A fully automatic drilling rig multifunctional test bench

Abstract

This invention belongs to the technical field of testing mine support equipment, specifically a fully automatic drilling rig multifunctional test bench. It solves the problem of comprehensive testing of the overall performance of a fully automatic drilling rig. The bench includes a drilling rig mounting frame, a test drilling rig, and a test block mounting frame. The test drilling rig is connected to the drilling rig mounting frame via a pin, and the drilling rig mounting frame is fixed to the test platform via expansion bolts. The test drilling rig is located inside the test block mounting frame, which has a truss structure. The test block mounting frame contains a top test block for simulating the tunnel roof and a middle test block for simulating the tunnel sidewalls. This invention realizes the overall testing of the drilling rig in the technical field of mine support equipment testing. Currently, there are only test benches for components such as the drilling rig operating valve assembly, but no test bench for the overall performance of the drilling rig. This invention can effectively test the service characteristics and design reliability of the drilling rig.

Description

Technical Field

[0001] The invention belongs to the technical field of mining support equipment testing, in particular to a full-automatic drilling rig multifunctional testing platform. Background Art

[0002] As mining support equipment develops towards automation and intelligence, a fully automatic anchor drill rig for mining has been designed and manufactured. It was found that at present, there is only a mechanical anchor drill rig operating valve group test bench, but no anchor drill rig test bench. The mechanical anchor drill rig operating valve group test bench can only perform operating valve group tests, but cannot complete the overall performance test of the drill rig, and does not have the drilling test function. At present, the drill rig has not undergone an overall performance test and is directly assembled on the anchor drill vehicle. The failure of the drill rig is coupled with the failure of other components of the anchor drill vehicle, which makes it difficult to debug the drill vehicle.

[0003] The multifunctional test bench for fully automatic anchor drill rigs realizes top anchor test, side anchor test, modal test and analysis of drill rigs, wireless test of drill pipe torque, online detection of anchor drill performance parameters, and integration of human-computer interaction and cooling system, which can fully and comprehensively test the performance of fully automatic drill rigs. Summary of the invention

[0004] In order to solve the problem of comprehensive testing of the overall performance of a fully automatic drilling rig, the present invention provides a fully automatic drilling rig multifunctional test bench

[0005] The present invention adopts the following technical scheme: a fully automatic drilling rig multifunctional test bench, including a drilling rig fixing frame, a tested drilling rig and a test block fixing frame, the tested drilling rig and the drilling rig fixing frame are connected by a pin shaft, the drilling rig fixing frame and the test table are fixed by expansion anchor bolts, the tested drilling rig is arranged on the inner side of the test block fixing frame, the test block fixing frame is a truss structure, and the test block fixing frame is provided with a top test block for simulating a tunnel roof and a middle test block for simulating a tunnel side block.

[0006] Furthermore, the drilling rig fixed platform includes a side shift cylinder, a lower connecting rod, a lifting cylinder, an upper connecting rod, a swing frame, a swing cylinder, a sliding fixed frame, a steel wheel and a fixed base. The steel wheel is assembled on the fixed base. The fixed base is provided with a sliding fixed frame connected to it through a moving pair. The sliding fixed frame moves along the guide pressure plate on the fixed base. One side of the sliding fixed frame is connected to the piston rod end of the side shift cylinder. The cylinder barrel of the side shift cylinder is hinged to the fixed base. A swing frame is installed on the sliding fixed frame. The swing frame is driven by the swing cylinders connected on both sides. The lower connecting rod and the upper connecting rod connected to the tested drilling frame are installed on the swing frame. A lifting cylinder hinged to the tested drilling frame is provided at the bottom of the swing frame.

[0007] Furthermore, the sliding fixed frame includes a sliding frame body, a side shift cylinder hinge pin hinged to the side shift cylinder piston rod is arranged at the lower part of the sliding frame body, a swing cylinder hinge pin hinged to the cylinder barrel of the swing cylinder is also arranged on the sliding frame body, and a copper sleeve is arranged on the top of the sliding frame body.

[0008] Furthermore, the swing frame includes a swing fixed frame, a connecting shaft is arranged on the top of the swing fixed frame, the connecting shaft passes through a copper sleeve, a cam mechanism is arranged on the end of the connecting shaft, swing cylinder articulation pins connected to the swing cylinder are arranged on both sides of the cam mechanism, a lifting cylinder articulation pin articulated to the cylinder barrel of the lifting cylinder is arranged at the bottom of the swing fixed frame, a lower connecting rod articulation pin for articulating to the lower connecting rod and an upper connecting rod articulation ear for articulating to the upper connecting rod are arranged in the middle of the swing fixed frame.

[0009] Furthermore, the fixed base includes a fixed platform, which is the skeleton of the entire fixed base. A side shift cylinder ear seat hinged to the cylinder barrel of the side shift cylinder is arranged on the fixed platform. A guide pressure plate is arranged on the fixed platform. The guide pressure plate includes two pressure plates arranged side by side. Each pressure plate is provided with a sliding track groove. The pressure plate is fixed on the platform to form a moving pair with the sliding fixed frame.

[0010] Furthermore, the lower connecting rod is a welded part, with hinge holes at both ends and a connecting rib plate in the middle; a drill rig hinge pin is provided at one end of the upper connecting rod, a connecting rod test bench hinge pin is provided at the other end, and an upper connecting rod rib plate is provided in the middle of the upper connecting rod.

[0011] Furthermore, the tested drill rig is provided with a drill rig lifting cylinder articulation pin, a connecting rod ear seat and a lower connecting rod articulation pin. The tested drill rig is articulated with the lifting cylinder piston rod through the drill rig lifting cylinder articulation pin, and is articulated with the upper connecting rod and the lower connecting rod through the upper connecting rod ear seat and the lower connecting rod articulation pin respectively. The tested drill rig and the swing frame form a parallelogram mechanism.

[0012] Furthermore, the test block fixing frame includes a test block fixing frame, a middle test block, a top test block and a test block fixing mechanism. The test block fixing frame is a stepped truss structure composed of welded steel sections. The top test block is fixed to the top of the test block fixing frame, the middle test block is fixed to the middle of the test block fixing frame, and the outer surface of the top test block is equipped with a test block guard plate. The test block guard plate fixes the top test block to the top of the test block fixing frame through the test block fixing mechanism. The test block fixing mechanism includes a spiral buckle connected to the test block fixing frame, a pressed wire rope lock connected to the top test block, and a wire rope used to connect the spiral buckle and the pressed wire rope lock; the middle test block is fixed to the middle platform of the test block fixing frame 3 by a bolt mounting block, a limit block and a test block fixing bolt.

[0013] Furthermore, it also includes a hydraulic parameter testing system and a drill pipe torque wireless testing system.

[0014] The hydraulic parameter testing system includes a group of pressure sensors and flow sensors arranged at the outlet of the automatic drilling rig pump station, another group of pressure sensors and flow sensors arranged at the inlet and outlet of the drill box motor, and pressure sensors arranged at the manipulator cylinder, clamp cylinder, and feed cylinder. The pressure sensors and flow sensors convert the collected pressure and flow signals into electrical signals and transmit them to the charge amplifier, which conditions and amplifies the electrical signals and transmits them to the pressure and flow signal acquisition instrument.

[0015] The drill pipe torque wireless test system includes a strain bridge, a wireless torque acquisition module, a wireless signal transmitter, a wireless signal receiver and an industrial computer. The strain bridge is used to collect the stress and strain signals of the drill pipe during the drilling process, and obtain the drill pipe torque value by calculation. The drill pipe torque value signal is transmitted to the working condition machine through the wireless signal transmitter and the wireless signal receiver.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention realizes the overall test of the anchor drill rig in the technical field of mining support equipment testing. It is found that there are only test benches for components such as the drill rig operating valve group, but no test bench for the overall performance of the drill rig. A fully automatic drill rig comprehensive system performance test bench realizes the drilling test function in different positions such as the top anchor and side anchor of the drill rig, which can effectively detect the service characteristics and design reliability of the drill rig.

[0018] 2. A fully automatic drilling rig multifunctional test bench is used to test the fully automatic anchor drilling rig. Compared with the mechanical anchor drilling rig with transmission, the fully automatic drilling rig integrates mechanical, electrical, hydraulic, control and other technologies, and realizes the fully automatic control of picking up anchors, drilling holes, charging, installing anchors and tightening anchors. It has many parts and complex relative movements, and requires a high degree of automation and intelligence. Therefore, it is very necessary to develop an advanced test platform, conduct key technical research in advance, and complete the optimization of the fully automatic anchor drilling rig through a large number of tests.

[0019] 3. A fully automatic drilling rig multifunctional test bench is equipped with a wireless test system for drill pipe torque, which realizes online monitoring and real-time acquisition of drill pipe torque during the drilling process, providing data support for the design and performance optimization of the drill box motor.

[0020] 4. A fully automatic drilling rig comprehensive performance test bench adopts a visual control station as the human-computer interaction interface of the test bench. It supports the control of one or more modules through the field bus. It can not only execute the operator's instructions, but also provide real-time dynamic feedback on the system status. It has functions such as data recording, query, analysis, diagnosis, early warning, and action demonstration.

[0021] 5. The cooling system of a fully automatic drilling rig comprehensive performance test bench adopts two methods: water cooling and air conditioning refrigeration. The water cooling system has a simple structure and is easy to operate. It directly uses the workshop water source and has a good cooling effect. In addition, a water collection device and a filtering device are designed to realize the recycling of water resources. The advantage of air conditioning refrigeration is that the temperature is controllable. By adjusting the temperature of the refrigeration air conditioner, the required low temperature effect can be obtained, which is convenient for studying the anchor drilling characteristics of the drilling rig under different temperature conditions.

[0022] 7. A fully automatic drilling rig comprehensive performance test bench is equipped with pressure sensors and flow sensors to monitor and collect the pressure and flow of hydraulic components such as hydraulic pumps, drill box motors, and clamp cylinders. Through the visual control station, real-time display of the pressure and flow of hydraulic components and human-computer interaction functions are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the drilling rig fixed stand;

[0025] Figure 3 This is a schematic diagram of a fixed base;

[0026] Figure 4 is a schematic diagram of a sliding fixed frame;

[0027] Figure 5 It is a schematic diagram of the swing frame;

[0028] Figure 6 It is a schematic diagram of a steel wheel assembly;

[0029] Figure 7 Schematic diagram of the lower connecting rod;

[0030] Figure 8 Schematic diagram of the upper connecting rod;

[0031] Fig. 9 The figure is a schematic diagram of the assembly position of the tested drill frame;

[0032] Fig.10 The schematic diagram of the tested drilling frame;

[0033] Fig.11 This is a schematic diagram of the assembly relationship between the fully automatic drilling frame and the swing frame;

[0034] Fig.12 This is a schematic diagram of the anchor drill test block fixing stand;

[0035] Fig.13 This is a schematic diagram of the assembly relationship of the anchor drill test block;

[0036] Fig.14 This is a schematic diagram of the fixing and moving methods of the stand;

[0037] Fig.15 It is a hydraulic parameter testing system;

[0038] Fig.16 It is a temperature rise test system;

[0039] Fig.17 It is a wireless torque testing system;

[0040] In the figure: 1-drilling rig fixed frame, 2-tested drill frame, 3-test block fixed frame, 4-side shift cylinder, 5-lower connecting rod, 6-lifting cylinder, 7-upper connecting rod, 8-swing frame, 9-swing cylinder, 10-sliding fixed frame, 11-steel wheel assembly, 12-fixed base, 13-guide pressure plate, 14-fixed platform, 15-side shift cylinder ear seat, 16-side shift cylinder articulation pin, 17-swing cylinder articulation pin, 18-sliding frame, 19-copper sleeve, 20-lifting cylinder articulation pin, 21-lower connecting rod articulation pin, 22-swing fixed frame, 23-upper connecting rod articulation ear seat, 24-swing cylinder hinge pin, 25-cam mechanism, 26-connecting shaft, 27-steel wheel, 28-pin, 29-pin plate, 30-steel wheel bracket, 31-stud, 32-connecting rod drilling frame hinge pin, 33-upper connecting rod rib plate, 34-connecting rod test bench hinge pin, 35-embedded control system, 36-drilling frame, 37-anchor drilling mechanism, 38-drilling frame lifting cylinder hinge pin, 39-drilling frame upper connecting rod ear seat, 40-drilling frame lower connecting rod hinge pin, 41-control valve group, 42-anchor box, 43 -drill box, 44-drill rod, 45-feed mechanism, 46-manipulator, 47-clamp mechanism, 48-swing frame, 49-test drill frame, 50-test block fixing frame, 51-middle test block, 52-turn buckle, 53-top test block, 54-pressed wire rope sling, 55-top test block, 56-test block guard plate, 57-top test block fixing mechanism, 58-middle test block, 59-bolt mounting block, 60-limit block, 61-test block fixing bolt, 62-expansion anchor bolt, 63-steel wheel assembly, 64-fixed base. DETAILED DESCRIPTION

[0041] The specific implementation modes of the present invention will be further described in conjunction with the accompanying drawings. The implementation modes are used to illustrate the present invention rather than to impose any limitation thereto.

[0042] like Figure 1 The fully automatic drilling rig comprehensive performance test bench shown in the figure is composed of a drilling rig fixed frame 1, a tested drilling frame 2, and a test block fixed frame 3. The tested drilling frame 2 is connected to the drilling rig fixed frame 1 through a pin shaft. The connection method is shown in FIG. Fig.11 The drilling rig fixed stand 1 is fixed to the test table by expansion anchor bolts. The connection method is shown in Fig.14The drilling rig fixed stand 1 is designed with walking steel wheels for easy movement. The test block fixing frame 3 is a truss structure, which is used to fix the top test block and the middle test block. The top test block is used to simulate the tunnel roof, and the middle test block is used to simulate the tunnel side block. Fig.12 The test block fixing frame 3 is fixed to the test table surface by expansion anchor bolts.

[0043] like Figure 2 The drilling rig fixed stand 1 shown in the figure is composed of a side shift cylinder 4, a lower connecting rod 5, a lifting cylinder 6, an upper connecting rod 7, a swing frame 8, a swing cylinder 9, a sliding fixed frame 10, a steel wheel 11, and a fixed base 12. The steel wheel is assembled on the fixed base to realize the movement function of the base. The sliding fixed frame 10 and the fixed base 12 are connected through a moving pair. The cylinder barrel of the side shift cylinder 4 is hinged to the fixed base 12, and the piston rod is hinged to the sliding fixed frame 10. The telescopic movement of the piston rod of the side shift cylinder 4 drives the sliding fixed frame 10 to move on the fixed frame to realize the side shift displacement. The base is fixed to the test bench by expansion anchor bolts, see Fig.14 After a hole is drilled on the top plate, the side shift cylinder is operated to push the sliding bracket to move to the next drilling test position.

[0044] The side shift cylinder 4 locks the sliding fixed frame 10 at the drilling position through the balance valve. After completing a row of drilling tests, the expansion anchor bolts are loosened, and the drilling rig fixed frame 1 and the tested drilling frame 2 are moved to a new anchor drilling test position through the steel wheel 11.

[0045] like Figure 3 The fixed base 12 shown is composed of a guide pressure plate 13, a fixed platform 14, and a side shift cylinder ear seat 15. The fixed platform 14 is the skeleton of the entire fixed base, bearing the weight of the drilling rig test bench and the tested drilling rig as well as balancing the drilling force. The side shift cylinder ear seat 15 is hinged to the cylinder barrel of the side shift cylinder. The guide pressure plate 13 is composed of two pressure plates, each of which is processed with a sliding track groove and fixed on the platform 14 by 10 high-strength screws, forming a moving pair with the sliding fixed frame to constrain the sliding fixed frame.

[0046] like Figure 4 The sliding fixed frame 10 shown is composed of a side shift cylinder hinge pin 16, a swing cylinder hinge pin 17, a sliding frame body 18, and a copper sleeve 19. The side shift cylinder hinge pin 16 is hinged to the side shift cylinder piston rod to drive the sliding fixed frame 10 to move. The swing cylinder hinge pin 17 is hinged to the cylinder barrel of the swing cylinder. The copper sleeve 19 is hinged to the connecting shaft 26 of the swing frame 8 to form a rotary pair.

[0047] like Figure 5The swing frame 8 shown is composed of a lifting cylinder hinge pin 20, a lower connecting rod hinge pin 21, an upper connecting rod hinge ear 23, a swing cylinder hinge pin 24, a cam mechanism 25, and a connecting shaft 26. The lifting cylinder hinge pin 20 is hinged to the cylinder barrel of the lifting cylinder to provide support for the lifting and lowering movement of the drill frame. The upper and lower connecting rods respectively form a revolving pair with the upper connecting rod hinge ear 23 and the lower connecting rod hinge pin 21. The tested drill frame 49, the upper connecting rod 7, the lower connecting rod 5 and the swing frame 8 form a parallelogram mechanism. The connecting shaft 25 penetrates into the copper sleeve 8 of the sliding fixed frame 10 and forms a revolving pair with the sliding fixed frame 10. The swing cylinder hinge pin 24 is hinged to the piston rod of the swing cylinder 9. The extension and contraction of the two swing cylinders 9 drive the swing frame to rotate, thereby driving the tested drill frame to rotate, realizing the top anchor and side anchor test functions.

[0048] like Figure 6 The steel wheel assembly 11 shown is composed of a steel wheel 27, a pin shaft 28, a pin stop plate 29, a steel wheel bracket 30, and a stud 31. The stud 31 is screwed into the threaded hole of the fixed platform 14 of the drilling rig fixed frame 1. The steel wheel assembly 11 is rotated counterclockwise, the steel wheel assembly 11 is raised, the steel wheel 27 is separated from the experimental table, and the drilling rig fixed frame 1 is fixed to the experimental table by the expansion anchor bolt. When it is necessary to move the position, the expansion anchor bolt is loosened, and the steel wheel assembly 11 is rotated clockwise. The steel wheel assembly 11 is lowered, and the steel wheel 27 contacts the experimental table, so that the movement and transposition of the drilling rig fixed frame 1 is realized.

[0049] like Figure 7 The lower connecting rod 5 shown is a welded part, with hinge holes at both ends and a connecting rib plate in the middle.

[0050] like Figure 8 The upper connecting rod 7 shown is composed of a drill frame hinge pin 32, an upper connecting rod rib plate 33, and a connecting rod test bench hinge pin 34.

[0051] like Fig. 9 , Fig.10 The test drill rig 2 shown is composed of an embedded control system 35, a drill rig frame 36, an anchor drilling mechanism 37, a control valve group 41, an anchor box 42, a drill box 43, a drill rod 44, a feed mechanism 45, a manipulator 46, and a clamp mechanism 47. The embedded control system 35 receives instructions from the control terminal of the experimental platform, and automatically completes a series of actions such as taking out the rod, drilling, driving the anchor rod, charging, and tightening the anchor rod. The test drill rig 2 is hinged to the piston rod of the drill rig lifting cylinder through the drill rig lifting cylinder hinge pin 38, and is hinged to the upper connecting rod 7 and the lower connecting rod 5 through the upper connecting rod ear seat 39 and the lower connecting rod hinge pin 40, respectively, to form a parallelogram mechanism with the swing frame 8, and the drilling rig lifting function is realized through the lifting cylinder 6. Parallelogram mechanism see Fig.11 The tested drill frame 49 and the swing frame 48 form a parallelogram mechanism through a connecting rod to ensure the vertical lifting function of the tested drill frame 11.

[0052] like Fig.12 The test block fixing frame 3 shown in the figure is composed of a test block fixing frame 50, a middle test block 51, a turnbuckle 52, a top test block 53, and a pressed wire rope rigging 54. The test block fixing frame 50 is a truss structure composed of welded steel sections. The fixing method of the top test block 53 and the middle test block 51 is shown in FIG. Fig.13 The outer surface of the top test block 53 is equipped with a test block guard plate 56 for test block hoisting and preventing the test block from breaking. The top test block 53 is fixed to the top of the test block fixing frame 3 by a fixing mechanism 57. The test block fixing mechanism 57 is composed of a spiral buckle 52, a pressed wire rope lock 54, and a wire rope. The top anchor drilling force is balanced by the deadweight of the top test block fixing mechanism 57 and the top test block 53. The middle test block 51 is fixed to the middle platform of the test block fixing frame 3 by a bolt mounting block 59, a limit block 60, and a test block fixing bolt 61. The side anchor drilling force is balanced by the bolt mounting block 59, the limit block 60, and the test block fixing bolt 61.

[0053] like Fig.15 As shown, the hydraulic parameter test system consists of a pressure sensor, a flow sensor, a charge adapter, and a dynamic signal test and analysis system. One group of pressure sensors and flow sensors are arranged at the outlet of the automatic drilling rig pump station to monitor the output flow and output pressure of the hydraulic pump. Another group of pressure sensors and flow sensors are arranged at the inlet and outlet of the drill box motor to monitor the pressure and flow of the drill box motor. The remaining pressure sensors are arranged at the manipulator cylinder, clamp cylinder, and feed cylinder to detect the opening and closing force of the manipulator, the clamp cylinder force, and the feed cylinder force. The pressure sensor and flow sensor convert the collected pressure and flow signals into electrical signals and transmit them to the charge amplifier. The charge amplifier conditions and amplifies the electrical signals and transmits them to the pressure and flow signal collector.

[0054] like Fig.16 The drill pipe torque wireless test system shown in the figure consists of a strain bridge, a wireless torque acquisition module, a wireless signal transmitter, a wireless signal receiver, an industrial computer, a host computer software, and a database. The strain bridge is used to collect stress and strain signals during the drilling process of the drill pipe, and obtain the drill pipe torque value through calculation. The drill pipe torque signal is transmitted to the industrial computer through the wireless signal transmitter and the wireless signal receiver, and the drill pipe torque value is collected and recorded in real time through the host computer software.

[0055] Strain gauge torque measurement

[0056] Torque is defined by the product of force and lever arm, and its unit is N*m. The most common methods for measuring torque are to measure the strain of the shaft and the relative torsion angle between the two cross sections of the shaft.

[0057] According to material mechanics, when subjected to torque, the unit cell on the shaft surface is in a pure shear stress state, with the maximum positive stress at a direction 45 degrees to the axis. and , whose value is The corresponding deformation is ε 1 and ε 2 , when the strain is measured, it can be calculated During measurement, the strain gauge is pasted in a direction of 45° to the axis.

[0058] If the strain along the 45° direction is measured ε 1 , then the corresponding shear strain is

[0059] (1)

[0060] Where: E — elastic modulus of the material; μ — Poisson’s ratio of the material;

[0061] Therefore, the torque calculation formula of the shaft is:

[0062] (2)

[0063] Where: Wn—torsion modulus of the material; E — elastic modulus of the material; μ — Poisson’s ratio of the material; ε 1 —The measured strain.

[0064] For hollow drill pipe, the torsional modulus of the material is:

[0065] (3)

[0066] in: D — is the outer diameter of the circular shaft; d —Inner diameter of the circular shaft (for a solid shaft, d=0);

[0067] When measuring torsion, the resistance strain gauge must be along the principal strain ε 1 and ε 2 direction (45° and 135° with the axis).

[0068] The arrangement and bridge assembly of strain gauges should take into account the requirements for sensitivity, temperature compensation and offsetting interference from non-measurement factors such as tension, compression and bending.

[0069] In the description of the present invention, a lot of specific details of the multifunctional drilling rig test bench structural features and test system features are described. However, it can be understood that in some instances, well-known methods, structures and techniques are not shown in detail so as not to limit the understanding of this description.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A fully automatic drilling rig multifunctional test bench, characterized by: The invention comprises a drilling rig fixing frame (1), a tested drilling frame (2) and a test block fixing frame (3), wherein the tested drilling frame (2) and the drilling rig fixing frame (1) are connected via a pin shaft, and the drilling rig fixing frame (1) and the test table are fixed via expansion anchor bolts, the tested drilling frame (2) is arranged inside the test block fixing frame (3), the test block fixing frame (3) is a truss structure, and a top test block for simulating a tunnel roof and a middle test block for simulating a tunnel side plate are arranged on the test block fixing frame (3); The drilling rig fixed stand (1) comprises a side shift cylinder (4), a lower connecting rod (5), a lifting cylinder (6), an upper connecting rod (7), a swing frame (8), a swing cylinder (9), a sliding fixed frame (10), a steel wheel (11) and a fixed base (12). The steel wheel (11) is mounted on the fixed base (12). The fixed base (12) is provided with a sliding fixed frame (10) connected to the fixed base (12) via a moving pair. The sliding fixed frame (10) is moved along a guide pressure plate on the fixed base (12). (13) is moved, one side of the sliding fixed frame (10) is connected to the piston rod end of the side shift cylinder (4), the cylinder barrel of the side shift cylinder (4) is hinged to the fixed base (12), a swing frame (8) is installed on the sliding fixed frame (10), the swing frame (8) is driven by the swing cylinders (9) connected on both sides, a lower connecting rod (5) and an upper connecting rod (7) connected to the tested drilling frame (2) are installed on the swing frame (8), and a lifting cylinder (6) hinged to the tested drilling frame (2) is arranged at the bottom of the swing frame (8).

2. The fully automatic drilling rig multifunctional test bench according to claim 1 is characterized by: The sliding fixed frame (10) comprises a sliding frame body (18), a side shift cylinder hinge pin (16) hinged to the piston rod of the side shift cylinder (4) is arranged at the lower part of the sliding frame body (18), a swing cylinder hinge pin (17) hinged to the cylinder barrel of the swing cylinder is also arranged on the sliding frame body (18), and a copper sleeve (19) is arranged at the top of the sliding frame body (18).

3. The fully automatic drilling rig multifunctional test bench according to claim 1 is characterized by: The swing frame (8) comprises a swing fixed frame (22), a connecting shaft (26) is arranged at the top of the swing fixed frame (22), the connecting shaft (26) passes through the copper sleeve (19), a cam mechanism (25) is arranged at the end of the connecting shaft (26), swing cylinder hinge pins (24) connected to the swing cylinder (9) are arranged on both sides of the cam mechanism (25), a lifting cylinder hinge pin (20) hinged to the cylinder barrel of the lifting cylinder (6) is arranged at the bottom of the swing fixed frame (22), and a lower connecting rod hinge pin (21) for hinged connection with the lower connecting rod (5) and an upper connecting rod hinge ear (23) for hinged connection with the upper connecting rod (7) are arranged in the middle of the swing fixed frame (22).

4. The fully automatic drilling rig multifunctional test bench according to claim 3 is characterized by: The fixed base (12) comprises a fixed platform (14), which is the skeleton of the entire fixed base. A side shift cylinder ear seat (15) hinged to the cylinder barrel of the side shift cylinder is arranged on the fixed platform (14). A guide pressure plate (13) is arranged on the fixed platform (14). The guide pressure plate (13) comprises two pressure plates arranged side by side, each pressure plate is provided with a sliding track groove, and the pressure plate is fixed on the platform (14) to form a moving pair with the sliding fixed frame.

5. The fully automatic drilling rig multifunctional test bench according to claim 4 is characterized by: The lower connecting rod (5) is a welded part, with hinge holes at both ends and a connecting rib plate in the middle; the upper connecting rod (7) is provided with a drill frame hinge pin (32) at one end and a connecting rod test bench hinge pin (34) at the other end, and an upper connecting rod rib plate (33) is provided in the middle of the upper connecting rod (7).

6. The fully automatic drilling rig multifunctional test bench according to claim 5 is characterized by: The drill frame (2) under test is provided with a drill frame lifting cylinder hinge pin (38), a connecting rod ear seat (39) and a lower connecting rod hinge pin (40). The drill frame (2) under test is hinged to the piston rod of the lifting cylinder (6) through the drill frame lifting cylinder hinge pin (38), and is hinged to the upper connecting rod (7) and the lower connecting rod (5) through the upper connecting rod ear seat (39) and the lower connecting rod hinge pin (40). The drill frame (2) under test and the swing frame (8) form a parallelogram mechanism.

7. The fully automatic drilling rig multifunctional test bench according to claim 6 is characterized by: The test block fixing frame (3) comprises a test block fixing frame (50), a middle test block (51), a top test block (53) and a test block fixing mechanism (57). The test block fixing frame (50) is a stepped truss structure formed by welding of section steel. The top test block (53) is fixed to the top of the test block fixing frame (50). The middle test block (51) is fixed to the middle of the test block fixing frame (50). The outer surface of the top test block (53) is equipped with a test block guard plate (56). The test block guard plate (56) is fixed by the test block fixing mechanism (57). The top test block (53) is fixed to the top of the test block fixing frame (3); the test block fixing mechanism (57) comprises a spiral buckle (52) connected to the test block fixing frame (50), a pressing wire rope locker (54) connected to the top test block (53), and a steel wire rope used to connect the spiral buckle (52) and the pressing wire rope locker (54); the middle test block (51) is fixed to the middle platform of the test block fixing frame (3) by means of a bolt mounting block (59), a limit block (60) and a test block fixing bolt (61).

8. The fully automatic drilling rig multifunctional test bench according to claim 1 or 7, characterized in that: It also includes a hydraulic parameter test system and a drill pipe torque wireless test system; The hydraulic parameter testing system includes a group of pressure sensors and flow sensors arranged at the outlet of the automatic drilling rig pump station, another group of pressure sensors and flow sensors arranged at the inlet and outlet of the drilling box motor, and pressure sensors arranged at the manipulator cylinder, clamp cylinder, and feed cylinder. The pressure sensors and flow sensors convert the collected pressure and flow signals into electrical signals and transmit them to the charge amplifier, which conditions and amplifies the electrical signals and transmits them to the pressure and flow signal acquisition instrument. The drill pipe torque wireless test system includes a strain bridge, a wireless torque acquisition module, a wireless signal transmitter, a wireless signal receiver and an industrial computer. The strain bridge is used to collect the stress and strain signals of the drill pipe during the drilling process, and obtain the drill pipe torque value by calculation. The drill pipe torque value signal is transmitted to the working condition machine through the wireless signal transmitter and the wireless signal receiver.

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