Automated directional drilling machine for coal mine

Abstract

An automated directional drilling machine for a coal mine, comprising: a moving platform (1), a rack (2), a clamping device (3), a main mechanical arm (4), a power head (5), a drill rod storage system (8), a control system (6), and a hydraulic system (7). By improving the structure of the power head (5), an angle adjustor (503) is arranged on the side of a transmission (502) away from a main motor (501), and a transmission shaft (50301) in the angle adjustor (503) is circumferentially and fixedly connected to a driving shaft (50201), so that accurate and efficient adjustment of a tool face angle is achieved by means of the angle adjustor (503) having the functions of accurate angle adjustment and locking to prevent rotation, and the structure of a rotation braking device of the main motor (501) is simplified.

Description

Coal mine automated directional drilling rig Technical Field

[0001] The invention belongs to the technical field of coal mine drilling rigs and relates to an automatic directional drilling rig for coal mines. 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 and lack dedicated tool face angle adjustment devices, resulting in low drilling trajectory adjustment accuracy and efficiency, making automated directional drilling difficult. Furthermore, the lack of an automated drill pipe handling system means that drill pipes are still manually loaded and unloaded during the drilling process, which is labor-intensive and poses safety risks.

[0005] Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an automated directional drilling rig for coal mines to solve the problems in the prior art that the drilling rig lacks a dedicated tool face angle adjustment device, has low trajectory adjustment accuracy and efficiency, and is difficult to achieve automatic directional drilling.

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

[0008] A coal mine automated directional drilling rig includes 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 includes 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 key point is that the other end of the drive shaft is connected to an angle adjuster through the 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 fixedly connected in the circumferential direction. The output disc of the rotary reducer is coaxial with the rotary seat and is fixedly connected to the movable gear disc so as to transmit the rotation of the output disc of the rotary reducer to the movable gear disc.

[0011] 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;

[0012] 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.

[0013] 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.

[0014] 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;

[0015] 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.

[0016] 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.

[0017] 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;

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Furthermore, the drill rod box is fixedly provided with a rod placement groove for fixing and temporarily storing the drill rods grasped by the grasping manipulator;

[0024] The rod storage slot includes a drill rod slot seat fixedly arranged on the drill rod box on the side close to the frame, a drill rod slot is arranged on the drill rod slot seat, a second clamping oil cylinder is arranged on the drill rod slot seat, a sliding plate is connected to its piston rod, a drill rod baffle is fixedly arranged 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 slot; a space for temporarily storing the drill rod is formed between the drill rod baffle and the drill rod slot.

[0025] 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.

[0026] 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;

[0027] 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 tightening cylinder is hinged in the internal cavity, and the back side of the clamping claw is hinged to the piston rod of the first clamping cylinder to drive the clamping claw 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 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 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 center line of the drill rod temporarily stored in the rod placement slot.

[0028] 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;

[0029] 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;

[0030] 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.

[0031] The beneficial effects of the present invention are:

[0032] 1. The coal mine automated directional drilling rig 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 rod. It solves the problems of the existing drilling rig lacking a dedicated tool face angle adjustment device, low trajectory adjustment accuracy and efficiency, and difficulty in achieving automatic directional drilling; at the same time, it greatly reduces the driving force required for tool face angle adjustment, has a good energy-saving effect, simplifies the structure of the main motor's rotation brake device, and converts the functions of a large number of internal parts to an external rotary reducer, which greatly reduces the difficulty of maintenance and reduces the consumption of wearing parts.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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

[0037] 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:

[0038] FIG1 is a schematic structural diagram of an automated directional drilling rig for coal mines according to the present invention;

[0039] FIG2 is a schematic structural diagram of a rack from a first perspective;

[0040] FIG3 is a schematic structural diagram of the rack from a second perspective;

[0041] FIG4 is a schematic structural diagram of a support column assembly;

[0042] FIG5 is a schematic structural diagram of a power head mounting base from a first perspective;

[0043] FIG6 is a schematic structural diagram of the power head mounting base from a second perspective;

[0044] FIG7 is a schematic structural diagram of an angle lever;

[0045] Figure 8 is a schematic structural diagram of the rack connection base;

[0046] Figure 9 is a schematic structural diagram of the power head;

[0047] Figure 10 is a schematic cross-sectional view of the power head;

[0048] FIG11 is a schematic structural diagram of an angle adjuster;

[0049] Figure 12 is a schematic structural diagram of the driving piston;

[0050] Figure 13 is a schematic structural diagram of a movable toothed disc;

[0051] Figure 14 is a schematic structural diagram of a fixed toothed disc;

[0052] Figure 15 is a schematic structural diagram of the angle adjuster end cover;

[0053] Figure 16 is a schematic structural diagram of a rotary seat;

[0054] FIG17 is a schematic diagram of a partial structure of an angle adjuster;

[0055] Figure 18 is a schematic diagram of the structure of the water braid;

[0056] Figure 19 is a schematic structural diagram of the connecting shaft;

[0057] FIG20 is a schematic diagram of a drill pipe storage system;

[0058] Figure 21 is a schematic structural diagram of the drill pipe box;

[0059] FIG22 is a schematic structural diagram of a translation assembly from a first perspective;

[0060] FIG23 is a schematic diagram of the second perspective structure of the translation assembly;

[0061] Figure 24 is a schematic diagram of the structure of the grasping manipulator;

[0062] FIG25 is an isometric view of the mechanical gripper;

[0063] Figure 26 is a front view of the mechanical claw;

[0064] FIG27 is a schematic diagram of the motion principle of the mechanical claw;

[0065] Figure 28 is a schematic structural diagram of the rod placement slot;

[0066] Figure 29 is a schematic structural diagram of the main manipulator;

[0067] Figure 30 is a schematic diagram of the structure of the pitch cylinder;

[0068] FIG31 is a schematic structural diagram of the pitch arm from a first viewing angle;

[0069] FIG32 is a schematic diagram of the structure of the pitch arm from a second viewing angle;

[0070] Figure 33 is a schematic diagram of the main manipulator and the frame installation position;

[0071] Figure 34 is a schematic diagram of the structure of the gripper;

[0072] FIG35 is a schematic cross-sectional view of the gripper;

[0073] Figure 36 is a schematic structural diagram of a manipulator positioning system;

[0074] FIG37 is a schematic diagram of the first viewing angle structure of an isometric sensor;

[0075] FIG38 is a schematic diagram of the second viewing angle structure of the isometric sensor;

[0076] Figure 39 is a schematic structural diagram of the angle identification plate.

[0077] Figure markings: 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-bottom plate, 20703-left swivel seat, 20704-frame connecting seat core shaft, 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-slewing drive, 404-pitch arm, 40401-connecting sleeve, 40402-incremental 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, 407 04-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, 50301-transmission shaft, 50302-drive 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 bevel gear, 50307-angle adjuster end cover, 50307a-maximum outer diameter section, 50307b-intermediate stage diameter Segment, 50307c-minimum diameter segment, 50307d-spring mounting hole, 50308-bearing pressure cover, 50309-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, 7-hydraulic system, 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, 80301-mechanical claw, 80301a-connector, 80301b -Third clamping cylinder, 80301c-Second clamping jaw, 80301d-First clamping jaw, 80301e-Clamping jaw 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, 80404-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-sealed chamber. DETAILED DESCRIPTION

[0078] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways 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, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0079] 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 dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0080] 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. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate 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.

[0081] Referring to Figures 1 to 39 , an automated 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.

[0082] The control system 6 mainly refers to the electronic control system, including the controller and its supporting functional modules, sensors, human-computer interaction system, drilling trajectory measurement system, etc. The control system 6 receives human control instructions and converts them into execution parameters of various mechanisms or systems of the drilling rig through compilation, thereby realizing automated directional drilling, trajectory measurement, drill rod loading and unloading, etc. The control system 3 of this application is not limited to the type of components and can be used for the drilling rig involved in this application by matching the program type and parameters. 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 this application can be of various types and can be matched with the control system and various actuators of this application through appropriate component parameters and function selection. Due to the demand for high driving force of coal mine drilling rigs and the strict explosion-proof safety requirements underground, the hydraulic system is preferably driven by a flameproof motor, which converts mechanical energy into hydraulic energy through a hydraulic pump, thereby driving the power head 5, frame 2, clamp 3, main manipulator 4, crawler vehicle (mobile platform 1) and drill rod storage system 8 and other actuators to work.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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;

[0087] 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;

[0088] 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.

[0089] 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.

[0090] 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;

[0091] 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.

[0092] 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.

[0093] The key to this application is that the coal mine automated directional drilling rig includes a power head 5, a drill rod storage system 8, a main manipulator 4 and a manipulator positioning system 9;

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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 transmission shaft The left end of 50301 is splined and inserted into the drive shaft 50201 of the transmission 502. The drive shaft 50201 is provided with a keyway that matches the spline on the transmission shaft 50301, so that the transmission shaft 50301 forms a spline connection with the drive shaft 50201, thereby forming a circumferential fixed connection; the right end of the transmission shaft 50301 is connected to the fixed toothed 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. 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 distance sleeves are 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 fixedly connected to the angle adjuster end cover 50307 by bolts to position the bearing.

[0098] 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;

[0099] 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.

[0100] 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.

[0101] 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;

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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 connected to the outer circle of the slewing bearing through a roller and is connected in conjunction with the worm, thereby achieving the purpose of coaxiality between 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 underground coal mine operations.

[0110] 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.

[0111] The angle adjuster 503 has two working conditions, and its working principle is as follows:

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The core shaft 50402 is a hollow shaft, and its left end is fixedly connected to the connecting shaft 507 via 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.

[0116] 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.

[0117] Preferably, a sealing ring is provided between the shell and the core shaft 50402 to form a sealing structure.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] Specifically, let a be the maximum distance between the right end face of the active drill rod 506 and the corresponding left end face of the chuck 505, and p be the pitch of the thread of the active drill rod 506 and the drill rod joint connected thereto, 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 achieved 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.

[0122] 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.

[0123] 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.

[0124] 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:

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] The above-mentioned power head can provide various operating conditions for the automated 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:

[0133] (1) Sliding directional drilling

[0134] 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.

[0135] (2) Tool face angle adjustment

[0136] 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.

[0137] 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.

[0138] (3) Rotary drilling

[0139] 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.

[0140] (4) Composite drilling

[0141] 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.

[0142] (5) Salvage drill pipe

[0143] 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.

[0144] 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.

[0145] The main functions and structural features of each component are as follows:

[0146] 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.

[0147] 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 can push 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 match 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.

[0148] 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:

[0149] (1) First telescopic cylinder 80304

[0150] 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.

[0151] (2) Crossbeam assembly 80303

[0152] 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.

[0153] (3) Second telescopic cylinder 80302

[0154] 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.

[0155] (4) Mechanical claw 80301

[0156] 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.

[0157] Specifically, the main functions and structural features of each part in the mechanical claw 80301 are as follows.

[0158] (1) Connector 80301a

[0159] 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.

[0160] (2) First clamping jaw 80301d

[0161] 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.

[0162] (3) Second clamping jaw 80301c

[0163] 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.

[0164] (4) Transmission rod 80301i

[0165] 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.

[0166] The mechanical claw component setting method in this embodiment is as follows:

[0167] 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.

[0168] 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.

[0169] The setting features and functions of components and kinematic pairs are as follows:

[0170] (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.

[0171] (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.

[0172] The movement process of the mechanical claw is as follows:

[0173] (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.

[0174] (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.

[0175] (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.

[0176] (4) When the mechanical claw needs to be released, the third clamping cylinder 80301b extends and the rods move in the opposite direction.

[0177] 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.

[0178] 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.

[0179] The working principle of the above drill pipe storage system is as follows:

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] Drill pipe delivery process

[0186] (1) From the drill rod box to the rod slot

[0187] 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.

[0188] 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;

[0189] 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;

[0190] 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.

[0191] a4) Grasping: The mechanical gripper 80301 clamps the selected drill rod to be grasped;

[0192] 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;

[0193] 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.

[0194] 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.

[0195] (2) Place the drill rod box from the rod slot

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] The following is the specific process of grabbing the drill rod and putting it back.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] Drill pipe replacement process:

[0208] When putting the drill rod back, the second clamping cylinder 80402 in the rod slot 804 is extended, and then the drill rod is sent back to the rod slot 804 by other mechanisms (main manipulator 4), 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 slot 804 to grab the drill rod, the second clamping cylinder 80402 in the rod slot 804 clamps once and then releases it 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.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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 telescopically drives the movable claw body 40701, it also maintains rotational freedom, preventing the sliding track from becoming stuck. The clamping jaw 40702 is equipped with a fourth oil cylinder seat on the back side of the drill rod clamping surface, which is connected to the first clamping oil cylinder 40703 and hinged to the piston rod of the first clamping oil cylinder 40703 via a pin. The barrel of the first clamping oil cylinder 40703 is also hinged to the movable claw body 40701 via a pin.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] The working principle of the above-mentioned isometric sensor 901 is as follows:

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] The drill rod conveying process of the drill rod conveying manipulator for a directional drilling rig is as follows:

[0229] 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;

[0230] Transporting drill rods to rack 2:

[0231] 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.

[0232] 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;

[0233] 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;

[0234] 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;

[0235] s4) Raise: The piston rod II 40202 of the pitch cylinder 402 retracts, and the pitch arm 404 drives the rotation 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.

[0236] 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;

[0237] 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;

[0238] 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;

[0239] 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;

[0240] 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;

[0241] 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.

[0242] 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.

[0243] 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°.

[0244] 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.

[0245] Remove the drill rod from the rack:

[0246] q1) Initial state: Same as step s1, except that no drill rod is placed at the initial position;

[0247] q2) Extend the claw: same as step s3;

[0248] q3) Upward: Same as step s4;

[0249] q4) Press down: same as step s5;

[0250] q5) Flipping: Same as step s6, except that the empty claw flips in and just contacts the drill rod;

[0251] q6) Clamping the grab bar: The first clamping cylinder 40703 extends, and the clamping claw 40702 clamps the drill rod;

[0252] q7) Flip and restore: Same as step s8.

[0253] q8) Reset the inclination angle to zero: Same as step s9.

[0254] q9) Claw retraction: Same as step s10, when the claw retracts to the lowest position, the drill rod returns to its initial position.

[0255] 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.

[0256] The workflow of the automated directional drilling rig is as follows:

[0257] 1. Automatic directional drilling

[0258] (1) Drilling conditions (taking any drill rod during drilling as an example)

[0259] dz0) Initial state

[0260] Assume 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 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 (that is, the propulsion displacement is 0), and the active drill rod 506 is not connected to the drill rod, and the angle adjuster 503 is in In the locked state, the front half of the clamping hole of the clamp 3 has a drill rod in it, 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 rods 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, and the rod slot 80 is placed. 4, and the second clamping oil cylinder 80402 is loosened to expand the drill rod placement space, the main manipulator 4 is tilted at 0°, the claw 407 is in a vertical position, and the claw 40702 and the movable claw body 40701 are opened upward and facing the initial position (i.e., the rod placement groove 804), the claw 40702 is opened under the action of the retraction of the first clamping oil cylinder 40703, the piston rod of the movable oil cylinder 40705 is fully extended, and the movable claw body 40701 and the claw 4 are opened. 0702 is in the lowest position, the drill rod clamping center of the gripper 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, 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.

[0261] dz01) First stage drill pipe delivery (drill pipe storage system)

[0262] 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;

[0263] 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.

[0264] 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;

[0265] dz01-4) Grasping: The mechanical claw 80301 clamps the selected drill rod to be grasped;

[0266] 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;

[0267] 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.

[0268] 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.

[0269] dz02) Second stage drill pipe delivery (main manipulator 4)

[0270] 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).

[0271] 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.

[0272] 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;

[0273] 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;

[0274] 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.

[0275] 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;

[0276] 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.

[0277] 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°;

[0278] 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.

[0279] dz03) drilling

[0280] dz03-1) Angle adjuster unlocking: The hydraulic system 7 is connected to the oil circuit of the sealed chamber Y in the angle adjuster 503. The hydraulic pressure drives the driving piston 50302 toward the movable gear plate, pushing the transmission piston 50304 and the movable gear plate 50306, so that the movable gear plate 50306 separates from the fixed gear plate 50305, thereby switching the angle adjuster 503 to the unlocked working state.

[0281] dz03-2) Rear end connection: 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;

[0282] 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;

[0283] dz03-4) Angle adjuster locking: Stop supplying oil to the sealing chamber Y of the angle adjuster 503, and the movable gear disc 50306 engages with the fixed gear disc 50305 under the action of the spring 50309, and the angle adjuster switches to the locked working condition.

[0284] 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;

[0285] dz03-6) Automatic drilling: 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.

[0286] dz03-7) Power head reset: After the current drill rod is completely drilled into the hole, the front half of the clamp clamps the current drill rod, the angle adjuster 503 switches to the unlocked working 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.

[0287] 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.

[0288] (2) Drilling back working condition

[0289] tz0) Initial state

[0290] Assume that the designed drilling inclination angle is α and the drilling rig has completed the current drilling construction.

[0291] 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 the locked state;

[0292] The front and rear halves of the clamp 3 are both loosened;

[0293] The drill rod box 801 has sufficient space for drilling rod recovery;

[0294] 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.

[0295] 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;

[0296] 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.

[0297] 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.

[0298] tz01)Drill back

[0299] tz01-1) Sliding rod withdrawal: 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 disassembly of the thread);

[0300] tz01-2) Angle adjuster unlocking: The hydraulic system is connected to the oil circuit of the sealed chamber Y of the angle adjuster 503. The hydraulic pressure drives the driving piston 50302 and pushes the transmission piston 50304 and the movable gear plate 50306 to separate from the fixed gear plate 50305. The angle adjuster switches to the unlocked working state.

[0301] 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.

[0302] 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;

[0303] tz02) Second stage feeding rod for drilling retraction (main manipulator)

[0304] tz02-1) Extend the claw: Same as step dz02-2);

[0305] tz02-2) Upward: Same as step dz02-3);

[0306] tz02-3) Press down: same as step dz02-4);

[0307] tz02-4) Flipping: Same as step dz02-5), except that here the empty claw flips in and just contacts the drill rod.

[0308] 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;

[0309] tz02-6) Flip and restore: same as step dz02-7);

[0310] tz02-7) Reset the tilt angle to zero: Same as step dz02-8);

[0311] 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;

[0312] tz02-9) Gripper release: Gripper 40702 is released and the main manipulator returns to its initial state;

[0313] tz03) First stage rod feeding for drill withdrawal (drill rod storage system)

[0314] 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.

[0315] 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.

[0316] 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;

[0317] 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.

[0318] 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;

[0319] 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;

[0320] 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;

[0321] 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 rotate forward and connect with the current end drill rod. The front half of the gripper is released.

[0322] 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.

[0323] 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.

[0324] 2. Automatic rotary drilling

[0325] During rotary drilling, there is no need for a bottom hole motor; just install the drill bit on the front end of the drill rod.

[0326] 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:

[0327] (1) The angle adjuster 503 is always in the unlocked state.

[0328] (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.

[0329] 3. Automatic compound drilling

[0330] The automatic composite drilling tool is the same as that of automatic directional drilling. The drill rod conveying process is exactly the same as that of automatic directional drilling. The drilling and retracting process is similar to that of automatic directional drilling. The distinguishing features are:

[0331] (1) The angle adjuster 503 is always in the unlocked state.

[0332] (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.

[0333] 4. Salvage drill pipe

[0334] 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 power head uses a chuck to directly connect to the drill pipe instead of connecting the drill pipe through the active drill pipe.

[0335] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A coal mine automated 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, 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 drive shaft, one end of the drive shaft is connected to the main motor, and the drive shaft is meshed with the main shaft through the gears in the transmission, 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 movable toothed disc and is circumferentially fixedly connected. The output disc of the rotary reducer is coaxial with the rotary seat and is fixedly connected to the movable toothed disc so as to transmit the rotation of the output disc of the rotary reducer to the movable toothed disc.

2. The coal mine automated directional drilling rig according to claim 1, 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 the hydraulic oil entering the sealing 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.

3. The coal mine automated directional drilling rig according to claim 2, 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 coal mine automated directional drilling machine according to claim 1, 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 that limits rotation between the connecting shaft and the hexagonal hole connecting sleeve, thereby allowing the connecting shaft and the core shaft to float axially.

5. The coal mine automated directional drilling machine according to claim 4, 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 coal mine automated directional drilling machine according to claim 1, 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.

7. The coal mine automated directional drilling machine according to claim 6, 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.

8. The coal mine automated directional drilling machine according to claim 6, 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 manipulator; The rod placement slot includes a drill rod slot seat fixedly arranged on the drill rod box on one side close to the frame, a drill rod slot is arranged on the drill rod slot seat, a second clamping oil cylinder is arranged on the drill rod slot seat, a sliding plate is connected to its piston rod, a drill rod baffle is fixedly arranged on the sliding plate, and 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 slot; a space for temporarily storing the drill rod is formed between the drill rod baffle and the drill rod slot.

9. The coal mine automated directional drilling machine according to claim 8, 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 moving claw body, a clamping claw, a first clamping oil cylinder, a fixed seat and a moving oil cylinder, wherein the fixed seat is a concave cavity, the moving oil cylinder is hinged in the concave cavity, the moving claw body and the back side of the concave cavity form a moving pair, and the rotating arm is connected to the hand claw through the side of the concave cavity, the top of the moving claw body is a fixed claw, and is hinged with the clamping claw. The movable claw body is hingedly connected to 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 hingedly connected in the internal cavity, and the back side of the clamping claw is hingedly connected to the piston rod of the first clamping oil cylinder to drive the clamping claw to clamp the drill rod; when the piston rod of the movable oil cylinder is fully retracted to move the movable claw body to the highest point, the distance from the rotation center line of the swing arm to the clamping center line of the movable 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 movable oil cylinder is fully extended to move the movable claw body to the lowest point, the clamping center line of the movable claw body coincides with the center line of the drill rod temporarily stored in the rod placement groove.

10. The coal mine automated directional drilling machine according to claim 9, 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.

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