurate adjustment of the tool face angle;

[0442] dz03-6) Automatic drilling: The drilling condition drive module selects the "sliding directional drilling" condition, the rotary reducer 50303 stops driving, and an external medium pump truck (such as a water pump truck) is used to pass the drilling medium into the bottom hole motor through the water braid 504 to drive the bottom hole motor to rotate the drill bit, and the propulsion cylinder 204 drives the power head 5 and all the drill rods connected to the active drill rod 506 and the bottom hole motor forward to achieve sliding directional drilling.

[0443] dz03-7) Power head reset: After the current drill rod is fully drilled into the hole, the front half of the clamp clamps the current drill rod, the drilling condition drive module selects the "rotary drilling" condition, the angle adjuster 503 switches to the unlocked condition, the main motor 501 rotates in the opposite direction, drives the active drill rod 506 to reverse, disconnects the connection with the rear end threaded joint of the drill rod, and propels the oil cylinder 204 to drive the power head back to the rear end of the frame 2. The chuck pressure control system controls the chuck to be in a loose state.

[0444] At this point, the gripper 3, main manipulator 4, power head 5, drill rod storage system 8 and isometric sensor 901 are all restored to the initial state dz0), and drilling continues according to steps dz01) to dz03) until the set trajectory and depth are completed.

[0445] When the drilling inclination angle α is a downward pressure inclination angle, the difference is:

[0446] dz02-31) Raise: When the drilling inclination angle of the frame body is the downward pressure inclination angle and the angle identification plate is rotated by the lever connected to the frame body, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill pipe, and stops raising. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is in a lateral position where it can be contacted and pressed down by the pressure rod;

[0447] Or dz02-32) Raise: When the drilling inclination angle of the frame body is the downward pressure inclination angle, and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder is extended to position the pressure plate to be contacted and pressed down by the pressure rod;

[0448] dz02-41) Press down: When the previous step is dz02-31), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I is further extended until the pressure rod causes the side plate of the pressure plate seat of the isometric sensor to enter the sensing range of the proximity sensor. The isometric sensor is connected and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected;

[0449] Or dz02-42) press down: when the previous step is dz02-32), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the inclination angle of the manipulator decreases, and when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the pressure stops.

[0450] (2) Drilling back working condition

[0451] tz0) Initial state

[0452] Assume that the designed drilling inclination angle is α and the drilling rig has completed the current drilling construction;

[0453] The drilling working condition driving module 601 selects the "sliding directional drilling" working condition;

[0454] The power head is located at the front end of the frame 2 (i.e., the propulsion displacement has reached the full stroke), and the active drill rod 506 is connected to the last drill rod exposed in the hole (called the "end drill rod"), and the angle adjuster 503 is in a locked state; the chuck pressure control system controls the chuck 505 to be in a loose state.

[0455] The front and rear halves of the clamp 3 are both loosened;

[0456] The drill rod box 801 has sufficient space for drilling rod recovery;

[0457] The grabbing manipulator 803 is positioned at any position that does not interfere with the drill pipe or other components of the drilling rig. The internal cylinder of the first telescopic cylinder 80304 is fully extended, and the internal cylinder of the second telescopic cylinder 80302 is fully retracted, so that the mechanical claw 80301 is in the highest position and the mechanical claw is released.

[0458] There is no drill rod in the rod placement groove 804, and the second clamping cylinder 80402 is loosened to expand the space for placing the drill rod;

[0459] The main manipulator 4 has an inclination angle of 0°, the gripper 407 is in a vertical position, and the jaws 40702 and the movable claw body 40701 are opened upwards. The jaws 40702 are opened by the retraction of the first clamping cylinder 40703. The piston rod of the movable cylinder 40705 is fully extended, the movable claw body 40701 and the gripper 40702 are in the lowest position, and the drill rod clamping center of the gripper 407 coincides with the drill rod placement center of the rod placement slot 804. The sliding cylinder 90109 of the isometric sensor 901 is fully retracted, causing the proximity sensor 90101 and the pressure plate 90102 to retract, thereby avoiding interference with the pressure rod 408 of the main manipulator.

[0460] If the drilling rig is not in the above initial state, it will automatically return to the above state after power is turned on and the automatic drill retraction function is started.

[0461] tz01)Drill back

[0462] tz01-1) Sliding rod withdrawal: The drilling mode drive module maintains the "sliding directional drilling" mode. The chuck multi-stage pressure control system controls the chuck to a low-pressure clamping state. The thrust cylinder 204 drives the power head 5 and all drill rods connected to the active drill rod 506 and the bottom hole motor to retreat until the end drill rod is completely out of the hole (the power head reserves the displacement required for thread disassembly);

[0463] tz01-2) Angle adjuster unlocking: The drilling condition drive module selects the "rotary drilling" condition, connects the hydraulic system to the oil circuit of the sealed chamber Y of the angle adjuster 503, and the hydraulic pressure drives the driving piston 50302 and pushes the transmission piston 50304 and the movable gear disc 50306 to separate from the fixed gear disc 50305, and the angle adjuster switches to the unlocked condition.

[0464] tz01-3) Front-end shackle: The rear half of the gripper 3 clamps the terminal drill rod, while the front half clamps the drill rod immediately preceding the terminal drill rod. The front and rear halves rotate relative to each other, pre-loosening the threaded connection between the two drill rods. The rear half releases the gripper, and the main motor 501 of the power head 5 rotates in the opposite direction, driving the active drill rod 506 to rotate in the opposite direction. Simultaneously, the power head retreats under the drive of the propulsion cylinder 204 of the frame 2, and the connection between the terminal drill rod and the preceding drill rod is released.

[0465] tz01-4) Rear-end shackle: The rear half of the gripper 3 clamps the terminal drill rod, and the active drill rod 506 continues to reverse under the drive of the main motor 501 and retreats under the drive of the thrust cylinder 204, loosening the connection between the terminal drill rod and the active drill rod;

[0466] tz02) Second stage feeding rod for drilling retraction (main manipulator)

[0467] tz02-1) Extend the claw: Same as step dz02-2);

[0468] tz02-2) Upward: Same as step dz02-3);

[0469] tz02-3) Press down: same as step dz02-4);

[0470] tz02-4) Flipping: Same as step dz02-5), except that here the empty claw flips in and just contacts the drill rod.

[0471] tz02-5) Clamping the gripper: The first clamping cylinder 40703 extends, and the clamping jaws 40702 clamp the drill pipe. At the same time, the rear half of the gripper 3 is released;

[0472] tz02-6) Flip and restore: same as step dz02-7);

[0473] tz02-7) Reset the tilt angle to zero: Same as step dz02-8);

[0474] tz02-8) Hand claw retracts: Same as step dz02-9), when the hand claw retracts to the lowest position, the drill rod enters the rod slot 804. At the same time, the second clamping cylinder 80402 of the rod slot retracts, aligning the drill rod with the drill rod box;

[0475] tz02-9) Gripper release: Gripper 40702 is released and the main manipulator returns to its initial state;

[0476] tz03) First stage rod feeding for drill withdrawal (drill rod storage system)

[0477] tz03-1) Alignment: Translation assembly 802 drives gripper arm 803 along slide rail 80103 to a position aligned with the center of two rod slots 804. To improve efficiency, this position in the present application is identical to the left drill rod box selection position and the position where main manipulator 4 delivers drill rods to rack 2.

[0478] tz03-2) Rod retrieval: The gear rack formed by the second telescopic cylinder 80302 and the crossbeam assembly 80303 drives the mechanical claw 80301 to move along the crossbeam assembly to above the rod placement slot 804. The internal cylinders of the first telescopic cylinder 80304 and the second telescopic cylinder 80302 move in combination to adjust the height of the mechanical claw, so that the mechanical claw contacts the drill rod in the rod placement slot, and the clamping center coincides with the center of the drill rod. The mechanical claw clamps the drill rod. At the same time, the second clamping cylinder 80402 of the rod placement slot extends, expanding the space for placing the drill rod and facilitating its retrieval.

[0479] tz03-3) Lifting: The internal cylinder of the second telescopic cylinder 80302 is fully retracted, and the internal cylinder of the first telescopic cylinder 80304 is fully extended, lifting the mechanical claw and drill rod to the highest position;

[0480] tz03-4) Box Selection: Based on the control system settings, the translation assembly 802 drives the gripper arm along the slide rail 80103 to return the drill rods to any drill rod box. In this application, it is preferred to return the drill rods to the right drill rod box first.

[0481] tz03-5) Column Selection: The rack and pinion formed by the second telescopic cylinder 80302 and the crossbeam assembly 80303 drives the mechanical claw 80301 along the crossbeam assembly, thereby switching between columns. In this application, it is preferred to first return the drill rod to the column farthest from the rack;

[0482] tz03-6) Layer selection: The oil cylinders in the first telescopic cylinder 80304 and the second telescopic cylinder 80302 adjust the height of the mechanical claws based on the drill rod storage situation determined in real time by the control system, and begin to return the drill rods to the lowest position in the designated column where drill rods can be placed;

[0483] tz03-7) Release the rod: The mechanical claw 80301 is released, the internal cylinder of the first telescopic cylinder 80304 is fully extended, and the internal cylinder of the second telescopic cylinder 80302 is fully retracted, so that the manipulator returns to the high position;

[0484] tz04) Power head and gripper reset: Thrust cylinder 204 drives the power head back to the front end of frame 2. Main motor 501 rotates forward, driving active drill rod 506 to connect with the current end drill rod. The front half of the gripper is released. The drilling mode drive module selects the "sliding directional drilling" mode. The chuck multi-stage pressure control system controls the chuck 505 to be released.

[0485] At this point, the gripper 3, main manipulator 4, power head 5, drill rod storage system 8, isometric sensor 901, etc. are all restored to the initial state tz0), and the drill is continued to be withdrawn according to steps tz01) to tz04) until all drill rods are withdrawn from the hole.

[0486] When the drilling inclination angle α is a downward pressure inclination angle, the difference is:

[0487] tz02-21) Raising: When the drilling inclination angle of the frame body is the downward pressure inclination angle, and the angle identification plate is rotated by the lever connected to the frame body, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill pipe, and stops raising. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is in a lateral position where it can be contacted and pressed down by the pressure rod;

[0488] Or tz02-22) Raise: When the drilling inclination angle of the frame body is the downward pressure inclination angle, and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder is extended to position the pressure plate to be contacted and pressed down by the pressure rod;

[0489] tz02-31) Press down: When the previous step is tz02-21), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I is further extended until the pressure rod causes the side plate of the pressure plate seat of the isometric sensor to enter the sensing range of the proximity sensor. The isometric sensor is connected and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected;

[0490] Or tz02-32) press down: when the previous step is tz02-22), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the inclination angle of the manipulator decreases, and when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the pressure stops.

[0491] Supplement: The three steps of the drilling process, dz01 to dz03, respectively describe the workflow of the drilling system (power head, frame, and gripper), main manipulator, and drill pipe storage system. Depending on the length of each process and the spatial relationship between the mechanisms, each process can be executed in serial or parallel mode to save overall drilling time and improve efficiency. Similarly, the four steps of the drill withdrawal process, tz01 to tz04, can also be executed in serial or parallel mode to save overall drilling time and improve efficiency.

[0492] 2. Automatic rotary drilling

[0493] The drilling working condition drive module always selects the "rotary drilling" working condition, and the chuck pressure control system always controls the chuck 505 to be in a low-pressure clamping state. During rotary drilling, no bottom hole motor is required, and the drill bit only needs to be installed on the front end drill rod.

[0494] The drill rod conveying process is exactly the same as that of automatic directional drilling. The drilling and retracting processes are similar to those of automatic directional drilling. The distinguishing features are:

[0495] (1) The angle adjuster 503 is always in the unlocked state.

[0496] (2) During the drilling process (dz03), there is no "dz03-5) Tool face angle adjustment" step, and in the drilling step (dz03-6), the power head and drill pipe rotation power head are always provided by the main motor 501.

[0497] 3. Automatic compound drilling

[0498] Select the "Compound Drilling" working condition in the drilling condition drive module. The drilling tools for automatic compound drilling are the same as those for automatic directional drilling. The drill rod conveying process is exactly the same as that for automatic directional drilling. The drilling and retracting processes are similar to those for automatic directional drilling. The distinguishing features are:

[0499] (1) The angle adjuster 503 is always in the unlocked state.

[0500] (2) During the drilling process (dz03), an external medium pump truck (such as a water pump truck) is used to supply drilling medium to the bottom hole motor through the water braid 504 to drive the bottom hole motor to rotate the drill bit, and the main motor 501 is used to drive the power head and drill pipe to rotate.

[0501] 4. Salvage drill pipe

[0502] During the drilling process, if an accident such as drill pipe breakage occurs and the drill pipe cannot be removed, a special salvage drilling tool must be used for salvage drilling. Before the drill pipe salvage process is carried out, the active drill pipe 506, the connecting shaft 507 and the water braid 504 are first removed. The subsequent drilling, drill withdrawal and drill pipe conveying operations are the same as automatic rotary drilling. The difference is that the drilling condition drive module always selects the "rotary drilling" condition, and the power head uses a chuck to directly connect to the drill pipe instead of connecting the drill pipe through the active drill pipe. When the chuck is required to clamp the drill pipe, the chuck pressure control system controls the chuck to be in a high-pressure clamping state.

[0503] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the utility model.

Claims

1. An intelligent directional drilling rig for coal mines, comprising a mobile platform, a frame, a clamp, a main manipulator, a power head, a drill rod storage system, a control system and a hydraulic system, wherein the frame, the drill rod storage system, the control system, the hydraulic system and the main manipulator are all mounted on the mobile platform, the clamp and the power head are respectively mounted at both ends of the frame, the power head comprises a main motor, a transmission and a main shaft, the transmission has a driving shaft, one end of the driving shaft is connected to the main motor, and the driving shaft is meshed with the main shaft through the gears in the transmission, the drill rod is fixedly connected to the main shaft in the circumferential direction, and the bottom hole motor is arranged at the front end of the drill rod as a bottom hole drilling actuator, characterized in that: The other end of the drive shaft is connected to an angle adjuster through a transmission; The angle adjuster comprises a transmission shaft, a fixed toothed disc, a movable toothed disc, a swivel seat and a swivel reducer with a self-locking function, one end of the transmission shaft is circumferentially fixedly connected to the drive shaft, the fixed toothed disc and the movable toothed disc are both sleeved on the transmission shaft, and the fixed toothed disc and the movable toothed disc are engaged with helical teeth, the fixed toothed disc and the transmission shaft are circumferentially fixedly connected, the movable toothed disc and the transmission shaft are rotatably connected, and the movable toothed disc can slide along the axial direction of the transmission shaft; The rotary seat is sleeved on the mobile gear disc and is circumferentially fixedly connected, and the output disc of the rotary reducer is coaxial with the rotary seat and is fixedly connected to the mobile gear disc, so as to transmit the rotation of the output disc of the rotary reducer to the mobile gear disc; The control system includes a tool face angle detection and initialization system, which includes a first segment, a second segment, and a third segment connected in sequence, a first signal combination identifier is set in the first segment, a first sensor and a second signal combination identifier are set in the second stage, and a second sensor is set in the third segment, and the angle between the first sensor and the first signal combination identifier is measured by the first sensor. Measuring the angle ρ between the second sensor and the second signal combination identifier; The first signal combination identifier includes a first signal source and a second signal source, and the first signal source and the second signal source are arranged opposite to each other and staggered in the first segment; the second signal combination identifier includes a third signal source and a fourth signal source, and the third signal source and the fourth signal source are arranged opposite to each other and staggered in the second segment.

2. The intelligent directional drilling machine for coal mines according to claim 1 is characterized in that: The angle adjuster also includes a driving piston and an adjuster connecting seat, wherein the driving piston is sleeved on the transmission shaft and is located on a side of the fixed gear disc away from the movable gear disc, and an end of the driving piston away from the driving shaft is connected to the movable gear disc; The regulator connection seat is sleeved on the driving piston, the outer circle of the regulator connection seat is divided into three levels of diameter, and the diameter of the middle section is the largest, and the end faces of both sides of the middle section are respectively connected to the transmission and the rotary reducer to achieve relative axial positioning between the transmission, the regulator connection seat and the rotary reducer, and the inner diameter of the regulator connection seat is divided into three levels of aperture, wherein the two sections of aperture away from the transmission match the outer diameter of the driving piston and are sleeved on the driving piston; The driving piston is a two-stage stepped shaft, and a sealing groove is provided on the outer circle of its small diameter end. A sealing ring is installed in the sealing groove and cooperates with the corresponding position of the regulator connecting seat sleeved thereon to form a first seal. The outer circle of the large diameter end cooperates with the sealing ring installed at the corresponding position of the regulator connecting seat to form a second seal. A sealing cavity located between the driving piston and the regulator connecting seat is formed between the first seal and the second seal, and an oil inlet connected to the sealing cavity is provided on the regulator connecting seat. Under the action of hydraulic oil entering the sealing cavity through the oil inlet, the driving piston pushes the movable gear disc in a direction away from the fixed gear disc, so that the movable gear disc can slide along the axial direction of the transmission shaft.

3. The intelligent directional drilling machine for coal mines according to claim 2 is characterized in that: The angle adjuster also includes an angle adjuster end cover, the other end of the transmission shaft is rotatably connected to the angle adjuster end cover, the movable toothed disc is a disc-shaped part with a central through hole, and the central through hole is a stepped through hole, and the stepped through hole is a large-diameter through hole facing the angle adjuster end cover, the movable toothed disc is sleeved on the angle adjuster end cover through the large-diameter through hole and slidably connected, the end surface of the movable toothed disc facing the driving piston is provided with first helical teeth distributed along the circumference, and the fixed toothed disc is provided with second helical teeth meshing with the first helical teeth, and a spring is provided between the inner end surface of the large-diameter through hole and the end surface of the angle adjuster end cover opposite to the inner end surface, so that the first helical teeth and the second helical teeth mesh under the thrust of the spring; The outer circumferential surface of the movable gear disc is provided with evenly distributed bosses, the swivel seat is sleeved on the movable gear disc and is provided with grooves matching the bosses so as to be fixedly connected to the movable gear disc in the circumferential direction, and one end of the swivel seat is provided with a swivel reducer connecting plate fixedly connected to the output plate of the swivel reducer so as to transmit the rotation of the output plate in the swivel reducer to the movable gear disc.

4. The intelligent directional drilling machine for coal mines according to claim 1 is characterized in that: The power head also includes a water braid, an active drill rod, a hexagonal hole connecting sleeve and a connecting shaft. The water braid includes a core shaft, a water inlet assembly, a bearing seat, a sealing shaft and a core shaft supporting bearing. The water inlet assembly is sleeved on the core shaft and rotatably connected. The bearing seat is sleeved on the core shaft and rotatably connected through the core shaft supporting bearings arranged at both ends of the bearing seat. The core shaft is a hollow shaft, the left end of which is fixedly connected to the connecting shaft, and the inner side of the right end of which is connected to the sealing shaft to seal the right end of the core shaft, and a water inlet hole is provided on the core shaft, and the water inlet hole is communicated with the water inlet assembly, the water inlet assembly includes a water inlet and a shell communicating with the water inlet, the inner cavity of the shell is a symmetrical structure, and the symmetry plane is perpendicular to the axis of the core shaft to balance the axial force, the water inlet assembly is sleeved on the core shaft through the shell, and the inner cavity of the shell is communicated with the water inlet hole of the core shaft; The connecting shaft is a hollow shaft and is arranged inside the main shaft. Its two ends are respectively connected to the core shaft of the water braid and the active drill rod with an axial floating structure, and a hexagonal head is provided at one end of the connecting shaft close to the core shaft. The hexagonal hole connecting sleeve is fixedly connected to one end of the main shaft close to the water braid and is sleeved on the connecting shaft. A hexagonal hole matching the hexagonal head is provided inside the connecting shaft to form a sliding connection between the connecting shaft and the hexagonal hole connecting sleeve to limit rotation, thereby making the connecting shaft The coupling shaft and the mandrel are capable of axial floating.

5. The intelligent directional drilling machine for coal mines according to claim 4 is characterized in that: The power head also includes a chuck, which is connected to the end of the main shaft away from the water braid and rotates with the main shaft. The axial floating structure of the active drill rod includes a spring and a drill rod end cover. The active drill rod and the chuck are key-connected, and the spring is arranged on the end surface of the active drill rod close to the chuck so that the active drill rod can float axially. The drill rod end cover is sleeved on the active drill rod and fixedly connected to the chuck to limit the axial floating distance of the active drill rod.

6. The intelligent directional drilling machine for coal mines according to claim 1, characterized in that: The first section is a bottom hole motor, the second section is a measuring short section mounting tube, and the third section is a drill pipe.

7. The intelligent directional drilling machine for coal mines according to claim 6 is characterized in that: During the measurement, the second sensor of the third section is pointed to the 0° direction, and the initial angle of the tool face angle of the first section is And the upward direction perpendicular to the horizontal plane is taken as the 0° direction of the second sensor.

8. The intelligent directional drilling machine for coal mines according to claim 7 is characterized in that: The first signal source and the second signal source in the first signal combination identifier are signal sources of the same type, and the signal strengths emitted by them are the same; the third signal source and the fourth signal source in the second signal combination identifier are signal sources of the same type, and the signal strengths emitted by them are the same.

9. The intelligent directional drilling machine for coal mines according to claim 5, characterized in that: The hydraulic system includes a chuck pressure control system, and the chuck pressure control system includes a pressure reducing valve, an electromagnetic reversing valve, a hydraulically controlled reversing valve, a main pump, an auxiliary pump, and a chuck; The electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve with port A, port B, port P and port T; the hydraulic control reversing valve has port P, port T, port A and hydraulic control port, and the chuck has a control oil port; The main pump is connected to the P port of the hydraulically controlled reversing valve; the oil circuit of the auxiliary pump is divided into two branches, one branch is connected to the P port of the hydraulically controlled reversing valve, and the other branch is connected to the P port of the electromagnetic reversing valve through the pressure reducing valve; the oil drain port of the pressure reducing valve is connected to the T port of the electromagnetic reversing valve and drains oil; The oil outlet of port A of the electromagnetic reversing valve is divided into two streams, one of which is connected to port P of the hydraulically controlled reversing valve, and the other is connected to the hydraulic control port of the hydraulically controlled reversing valve; The B port of the electromagnetic reversing valve is connected to the T port of the hydraulically controlled reversing valve; the A port of the hydraulically controlled reversing valve is connected to the control oil port of the chuck.

10. The intelligent directional drilling machine for coal mines according to claim 9, characterized in that: The oil circuit of the main pump flows to the P port of the hydraulically controlled reversing valve through the first one-way valve, the oil circuit of the auxiliary pump is connected to the P port of the hydraulically controlled reversing valve through the second one-way valve, and the A port of the electromagnetic reversing valve is connected to the P port of the hydraulically controlled reversing valve through the third one-way valve.

11. The intelligent directional drilling machine for coal mines according to claim 9, characterized in that: The solenoid directional control valve has Y1 and Y2 positions.

12. The chuck pressure control system for an automatic directional drilling machine according to claim 11, characterized in that: In the first working condition, the Y1 and Y2 positions lose power, the pressure oil from the main pump reaches the P port of the hydraulic control reversing valve and is cut off; the pressure oil from the auxiliary pump flows through the pressure reducing valve and reaches the P port of the electromagnetic reversing valve and is cut off; In the second working condition, Y2 is energized, and the pressure oil from the main pump reaches the P port of the hydraulic control reversing valve and is cut off; one stream of the pressure oil from the auxiliary pump reaches the P port of the hydraulic control reversing valve and is cut off, and the other stream flows through the pressure reducing valve, passes through the electromagnetic reversing valve, and reaches the control port of the chuck through the hydraulic control valve; In the third working condition, Y1 is energized, and the pressure oil from the main pump flows into the control port of the chuck through the hydraulically controlled reversing valve. One stream of pressure oil from the auxiliary pump reaches the control port of the hydraulically controlled reversing valve through the electromagnetic reversing valve to switch the working state of the hydraulically controlled reversing valve, and the other stream flows into the control port of the chuck through the hydraulically controlled reversing valve, and the hydraulic oils from the main pump and the auxiliary pump merge.

13. The intelligent directional drilling machine for coal mines according to claim 12, characterized in that: The drill rod storage system includes a plurality of drill rod boxes arranged in a matrix, and the drill rods in all the drill rod boxes are oriented in the same direction; each drill rod box includes a base, a side wall is provided above the base, and partitions are provided on the side walls, and the distance between adjacent partitions matches the diameter of the drill rod.

14. The intelligent directional drilling machine for coal mines according to claim 13, characterized in that: A slide rail is provided on the side of the drill rod box, which is in the same direction as the drill rod inside the box. A grabbing manipulator is slidably provided on the slide rail, and the grabbing manipulator is driven to slide on the slide rail by a translation assembly. The translation assembly includes at least two levels of traveling cylinders. The first-level traveling cylinder is fixed on the matrix drill pipe storage system, and a hoop plate is arranged on its piston rod. The hoop plate slides in the slide rail under the drive of the first-level traveling cylinder, and the next-level traveling cylinder is fixed on the hoop plate; the last-level traveling cylinder is fixed on the hoop plate of the previous-level traveling cylinder, and its piston rod is fixedly connected to the grabbing robot, and sliders for cooperating with the slide rail are arranged on both sides of the hoop plate.

15. The intelligent directional drilling machine for coal mines according to claim 14, characterized in that: The grasping manipulator comprises: A first telescopic cylinder, one end of which is provided with a crossbeam assembly, and the crossbeam assembly is driven to move in a direction close to or away from the first telescopic cylinder, and is slidably connected to the slide rail and fixedly connected to the translation assembly; A second telescopic cylinder is disposed at one end of the crossbeam assembly away from the first telescopic cylinder and moves on the crossbeam assembly in a direction approaching or away from the first telescopic cylinder; A mechanical claw is arranged at an end of the second telescopic cylinder away from the crossbeam assembly and is used to grab the drill rod.

16. The intelligent directional drilling machine for coal mines according to claim 15, characterized in that: The drill rod box is fixedly provided with a rod placement groove for fixing and temporarily storing the drill rod grabbed by the grabbing robot, the rod placement groove comprises a drill rod groove seat fixedly provided on the drill rod box on one side close to the frame, the drill rod groove seat is provided with a drill rod groove, a second clamping oil cylinder is provided on the drill rod groove seat, a sliding plate is connected to its piston rod, a drill rod baffle is fixedly provided on the sliding plate, the second clamping oil cylinder drives the sliding plate to drive the drill rod baffle to move in a direction toward or away from the drill rod groove; there are two rod placement grooves, which are respectively arranged at two ends of the drill rod box on one side close to the frame, so that a space for temporarily storing the drill rod is formed between the drill rod baffle and the drill rod groove.

17. The intelligent directional drilling machine for coal mines according to claim 16, characterized in that: The main manipulator is arranged on the mobile platform and is located between the drill rod box and the frame arranged on the mobile platform, and is used for conveying the drill rod temporarily stored in the rod storage slot to the frame, and the frame includes a frame connecting seat fixedly connected to the drilling rig mobile platform and a frame body hinged on the frame connecting seat, and the main manipulator includes a pitch cylinder, a slewing drive, a pitch arm, a slewing shaft, a slewing arm and a claw, and the pitch cylinder is a double-head combined cylinder, and the piston rod II at one end of the pitch cylinder is hinged to the drilling mobile platform through a first cylinder seat fixedly connected to the drilling mobile platform, and the piston rod I at the other end of the pitch cylinder is hinged to the pitch arm, and the vertical plane where the axis of the pitch cylinder is located is parallel to the vertical plane where the axis of the frame is located, and when the piston rod I is fully retracted and the piston rod II is fully extended, the manipulator is in a horizontal position; The pitch arm includes a connecting sleeve, a supporting body, an axle seat and a rotating cylinder, one end of the rotating cylinder is fixedly connected to the connecting seat in the frame, the connecting sleeve is sleeved on the rotating cylinder and is rotatably connected, one end of the supporting body is fixedly connected to the connecting sleeve, the other end is connected to the axle seat, and is hinged to the supporting body in the pitch cylinder, one end of the axle seat is connected to a rotary drive, a rotary shaft is installed in its inner cavity, and one end of the rotary shaft is circumferentially fixedly connected to the output shaft of the rotary drive, the other end of the rotary shaft is connected to a rotating arm, and the rotating arm is connected to a hand claw; The hand claw comprises a movable claw body, a clamping claw, a first clamping oil cylinder, a fixed seat and a movable oil cylinder, the fixed seat is a concave cavity, the movable oil cylinder is hinged in the concave cavity, the movable claw body and the back side of the concave cavity form a movable pair, and the rotating arm is connected to the hand claw through the side of the concave cavity, the top of the movable claw body is a fixed claw, and is hinged with the clamping claw to clamp and fix the drill rod, the bottom of the movable claw body is hinged with the piston rod of the movable oil cylinder to drive the movable claw body to move; the movable claw body has an internal cavity, the first clamping oil cylinder is hinged in the inner cavity, and the movable claw body is connected to the inner cavity. The cylinder is hinged in the internal cavity, and the back side of the clamping jaw is hinged to the piston rod of the first clamping cylinder to drive the clamping jaw to clamp the drill rod. When the piston rod of the mobile cylinder is fully retracted to move the mobile claw body to the highest point, the distance from the rotation center line of the swing arm to the clamping center line of the mobile claw body is equal to the distance from the rotation center line of the swing arm to the drilling center line of the frame. When the piston rod of the mobile cylinder is fully extended to move the mobile claw body to the lowest point, the clamping center line of the mobile claw body coincides with the placement center line of the drill rod temporarily stored in the rod placement groove.

18. The intelligent directional drilling machine for coal mines according to claim 17, characterized in that: It also includes a manipulator positioning system, which includes an equiangular sensor, an incremental sensor, an angle identification plate and a pressure rod, wherein the pressure rod is connected to the side of the fixed seat opposite to the rotating arm, and the equiangular sensor includes a proximity sensor, a pressure plate, a pressure plate seat, an elastic member, a support seat, a sliding rod, a sliding seat, a mounting frame, a sliding cylinder and a sliding cylinder seat, the bottom of the mounting frame is fixedly connected to the frame body in the frame, and the top is connected to and supports the sliding seat, the sliding rod is matched with the sliding seat to form a moving pair, and the sliding cylinder is respectively connected to the mounting frame and fixedly connected to the sliding cylinder. The sliding cylinder seat on the rod is hinged, the bottom of the support seat is fixedly connected to the sliding rod, and a proximity sensor is provided at one end of the support seat close to the hand claw, one end of the pressure plate seat is hinged to the support seat, and a side plate extending downward is provided on the side close to the proximity sensor, so that the side plate and the proximity sensor are paired to form a signal sensing group, and an elastic member is provided between the pressure plate seat and the support seat, and the pressure plate seat is lifted in a natural state to prevent the side plate of the pressure plate seat from being connected to the proximity sensor, and the pressure plate is a bent plate, the top end of which is used to contact the pressure rod, and the bottom end is fixedly connected to the pressure plate seat; The angle identification plate is a circular ring with a partial sector-shaped protrusion, the circular ring has a plate body and a sector-shaped block with a protrusion, the inner hole of the circular ring is movably sleeved on the side of the rotating cylinder facing the frame, the sector-shaped block is provided with a toggle groove, the frame body in the frame is fixedly connected with a toggle rod on the side facing the manipulator, the toggle rod is inserted into the toggle groove, so that when the inclination angle of the frame body changes, the angle identification plate and the frame body change the same angle, the incremental sensor is arranged on the side of the connecting sleeve close to the angle identification plate, and is located on the side of the connecting sleeve close to the isometric sensor, and the incremental sensor is paired with the sector-shaped block to form a signal sensing group; When the drilling center lines of the manipulator and the frame are both in a horizontal position, the incremental sensor is in a horizontal position, and the edge line of one end of the sector block close to the incremental sensor is above the horizontal line, the incremental sensor signal is not connected, and the vertical height of the pressure rod can press the pressure plate down and connect the signal of the proximity sensor.

19. A drilling method for a coal mine intelligent directional drilling rig, characterized in that: According to claim 18, a coal mine intelligent directional drilling machine is provided, wherein the control system controls the driving conditions of the main motor, the rotary reducer and the bottom hole motor and the meshing state of the fixed gear plate and the movable gear plate, so that the coal mine intelligent directional drilling machine has four working conditions: sliding directional drilling, rotary drilling, compound drilling and salvaging drill rods. The sliding directional drilling includes the following steps: dz0. Initial state: The tool face angle value is reset to zero through the tool face angle detection and initialization system, and the chuck is controlled to be in a loose state through the chuck pressure control system. The front half of the clamp clamps the existing drill rod in the borehole, and the rear half is loosened. The fixed gear disc and the movable gear disc are in a helical meshing state through axial sliding, and the angle adjuster is locked. The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the main manipulator is in a horizontal position, and the piston rod of the mobile cylinder is fully extended, so that the drill rod clamping center line of the gripper coincides with the drill rod placement center line of the rod placement groove, and the sliding cylinder of the isometric sensor is fully retracted; dz01) First stage delivery drill pipe dz01-1) Box selection: The translation assembly drives the grabbing manipulator to translate along the length of the drill rod box to select any drill rod from The box grabs the drill pipe; dz01-2) Column selection: The mechanical claw moves along the beam assembly to switch between columns of drill rods; dz01-3) Layer selection: The first telescopic cylinder and the second telescopic cylinder adjust the height of the mechanical claw according to the drill rod storage situation, so that it reaches a height suitable for the drill rod selected by the grabbing system; dz01-4) Grasping: The mechanical claw clamps the selected drill pipe to be grasped; dz01-5) Lifting: The first telescopic cylinder is fully extended, and the second telescopic cylinder is fully retracted, so that the mechanical claw is in the highest position; dz01-6) Alignment: The translation assembly drives the grabbing manipulator to move along the slide rail to a position aligned with the middle of the line connecting the two rod placement slots; dz01-7) Rod delivery: The mechanical claw moves along the crossbeam assembly to the top of the rod placement slot, and the first telescopic cylinder and the second telescopic cylinder move in combination to adjust the height of the mechanical claw, and the drill rod is placed in the rod placement slot; dz02) Second stage delivery drill pipe dz02-1) Clamping the drill rod: The first clamping cylinder extends, and the clamping claws clamp the drill rod in the rod slot; dz02-2) The claw extends: the piston rod of the mobile cylinder retracts, driving the mobile claw to move upward to reach the highest position; dz02-31) Ascending: When the drilling inclination angle of the frame body is an upward inclination angle, or when the drilling inclination angle of the frame body is a downward inclination angle and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill rod, and stops ascending. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is in a lateral position where it can be contacted and pressed down by the pressure rod; Or dz02-32) upward: when the drilling inclination angle of the frame body is the downward pressure inclination angle, and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is connected and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends to make the pressure plate in a position where it can be contacted and pressed down by the pressure rod; dz02-41) Press down: When the previous step is dz02-31), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I continues to be extended until the pressure rod makes the side plate of the pressure plate seat of the equiangular sensor enter the sensing range of the proximity sensor, the equiangular sensor is turned on and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected; Or dz02-42) press down: when the previous step is dz02-32), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the inclination angle of the manipulator decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the pressure stops; dz02-5) Turning: The rotary drive drives the claw to turn toward the frame body, and the drill rod is conveyed into the space between the power head on the frame body and the rear half of the clamp; dz02-6) The claws are released: the rear half of the gripper clamps the drill rod, the claws are released, and the drill rod delivery is completed; dz02-7) Flip recovery: the rotary drive drives the gripper to flip away from the frame, and the sliding cylinder of the isometric sensor retracts to retract the pressure plate; dz02-8) Tilt angle zeroing: The piston rod II of the pitch cylinder is fully extended, and the piston rod I remains fully retracted, so that the main manipulator tilt angle returns to the horizontal position; dz02-9) Gripper retracts: The piston rod of the mobile cylinder is fully extended, so that the mobile claw body and the clamp return to the lowest position, and the main manipulator returns to its initial state. dz03) Drilling dz03-1) Angle adjuster unlocking: by axially sliding the movable toothed disc, the fixed toothed disc and the movable toothed disc are separated, thereby making the angle adjuster unlocked; dz03-2) Rear end connection: The chuck pressure control system controls the chuck to be in a low-pressure clamping state, the main motor of the power head rotates forward, drives the active drill rod to rotate, and the power head moves forward under the drive of the propulsion cylinder in the frame, and the active drill rod is connected with the rear end of the drill rod delivered in step dz02; dz03-3) Front end buckle: The rear half of the clamp is released, and the front half of the clamp clamps the last drill rod in the borehole. The active drill rod and the drill rod that has been buckled at the rear end in the previous step continue to rotate and move forward under the drive of the main motor and the thrust cylinder. The front end joint of the drill rod is buckled with the end drill rod in the hole, and then the front half of the clamp is released; dz03-4) Angle adjuster locking: by axially sliding the movable toothed disc, the fixed toothed disc and the movable toothed disc are in a state of helical meshing, thereby locking the angle adjuster; dz03-5) Tool face angle adjustment: After the tool face angle detection and initialization system resets the tool face angle value to zero, the specified tool face angle is selected, and the drive shaft is driven to rotate slowly through the rotary reducer, and the rotation is transmitted to the transmission through the drive shaft, and then the rotation motion is transmitted to the drill pipe through the power head spindle, and finally transmitted to the bottom hole motor in the hole through the drill pipe to achieve accurate adjustment of the tool face angle; dz03-6) Automatic drilling: The rotary reducer stops driving, and an external medium pump is used to pass drilling medium to the bottom hole motor through a water braid to drive the bottom hole motor to rotate the drill bit, and the propulsion cylinder drives the power head and all the drill rods connected to the active drill rod and the bottom hole motor forward to achieve sliding directional drilling; dz03-7) Power head reset: After the current drill rod is fully drilled into the hole, the front half of the clamp clamps the current drill rod, and the rear half remains loose. The fixed and movable gear discs are separated by axial sliding, and the angle adjuster is unlocked. The main motor rotates in the reverse direction, driving the active drill rod to reverse and disconnect the connection with the rear end threaded joint of the drill rod. Then, the propulsion cylinder drives the power head back to the rear end of the frame, and the chuck pressure control system controls the chuck to be in a loose state, and drilling continues according to steps dz01) to dz03) until the set trajectory and depth are completed.

20. The drilling method of the coal mine intelligent directional drilling machine according to claim 19, characterized in that: The sliding directional drilling also includes a drill withdrawal process, which specifically includes the following steps: tz0) Initial state The drilling rig has completed the current drilling construction, the power head is located at the front end of the frame, and the active drill rod is connected to the end drill rod, the angle adjuster is in a locked state, the chuck pressure control system controls the chuck to be in a loose state, the front half and the rear half of the clamp are both loosened, the first telescopic cylinder is fully extended, the second telescopic cylinder is fully retracted, so that the mechanical claw is in the highest position, and the mechanical claw is loosened, there is no drill rod in the rod placement slot, the piston rod II of the main pitch cylinder is fully extended, the piston rod I is fully retracted, so that the main manipulator is in a horizontal position, the piston rod of the mobile cylinder is fully extended, so that the drill rod clamping center line of the claw coincides with the drill rod placement center line of the rod placement slot, and the sliding cylinder of the isometric sensor is fully retracted; tz01)Drill back tz01-1) Sliding rod withdrawal: The chuck multi-level pressure control system controls the chuck to be in a low-pressure clamping state, and the thrust cylinder drives the power head and all the drill rods connected to the active drill rod and the bottom hole motor to retreat until the end drill rod is completely withdrawn from the hole; tz01-2) Angle adjuster unlocking: by axially sliding the movable toothed disc, the fixed toothed disc and the movable toothed disc are separated, thereby putting the angle adjuster in the unlocking state; tz01-3) Front-end shackle: The rear half of the clamp clamps the end drill rod, and the front half clamps the drill rod before the end drill rod. The front and rear halves rotate relative to each other to pre-loosen the threaded connection between the two drill rods. The rear half is loosened, and the main motor rotates in the opposite direction to drive the active drill rod to rotate in the opposite direction. At the same time, the power head retreats under the drive of the thrust cylinder, and the connection between the end drill rod and the previous drill rod is loosened. tz01-4) Rear end shackle: The rear half of the clamp clamps the end drill rod, the active drill rod continues to reverse under the drive of the main motor, and retreats under the drive of the thrust cylinder, and the connection between the end drill rod and the active drill rod is loosened; tz02) Drilling back second stage feed rod tz02-1) The claw extends: the piston rod of the mobile cylinder retracts, driving the mobile claw to move upward to the highest position; tz02-21) Ascending: When the drilling inclination angle of the frame body is an upward inclination angle, or when the drilling inclination angle of the frame body is a downward inclination angle and the lever connected to the frame body drives the angle identification plate to rotate, so that the incremental sensor does not enter the coverage range of the angle identification plate, the piston rod II of the pitch cylinder retracts, and the inclination angle of the main manipulator increases. When the incremental sensor enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the main manipulator is at an inclination angle suitable for conveying the drill rod, and stops ascending. At the same time, the sliding cylinder of the isometric sensor extends, so that the pressure plate is in a lateral position where it can be contacted and pressed down by the pressure rod; or tz02-22) upward: when the drilling inclination angle of the frame body is the downward inclination angle, and the lever connected to the frame body is When the dynamic angle identification plate rotates and the incremental sensor directly enters the coverage range of the angle identification plate, the incremental sensor is turned on and sends a signal, indicating that the manipulator is now at an inclination angle suitable for conveying the drill pipe. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends to position the pressure plate to be contacted and pressed down by the pressure rod; tz02-31) Press down: When the previous step is tz02-21), the piston rod II of the pitch cylinder extends, and the inclination angle of the main manipulator decreases. When the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I continues to be extended until the pressure rod makes the side plate of the pressure plate seat of the equiangular sensor enter the sensing range of the proximity sensor, the equiangular sensor is turned on and outputs a signal, the main manipulator stops pressing down, the incremental sensor leaves the coverage range of the angle identification plate, and the signal of the incremental sensor is disconnected; Or tz02-32) press down: when the previous step is tz02-22), the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the inclination angle of the manipulator decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, the proximity sensor is turned on and outputs a signal, and the downward pressure stops; tz02-4) Flipping: The rotary drive drives the gripper to flip in the direction of the frame body, and the gripper that does not hold the drill rod flips into the space between the power head on the frame body and the rear half of the gripper, and contacts the end drill rod; tz02-5) Clamping the grab bar: The first clamping cylinder extends, the clamping claw clamps the end drill rod, and at the same time, the rear half of the clamp is released; tz02-6) Flip recovery: the rotary drive drives the gripper to flip away from the frame, and the sliding cylinder of the isometric sensor retracts to retract the pressure plate; tz02-7) Tilt angle zeroing: The piston rod II of the pitch cylinder is fully extended, and the piston rod I remains fully retracted, so that the main manipulator tilt angle returns to the horizontal position; tz02-8) Claw retraction: The piston rod of the mobile oil cylinder is fully extended, so that the mobile claw body and the clamp return to the lowest position, and the end drill rod enters the rod placement groove; tz02-9) Gripper release: The gripper is released and the main manipulator returns to its initial state; tz03) First stage of drill return tz03-1) Alignment: The translation assembly drives the grabbing manipulator to move along the slide rail to a position aligned with the middle of the line connecting the two rod placement slots; tz03-2) Rod removal: The mechanical claw moves along the crossbeam assembly to the top of the rod placement slot, and the first telescopic cylinder and the second telescopic cylinder move in combination to adjust the height of the mechanical claw, so that the mechanical claw contacts the drill rod in the rod placement slot, and the clamping center of the mechanical claw coincides with the center of the drill rod, and the mechanical claw clamps the drill rod; tz03-3) Lifting: The second telescopic cylinder is fully retracted, and the first telescopic cylinder is fully extended to lift the mechanical claw and the drill rod to a high position; tz03-4) Box selection: The translation assembly drives the grabbing manipulator to translate along the slide rail and put the drill rods back into any drill rod box; tz03-5) Column selection: The mechanical claw moves along the beam assembly to switch between columns and select the column where the drill rods are stored; tz03-6) Layer selection: The first telescopic cylinder and the second telescopic cylinder adjust the machine according to the real-time judgment of the drill pipe storage situation by the control system. The height of the claws, starting to put the drill rod back to the lowest position where the drill rod can be placed in the specified column; tz03-7) Release the rod: the mechanical claw is released, the first telescopic cylinder is fully extended, and the second telescopic cylinder is fully retracted, so that the manipulator returns to the high position; tz04) Reset the power head and the clamp: The thrust cylinder drives the power head back to the front end of the frame, the main motor rotates forward, drives the active drill rod to rotate forward, and connects with the current end drill rod. The front half of the clamp is released, and the chuck pressure control system controls the chuck to be in a released state. Continue to withdraw the drill according to steps tz01) to tz04) until all the drill rods are withdrawn from the hole.

21. The drilling method of the coal mine intelligent directional drilling machine according to claim 19, characterized in that: In the rotary drilling condition, the fixed gear disc and the movable gear disc are separated by axial sliding movement, so that the angle adjuster is always in an unlocked condition. The chuck pressure control system always controls the chuck to be in a low-pressure clamping state, and always drives the drill rod to rotate through the main motor to achieve rotary drilling.

22. The drilling method of the coal mine intelligent directional drilling machine according to claim 19, characterized in that: In the composite drilling condition, the fixed gear disc and the movable gear disc are separated by axial sliding movement, so that the angle adjuster is always in an unlocked condition. The chuck pressure control system always controls the chuck to be in a low-pressure clamping state, and always drives the drill rod to rotate through the main motor. The drilling medium is introduced into the bottom hole motor through the water braid by using an external medium pump to drive the bottom hole motor to drive the drill bit to rotate, so as to achieve composite drilling.

23. The drilling method of the coal mine intelligent directional drilling machine according to claim 19, characterized in that: In the drill pipe salvaging condition, the active drill pipe, the connecting shaft and the water braid need to be removed, and the drill pipe is directly connected through the chuck. The gear plate is moved by axial sliding so that the fixed gear plate and the movable gear plate are in a separated state, so that the angle adjuster is always in an unlocked condition. The chuck pressure control system always controls the chuck to be in a high-pressure clamping state when clamping the drill pipe, and drives the drill pipe to rotate through the main motor to achieve the salvage of the drill pipe.

24. The drilling method of the coal mine intelligent directional drilling machine according to claim 19, characterized in that: Method for resetting tool face angle value to zero in tool face angle detection and initialization system Given the initial tool face angle ω, the following steps are included: S1: Calculate the adjustment value δ and make adjustments: When ω∈(0°,90°]∪(270°,360°), the initialization zero point is 0°; At this time, the adjustment value δ and the adjustment direction are: When ω∈(0°,90°], δ=ω, adjust counterclockwise; When ω∈(270°,360°), δ=360°-ω, adjust clockwise; When ω∈(90°,270°], the initialization zero point is 180°; At this time, the adjustment value δ and the adjustment direction are: When ω∈(90°,180°], δ=180°-ω, adjust clockwise; When ω∈(180°,270°], δ=ω-180°, and adjust counterclockwise.

25. The drilling method of the coal mine intelligent directional drilling machine according to claim 24, characterized in that: Before step S1, step S0 is also included: simplifying the initial angle ω of the tool face angle, when ω>360°, taking ω'=ω-360°, when ω<360°, first taking ω'=ω; in step S1, using ω' to replace ω.

26. The drilling method of the coal mine intelligent directional drilling machine according to claim 25, characterized in that: After step S1, step S2 is also included, in which the tool face angle measurement value is reset to zero. When the tool face angle needs to be adjusted to γ, when the initialization zero point is 0°, the adjustment value γ'=γ; when the initialization zero point is 180°, the adjustment value γ'=γ-180°.

27. The drilling method of the coal mine intelligent directional drilling machine according to claim 26, characterized in that: In step S2, a control system is provided. During operation, only the tool face angle γ to be adjusted is input, and the control system calculates the actual adjustment value γ' according to the initialization zero point.

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