A horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system and use method

Abstract

The present invention discloses a horizontal large-diameter pipe rescue drilling rig drilling tool transport and loading and unloading system, which mainly includes a drill rod transport vehicle, a transfer platform, a hoisting device, a dual power device, a clamping and straightening device, a sensor module and a control module. Through the cooperation of various components, the automatic grabbing, transfer, and disassembly and assembly of the drill rod assembly are completed without manual intervention. It can adapt to different drilling postures of the rescue drilling rig, improve the drilling construction efficiency, and realize the efficient and intelligent construction of the rescue drilling rig. It has high operating efficiency, a wide range of applications, greatly reduces the number of construction personnel, and reduces the labor intensity of personnel. It can receive the operating information of the drill rod assembly in real time, autonomously control and adjust the movement trajectory of the drill rod assembly, realize the whole process transfer, and require less space. At the same time, it can realize continuous high-precision loading and unloading of drilling tools, improve construction efficiency, high automation efficiency, and high operation accuracy, providing key core components for the efficient drilling construction of horizontal rescue drilling rigs.

Description

Technical Field

[0001] The present invention belongs to the technical field of horizontal large-diameter pipe rescue drilling rigs, and in particular relates to a drilling tool transportation and loading and unloading system of a horizontal large-diameter pipe rescue drilling rig and a use method thereof. Background Art

[0002] At present, in the process of drilling and rescue in underground coal mines (tunnels), horizontal follow-up rescue drilling rigs are generally used to construct large-diameter boreholes, establish escape passages for personnel, and rescue trapped personnel through rescue operation cabins. The efficiency of horizontal rescue drilling construction directly determines whether the rescue is successful. Drilling construction is a key core step, which directly determines the construction capacity of horizontal rescue drilling rigs. Among them, auxiliary loading and unloading of drill rods and casings occupies most of the time during the drilling construction process, which has seriously restricted the efficiency of drilling construction. At present, conventional rescue drilling rigs at home and abroad generally use manual operation of mechanical booms or truck cranes to load and unload and transfer drilling tools, which require a large construction site and are prone to interference with other equipment. At the same time, they still need to rely on a large number of on-site personnel to assist in some work, with high labor intensity, harsh working environment, low construction efficiency, and high degree of danger.

[0003] Therefore, the research and development of a drilling tool transportation and loading and unloading system, and supporting relevant construction processes, to achieve efficient construction of large-diameter pipe rescue drilling rigs has always been a concern of technical personnel in this field. Summary of the invention

[0004] In order to significantly reduce the labor intensity of workers, keep workers away from dangerous areas, improve the safety and construction efficiency of the overall construction operations, reduce the number of operators, realize the intelligence of the entire rescue drilling construction process, and ensure the safety of operators, the purpose of the present invention is to provide a horizontal large-diameter pipe rescue drilling rig drilling tool transportation and unloading system and use method, which can complete the full process of automatic grasping, transfer, and disassembly and assembly of the drilling tools through the cooperation of various components without manual intervention, can adapt to different drilling postures of the rescue drilling rig, improve the drilling construction efficiency, and realize efficient and intelligent construction of the rescue drilling rig.

[0005] In order to achieve the above tasks, the present invention adopts the following technical solutions:

[0006] A horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system, characterized in that it mainly includes a drill pipe transportation vehicle, a transfer platform, a hoisting device, a dual power device, a clamping and straightening device, a sensor module and a control module, wherein:

[0007] The drill rod transport vehicle is mainly used to accurately grab the drill rod assembly in the stacking area and place it on the vehicle body platform so as to conveniently and flexibly transport it to the transfer platform quickly;

[0008] The transfer platform is mainly used to provide the middle position of the drill rod assembly to achieve accurate spatial position positioning of the drill rod assembly;

[0009] The hoisting device can be folded and supported, which is convenient for transportation and hoisting, and is mainly used for the rapid transfer of the drill pipe assembly;

[0010] The dual power device is mainly used for rapid drilling construction of the drill rod assembly;

[0011] The clamping and straightening device can straighten and clamp the drill rod assembly, and cooperate with the dual power device to install and remove the drill rod and casing without affecting each other;

[0012] The sensor module is mainly arranged on various components and the drill rod assembly, and is used to measure the spatial posture parameters and real-time operation information of the drill rod assembly;

[0013] The control module is mainly used to receive information collected by the sensor module, analyze and process it, and output control parameters to achieve accurate and rapid positioning of the drill rod assembly throughout the entire process.

[0014] According to the present invention, the drill rod transport vehicle mainly includes a crawler body, a folding arm, a special gripper, an operating table, a drill rod rack, and a cable drum, wherein:

[0015] The crawler body is used for the movement and transfer of the whole machine and provides power for each component;

[0016] The folding arm is connected to the rear side of the crawler body by bolts and can be rotated, lifted and translated. The output end is connected to the special gripper by a steel wire rope.

[0017] The operating table is fixedly connected to the other side of the rear of the vehicle body and is used to control the drill pipe transport vehicle, and can be operated remotely or manually;

[0018] The cable drum is fixedly connected to the middle of the crawler vehicle body and is used to provide input power;

[0019] The drill rod rack is arranged in front of the crawler vehicle body, is used to place the drill rod assembly, and is provided with a fixed stop pin to prevent the drill rod assembly from deviating;

[0020] The special gripper body adopts a crossbeam structure, with annular hooks arranged at both ends, a spring flexible connection, and a micro-cylinder. The spacing and the length of the reserved connection hole of the drill rod assembly are less than 3-4mm, and the length can be adjusted for grabbing the reserved connection hole of the drill rod assembly.

[0021] Specifically, the transfer platform mainly includes a bracket, two sets of stable legs, two sets of guide grooves and a rubbing rod device, wherein:

[0022] The support adopts a steel frame structure for placing the drill rod assembly; the two sets of stable legs are firmly supported by diagonal support cylinders, one end of which is connected to the side of the support and the other end is connected to the ground;

[0023] The two sets of guide grooves are both arranged on the bracket, the spacing between the lower edges of the two sets of guide grooves is 5-6 mm smaller than the length of the drill rod assembly, both adopt a sloped V-shaped structure, evenly distribute horizontal chamfers, and are symmetrically arranged to fix the drill rod assembly;

[0024] The rod twisting device is arranged in the middle of the two guide grooves, and is driven to rotate by a servo motor. The output end adopts an elastic cylindrical structure, which is used to partially adjust the angle state of the drill rod assembly.

[0025] Furthermore, the hoisting device mainly includes 4 sets of main arms, main rails, 4 sets of upper cylinders, 2 sets of diagonal support cylinders, 4 sets of fixed arms and a hoisting mechanism; wherein:

[0026] The four sets of main arms are symmetrically arranged and mounted on the drilling rig platform in an articulated manner, and can rotate around the articulated points to achieve the folding transportation and upper support hoisting state of the entire hoisting device;

[0027] The four sets of fixed arms are respectively connected to the upper ends of the four sets of main arms by means of universal joints, so as to ensure that the four sets of fixed arms are always in a horizontal direction;

[0028] One end of the two groups of diagonal support cylinders is connected to the drilling rig platform, and the other end is connected to the corresponding main arm, and the main arm is rotated by extending and retracting the diagonal support cylinders;

[0029] The main guide rail is fixedly connected to the center position of the two sets of fixed arms and always maintains a relatively static state with the fixed arms;

[0030] The hoisting mechanism adopts a double hook form, which is driven by double motors respectively, and can adjust the hook posture individually or synchronously. According to the operating status of the drill rod assembly, it is ensured that the two are always in the same plane to complete the grabbing of the drill rod assembly.

[0031] Preferably, the dual power device mainly includes an external power device and an internal power device; wherein the external power device is mainly used to drive the outer casing to rotate, so as to realize the outer casing drag reduction drilling construction; the internal power device is mainly used to drive the inner drill rod to rotate, so as to realize the inner drill rod drilling construction, and the overall drilling construction is completed by controlling and matching the inner drill rod and the outer casing;

[0032] Further preferably, the straightening and clamping device comprises an outer casing control device and an inner drill rod control device; wherein the outer casing control device is used to straighten and clamp the outer casing, and adopts two groups of vertical top cylinders to extend and retract, and clamps through slips; the inner drill rod control device is mainly used to brake the inner drill rod, and adopts two groups of horizontal top cylinders to extend and retract, and brakes by controlling the bayonet seat;

[0033] The drill rod assembly mainly comprises an outer sleeve and an inner drill rod, which have the same length. The inner drill rod is placed inside the outer sleeve and keeps axial alignment and radial clearance fit.

[0034] Further preferably, the sensor module mainly includes a posture sensor, a speed sensor and a vibration sensor; wherein:

[0035] The posture sensor is used to measure the posture state of the outer casing and the inner drill rod, mainly including the 3D space coordinates, and obtain the corresponding comprehensive coordinate value;

[0036] The position and posture sensors are mainly arranged on the casing and drill pipe to detect the spatial position and posture parameters of the drill pipe assembly and obtain the comprehensive coordinate values. The sensors are evenly arranged on the end faces of both ends of the casing and fixedly connected. Six sensors are evenly distributed on both end faces. The corresponding data are a 1 、a 2 、a 3 、a 4 、a 5 、a 6 and A 1 , A 2 , A 3 , A 4 , A 5 , A 6 , and one is arranged at each end of the spiral drill rod, and the corresponding data are b 1 , B 1 At the same time, 3 are arranged on the left and right sides of the spiral line at the center of the spiral drill rod, and the corresponding data are b 2 、b 3 、b 4 and B 2 , B 3 , B 4 , mainly used for the spatial posture state of the drill pipe;

[0037] The speed sensor is used to measure the working parameters of each device during the movement of the drill rod assembly, mainly including the 3D space speed, and obtain the corresponding comprehensive speed value;

[0038] The speed sensors are mainly arranged on the special gripper, hoisting mechanism, external power device, internal power device and rod twisting device, and are used to collect the operating parameters of each actuator during the movement of the drill rod assembly to obtain the comprehensive speed value. Two sensors are installed on each side of the two annular hooks of the special gripper, and the corresponding data are c 1 、c 2 、c 3 、c 4 and C 1 , C 2 , C 3 , C 4 ; Two hooks are installed on each side of the lifting mechanism, and the corresponding data are c 5 、c 6 、c 7 、c 8 and C 5 , C 6 , C 7 , C 8 ; One external power device is installed on each side of the box, and the corresponding data is c 9 、c 10 、c 11 、c 12 and C 9 , C 10 , C 11 , C 12 ; One internal power device is installed on each side of the box, and the corresponding data is c 13 、c 14 、c 15 、c 16 and C 13 , C 14 , C 15 , C 16 ; One is installed on each end of the rubbing rod device, and the corresponding data is c 17 、c 18 and C 17 , C 18 ;

[0039] The vibration sensor is used to measure the vibration state of each device during the drilling rod assembly buckling process, mainly including 3-bit spatial acceleration, and obtain the corresponding comprehensive acceleration value;

[0040] The vibration sensors are mainly arranged in the hoisting mechanism, external power device, internal power device, outer casing control device and inner drill pipe control device, and are used to collect the operating parameters of each actuator during the loading and unloading process of the drill pipe assembly to obtain the comprehensive acceleration value. Among them, two are installed on each side of the double hook of the hoisting mechanism, and are arranged at intervals with the speed sensor. The corresponding data are d 1 d 2 d 3d 4 and D 1 , D 2 , D 3 , D 4 ; Install one on each side of the outer power device and inner power device box, and the corresponding data are d 5 d 6 d 7 d 8 and D 5 , D 6 , D 7 , D 8 ; Install one pair of top cylinders in each of the outer casing control device and the inner drill pipe control device, and the corresponding data are d 9 d 10 d 11 d 12 and D 9 , D 10 , D 11 , D 12 .

[0041] Further preferably, the control module is used to process all data values ​​obtained by the sensor module, obtain the drill rod assembly state coefficient, migration coefficient and loading and unloading coefficient, use judgment rules to perform comprehensive analysis and calculation, and adjust the working parameters of each actuator in real time, thereby adjusting the spatial state of the outer sleeve and the inner drill rod, and adapting to different working states of the drilling rig platform to achieve fast and accurate work;

[0042] The control module performs data standardization on all data acquired by the sensor module. The number of each data set is N. The average values ​​corresponding to all data sets of the posture sensor are calculated to be a 10 、a 20 、a 30 、a 40 、a 50 、a 60 , A 10 , A 20 , A 30 , A 40 , A 50 , A 60 、b 10 、b 20 、b 30 、b 40 , B 10 , B 20 , B 30 , B 40 , and the corresponding range (maximum value - minimum value) of all data sets are a 1d 、a 2d 、a 3d 、a4d 、a 5d 、a 6d , A 1d , A 2d , A 3d , A 4d , A 5d , A 6d , b 1d , b 2d , b 3d , b 4d , B 1d , B 2d , B 3d , B 4d , the drill pipe assembly state factor Q is calculated 1 for:

[0043]

[0044] Where: μ 1 , μ 2 , μ 3 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 1 , γ 2 , γ 3 is the adjustment coefficient, which is set according to the state requirements of the drill pipe assembly and is a real number between 1 and 3;

[0045] The average values ​​of all data sets of the speed sensor are calculated as c 10 、c 20 、c 30 、c 40 、c 50 、c 60 、c 70 、c 80 、c 90 、c 100 、c 110 、c 120 、c 130 、c 140 、c 150 、c 160 、c 170 , C 10 , C 20 , C 30 , C 40 , C 50 , C 60 , C 70 , C 80 , C 90 , C 100 , C 110 , C 120 , C 130 , C 140, C 150 , C 160 , C 170 and the corresponding ranges (maximum value - minimum value) of all data sets, respectively c 1d 、c 2d 、c 3d 、c 4d 、c 5d 、c 6d 、c 7d 、c 8d 、c 9d 、c 10d 、c 11d 、c 12d 、c 13d 、c 14d 、c 15d 、c 16d 、c 17d , C 1d , C 2d , C 3d , C 4d , C 5d , C 6d , C 7d , C 8d , C 9d , C 10d , C 11d , C 12d , C 13d , C 14d , C 15d , C 16d , C 17d , the drill pipe assembly migration coefficient Q is calculated 2 for:

[0046]

[0047] Where: μ 4 , μ 5 , μ 6 , μ 7 , μ 8 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 4 , γ 5 , γ 6 , γ 7 , γ 8 The adjustment coefficient is determined according to the drilling rod assembly movement requirements and is a real number between 1 and 3;

[0048] The average values ​​of all the vibration sensor data sets are calculated as d 10 ,d 20 ,d 30 ,d 40 ,d 50 ,d60 d 70 d 80 d 90 d 100 d 110 d 120 , D 10 , D 20 , D 30 , D 40 , D 50 , D 60 , D 70 , D 80 , D 90 , D 100 , D 110 , D 120 and the corresponding range (maximum value - minimum value) of all data sets, respectively, are d 1d d 2d d 3d d 4d d 5d d 6d d 7d d 8d d 9d d 10d d 11d d 12d , D 1d , D 2d , D 3d , D 4d , D 5d , D 6d , D 7d , D 8d , D 9d , D 10d , D 11d , D 12d The calculation results show that the loading and unloading coefficient of the drill pipe assembly is Q 3 for:

[0049]

[0050] Where: μ 9 , μ 10 , μ 11 , μ 12 , μ 13 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 9 , γ 10 , γ 11 , γ 12 , γ 13 is the adjustment coefficient, which is determined according to the requirements for loading and unloading the drill pipe assembly and is a real number between 1 and 3;

[0051] The drilling rod assembly movement process can be accurately controlled by formulas (1) to (2), and the following formula can be used for judgment and control:

[0052] When Q 1 ×Q 2 When ≤M, the control module does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round;

[0053] When Q 1 ×Q 2 >M, the control module needs to adjust the working parameters of each device, select the speed sensor to obtain the maximum range of all data sets, and then find the corresponding execution device, which is one of the special gripper, hoisting mechanism, external power device, internal power device and rubbing rod device. Then, the working parameters of the device need to be adjusted. When the range is ≥ the average value, the increase in adjustment is the average value × C; when the range is < the average value, the decrease in adjustment is the average value × C;

[0054] The values ​​of M and C are determined independently based on the drill pipe assembly movement requirements and historical experience.

[0055] Formulas (1) and (3) can be used to accurately control the loading and unloading process of the drill pipe assembly, and the following formula can be used for judgment and control:

[0056] When Q 1 ×Q 3 When ≤N, the control module does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round;

[0057] When Q 1 ×Q 3 >N, the control module needs to adjust the working parameters of each device, select the vibration sensor to obtain the maximum range of all data sets, and then find the corresponding actuator (one of the hoisting mechanism, external power device, internal power device, outer casing control device and inner drill rod control device), and then adjust the working parameters of the actuator. When the range is ≥ the average value, the increase in adjustment is the average value × C; when the range is < the average value, the decrease in adjustment is the average value × C;

[0058] The values ​​of N and D are determined independently based on the loading and unloading requirements of the drill pipe assembly and historical experience.

[0059] The method for using the above-mentioned horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system is characterized by comprising the following steps:

[0060] Step 1: All construction equipment, drill rod assemblies and other consumables are transported to the rescue tunnel area, assembled and debugged, the initial space layout is completed, and safety inspections are carried out to ensure that all equipment works normally and meets construction requirements;

[0061] Step 2: The drill rod transport vehicle is transported to the drill rod assembly stacking area, and the folding arm working state is adjusted to move the special gripper to the target drill rod assembly to determine the position. At the same time, the special gripper's spatial posture is locally fine-tuned to ensure that the special gripper can quickly grab the reserved connection hole of the drill rod assembly according to the placement position of the drill rod assembly, and place it on the vehicle body platform for transportation, and quickly reach the transfer platform;

[0062] Step 3: The drill rod transport vehicle transfers the drill rod assembly from the vehicle body platform to the transfer platform. The sensor module collects the transport information of the drill rod assembly in real time. The control module adjusts the working parameters of the special gripper to ensure that the drill rod assembly always runs along the specified route. The assembly is placed at the same horizontal chamfer of the front guide groove and the rear guide groove, and the drill rod assembly is rotated by the rubbing device. The entire transport process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements.

[0063] Step 4: The diagonal support cylinder is retracted to fold the lifting device for easy transportation to the designated location. The diagonal support cylinder is extended to keep the lifting device in a vertical position. At the same time, the top cylinder supports the top of the tunnel. At the same time, the lifting mechanism extracts the drill rod assembly from the fixed position of the transfer platform, passes over the dual power device, and places it between the dual power device and the clamping and straightening device. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0064] Step 5: Initially, the drill bit and the drill pipe short section are placed at the straightening clamping device through relevant equipment, and the brake is applied through the inner drill pipe control device. At this time, the dual power device and the lifting device cooperate to install the first set of drill pipe assemblies. First, the outer power device is inserted into the first outer sleeve and moved forward. There is no need to use the rear-end manipulator to install the connecting pin shaft. The front end of the first inner drill pipe is in contact with the drill pipe short section. At this time, the external power device drives the first outer sleeve to continue to move forward, while the first inner drill pipe remains stationary. The first outer sleeve moves forward more than the drill pipe short section distance than the first inner drill pipe. , then the external power device retreats, and the outer casing control device clamps the first outer casing, just exposing the first inner drill rod joint. At this time, the internal power device moves forward and is inserted into the first inner drill rod joint, and the rear-end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the internal power device and the first inner drill rod are reliably connected. Finally, the external power device moves forward and is inserted into the first outer casing joint, and the rear-end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the external power device and the first outer casing are reliably connected, and the rear-end fixed connection of the first set of drill rod assemblies is completed. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0065] Step 6: The internal power device drives the first inner drill rod forward and inserts the drill rod short section. The internal drill rod control device brakes the drill rod short section, and uses the front-end manipulator of the drilling rig platform to insert the connecting pin to ensure that the first inner drill rod and the drill rod short section are reliably connected, completing the front-end fixed connection of the first drill rod assembly. At this time, the outer casing control device is used to straighten the first drill rod assembly. At the same time, the external power device and the internal power device cooperate to complete the feeding construction of the first drill rod assembly. After the construction is completed, the rear end of the first inner drill rod is farther than the rear end of the first outer casing by the distance of the drill rod short section. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0066] Step 7: Complete the transfer of the second set of drill rod assemblies as shown in steps 1-4. At this time, the outer casing control device clamps the first outer casing, and the inner drill rod control device brakes the first inner drill rod. At this time, the dual power device and the lifting device cooperate to install the second set of drill rod assemblies. First, use the outer power device to insert the buckle into the second outer casing to move forward. There is no need to use the rear-end manipulator to install the connecting pin. The front end of the second inner drill rod contacts the rear end of the second inner drill rod. At this time, the external power device drives the second outer casing to continue to move forward, while the second inner drill rod remains stationary. The second outer casing is longer than the second inner drill rod. The drill pipe is advanced for a short distance, and then the external power device retreats. The outer casing control device moves backward to clamp the second outer casing, and the second inner drill pipe joint is just exposed. At this time, the internal power device is advanced and inserted into the second inner drill pipe joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin to ensure that the internal power device and the second inner drill pipe are reliably connected. Finally, the external power device is advanced and inserted into the second outer casing joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin to ensure that the external power device and the second outer casing are reliably connected, and the rear end fixed connection of the second drill pipe assembly is completed. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill pipe assembly meet the design requirements;

[0067] Step 8: The external power device drives the second outer casing backward, while the internal power device drives the second inner drill rod forward and inserts the first inner drill rod. The inner drill rod control device brakes the first inner drill rod, and uses the front-end manipulator of the drilling rig platform to insert the connecting pin to ensure that the second inner drill rod and the first inner drill rod are reliably connected. Then the external power device drives the second outer casing forward, the outer casing control device clamps the first outer casing, and uses the front-end manipulator of the drilling rig platform to insert the connecting pin to ensure that the second outer casing and the first outer casing are reliably connected, completing the front-end fixed connection of the second drill rod assembly. At this time, the outer casing control device is used to straighten the second drill rod assembly. At the same time, the external power device and the internal power device cooperate to complete the feeding construction of the second drill rod assembly. After the construction is completed, the rear end of the second inner drill rod is longer than the rear end of the second outer casing by the distance of the drill rod short section. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0068] Step 9: Use the same method to complete the construction of subsequent drill rod assemblies. All drill rod assemblies can be automatically and continuously constructed until the designed depth requirement is reached; and the entire dismantling process is the opposite of the process from step 2 to step 8.

[0069] Compared with the prior art, the drill tool transportation and loading and unloading system of the horizontal large-diameter pipe-following rescue drilling rig and the use method thereof of the present invention have high operating efficiency, wide application range, and greatly reduce the number of construction personnel. Through the cooperation of various components, the whole process of automatic grabbing, transferring, and disassembling of the drill tool can be completed without human intervention. At the same time, the entire drill tool can adapt to different drilling positions of the rescue drilling rig, improve the drilling construction efficiency, realize the efficient and intelligent construction of the rescue drilling rig, and provide a key core component for the efficient drilling construction of the horizontal rescue drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a schematic diagram of the components of the drilling tool transporting and loading and unloading system of the horizontal large-diameter pipe rescue drilling rig of the present invention;

[0071] Figure 2 This is a schematic diagram of the components of the drill pipe transport vehicle;

[0072] Figure 3 This is a schematic diagram of the composition of the transfer platform;

[0073] Figure 4 It is a schematic diagram of the components of the lifting device;

[0074] Figure 5 It is a schematic diagram of the composition of the dual power device;

[0075] Figure 6 It is a schematic diagram of the clamping and straightening device;

[0076] Figure 7 The schematic diagram of the drill pipe assembly is shown in FIG.

[0077] Figure 8 This is a schematic diagram of the drilling tool transportation and loading and unloading system;

[0078] Fig. 9 This is the first schematic diagram of the drilling tool transport and loading and unloading system;

[0079] Fig.10 The second schematic diagram of the drilling tool transport and loading and unloading system;

[0080] Fig.11 The third schematic diagram of the drilling tool transport and loading and unloading system;

[0081] Fig.12 The fourth schematic diagram of the drilling tool transport and loading and unloading system;

[0082] Fig.13 This is the fifth schematic diagram of the drilling tool transportation and loading and unloading system.

[0083] The marks in the figure represent: 1. Clamping and righting device, 2. Dual power device, 3. Hoisting device, 4. Control module, 5. Transfer platform, 6. Sensor module, 7. Drill rod transport vehicle, 8. Drill rod rack, 9. Special gripper, 10. Folding arm, 11. Cable reel, 12. Track body, 13. Operating table, 14. Bracket, 15. Rod rubbing device, 16. Guide groove, 17. Stabilizing support leg, 18. Diagonal support cylinder, 19. Main arm, 20. Fixed arm, 21. Lifting cylinder, 22. Main guide rail, 23. Hoisting mechanism, 24. External power device, 25. Internal power device, 26. Outer casing control device, 27. Inner drill rod control device, 28. Inner drill rod, 29. Outer casing.

[0084] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0085] It should be noted that the embodiments given below are preferred examples, and the present invention is not limited to the following embodiments. Any additions or equivalent changes of technical features made on the basis of the technical solution of this application shall fall within the protection scope defined in the claims of this application.

[0086] This embodiment provides a horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system, which mainly includes a drill pipe transportation vehicle 7, a transfer platform 5, a lifting device 3, a dual power device 2, a clamping and straightening device 1, a sensor module 6 and a control module 4.

[0087] in:

[0088] like Figure 1 As shown, the drill rod transport vehicle 7 is mainly used to accurately grab the drill rod assembly in the stacking area, place it on the vehicle body platform, and can be conveniently and flexibly transported to the transfer platform 5 quickly;

[0089] The transfer platform 5 is mainly used to provide the middle position of the drill rod assembly to achieve accurate spatial position positioning of the drill rod assembly;

[0090] The hoisting device 3 can be folded and supported to facilitate transportation and hoisting work, and is mainly used for the rapid transfer of the drill rod assembly;

[0091] The dual power device 2 is mainly used for rapid drilling construction of the drill rod assembly; the clamping and straightening device 1 can straighten and clamp the drill rod assembly, and cooperate with the dual power device 2 to install and remove the drill rod and casing without affecting each other;

[0092] The sensor module 6 is mainly arranged on various components and the drill rod assembly, and is used to measure the spatial posture parameters and real-time operation information of the drill rod assembly;

[0093] The control module 4 is mainly used to receive the information collected by the sensor module, analyze and process it, and output control parameters to achieve accurate and rapid positioning of the drill rod assembly throughout the entire process; the entire drilling tool transportation and loading and unloading system can ensure the smooth operation of each component, and the drill rod assembly is transported unmanned throughout the entire process, thereby achieving efficient drilling of large-diameter pipe rescue drilling rigs.

[0094] like Figure 2 As shown, the drill rod transport vehicle 7 mainly includes a crawler body 12, a folding arm 10, a special gripper 9, an operating table 13, a drill rod rack 8, and a cable drum 11. The crawler body 12 is used for the whole machine to move and provide power for each component; wherein:

[0095] The folding arm 10 is bolted to one side of the rear of the crawler body 12, and can be rotated, lifted and translated, and the output end is connected to the special gripper 9 by a steel wire rope;

[0096] The operating platform 13 is fixedly connected to the other side of the rear of the vehicle body and is used to control the drill pipe transport vehicle 7, and can be operated remotely or manually;

[0097] The cable drum 11 is fixedly connected in the middle of the crawler vehicle body 12 and is used to provide input power;

[0098] The drill rod rack 8 is arranged in front of the crawler vehicle body 12, is used to place the drill rod assembly, and is provided with a fixed stop pin to prevent the drill rod assembly from deviating;

[0099] The main body of the special gripper 9 adopts a crossbeam structure, with annular hooks arranged at both ends, a spring flexible connection, and a micro cylinder. The spacing and the length of the reserved connection hole of the drill rod assembly are less than 3-4mm, and the length can be adjusted for grabbing the reserved connection hole of the drill rod assembly.

[0100] like Figure 3 As shown, the transfer platform 5 mainly includes a bracket 14, two sets of stabilizing legs 17, two sets of guide grooves 16 and a rubbing rod device 15; wherein:

[0101] The support 14 is a steel frame structure for placing the drill rod assembly;

[0102] The two groups of stabilizing legs 17 are stably supported by diagonal support cylinders 18, one end of which is connected to the side of the bracket 14 and the other end is connected to the ground;

[0103] The two sets of guide grooves 16 are both arranged on the bracket 14, and the spacing between the lower edges of the two sets of guide grooves 16 is 5-6 mm smaller than the length of the drill rod assembly. Both of them adopt a sloped V-shaped structure, evenly distributed horizontal chamfers, and are symmetrically arranged to fix the drill rod assembly;

[0104] The rod twisting device 15 is arranged in the middle of the two sets of guide grooves 16, and is driven to rotate by a servo motor. The output end adopts an elastic cylindrical structure, which is used to partially adjust the angle state of the drill rod assembly.

[0105] like Figure 4 As shown, the hoisting device 3 mainly includes 4 sets of main arms 19, main guide rails 22, 4 sets of upper cylinders 21, 2 sets of diagonal support cylinders 18, 4 sets of fixed arms 20, and a hoisting mechanism 23, wherein:

[0106] The four sets of main arms 19 are symmetrically arranged and hingedly mounted on the drilling rig platform, and can rotate around the hinge points to achieve the folding transportation and upper support hoisting state of the entire hoisting device 3;

[0107] The four sets of fixed arms 20 are respectively connected to the upper ends of the four sets of main arms 19 by means of universal joints, so as to ensure that the four sets of fixed arms 20 are always in a horizontal direction;

[0108] One end of the two groups of diagonal support cylinders 18 is connected to the drilling rig platform, and the other end is connected to the corresponding main arm 19, and the main arm 19 is rotated by the extension and retraction of the diagonal support cylinders 18;

[0109] The main guide rail 22 is fixedly connected to the center position of the two sets of fixed arms 20, and always maintains a relatively static state with the fixed arms 20;

[0110] The hoisting mechanism 23 adopts a double hook form, which is driven by double motors respectively, and can adjust the hook posture individually or synchronously. According to the operating status of the drill rod assembly, it is ensured that the two are always in the same plane to complete the grabbing of the drill rod assembly.

[0111] like Figure 5 As shown, the dual power device 2 mainly includes an external power device 24 and an internal power device 25, wherein the external power device 24 is mainly used to drive the outer sleeve 29 to rotate, so as to realize the drag reduction drilling construction of the outer sleeve 29; the internal power device 25 is mainly used to drive the inner drill rod 28 to rotate, so as to realize the drilling construction of the inner drill rod 28, and the overall drilling construction is completed by controlling and matching the inner drill rod 28 and the outer sleeve 29.

[0112] like Figure 6 As shown, the straightening and clamping device includes an outer casing control device 26 and an inner drill rod control device 27, wherein the outer casing control device 26 is used to straighten and clamp the outer casing 29, and adopts two groups of vertical top cylinders to extend and retract, and clamps through slips; the inner drill rod control device 27 is mainly used to brake the inner drill rod 28, and adopts two groups of horizontal top cylinders to extend and retract, and brakes by controlling the bayonet seat;

[0113] like Figure 7As shown, the drill rod assembly mainly includes an outer sleeve 29 and an inner drill rod 28, which are of the same length for easy transfer and transportation. The inner drill rod 28 is placed inside the outer sleeve 29 and is kept axially aligned and radially clear fit;

[0114] The sensing module 6 mainly includes a posture sensor, a speed sensor and a vibration sensor. The posture sensor is used to measure the posture state of the outer sleeve 29 and the inner drill rod 28, mainly including 3D spatial coordinates, and obtain the corresponding spatial posture parameters; the speed sensor is used to measure the working parameters of each device in the movement process of the drill rod assembly, mainly including 3D spatial speed, and obtain the corresponding comprehensive speed value; the vibration sensor is used to measure the vibration state of each device in the loading and unloading process of the drill rod assembly, mainly including 3D spatial acceleration, and obtain the corresponding comprehensive acceleration value.

[0115] The position and posture sensors are mainly arranged on the casing and the drill pipe, and are mainly used to detect the spatial position and posture parameters of the drill pipe assembly and obtain the comprehensive coordinate values. The position and posture sensors are evenly arranged on the end faces of both ends of the casing, and a fixed connection is adopted. Six sensors are evenly distributed on the two end faces, and the corresponding data are obtained as a and b. 1 、a 2 、a 3 、a 4 、a 5 、a 6 and A 1 , A 2 , A 3 , A 4 , A 5 , A 6 , and one is arranged at each end of the spiral drill rod, and the corresponding data are b 1 , B 1 At the same time, 3 are arranged on the left and right sides of the spiral line at the center of the spiral drill rod, and the corresponding data are b 2 、b 3 、b 4 and B 2 , B 3 , B 4 , mainly used for the spatial posture state of the drill pipe;

[0116] The speed sensors are mainly arranged on the special gripper 9, the hoisting mechanism 23, the external power device 24, the internal power device 25 and the rod rubbing device 15, and are mainly used to collect the operating parameters of each actuator during the movement of the drill rod assembly to obtain the comprehensive speed value. Two sensors are installed on each side of the two annular hooks of the special gripper 9, and the corresponding data are c 1 、c 2 、c 3 、c 4 and C 1 , C 2, C 3 , C 4 , two double hooks are installed on each side of the lifting mechanism 23, and the corresponding data are c 5 、c 6 、c 7 、c 8 and C 5 , C 6 , C 7 , C 8 , one external power device 24 is installed around the box, and the corresponding data is c 9 、c 10 、c 11 、c 12 and C 9 , C 10 , C 11 , C 12 , one internal power device 25 is installed around the box, and the corresponding data is c 13 、c 14 、c 15 、c 16 and C 13 , C 14 , C 15 , C 16 , one is installed on each end surface of the rubbing rod device 15, and the corresponding data is c 17 、c 18 and C 17 , C 18

[0117] The vibration sensors are mainly arranged in the hoisting mechanism 23, the external power device 24, the internal power device 25, the outer casing control device 26 and the inner drill rod control device 27, and are mainly used to collect the operating parameters of each actuator during the loading and unloading process of the drill rod assembly to obtain the comprehensive acceleration value. Two of them are installed on each of the double hook sides of the hoisting mechanism 23, and are arranged at intervals with the speed sensor. The corresponding data are d 1 d 2 d 3 d 4 and D 1 , D 2 , D 3 , D 4 , one is installed on each side of the outer power device 24 and the inner power device 25, and the corresponding data are d 5 d 6 d 7 d 8 and D 5 , D 6 , D 7 , D 8, one is installed for each of the two sets of vertical top cylinders of the outer casing control device 26 and the two sets of horizontal top cylinders of the inner drill pipe control device 27, and the corresponding data are d 9 d 10 d 11 d 12 and D 9 , D 10 , D 11 , D 12 .

[0118] The control module 4 is used to process all data values ​​obtained by the sensor module 6, obtain the drill rod assembly state coefficient, migration coefficient and loading and unloading coefficient, use judgment rules to perform comprehensive analysis and calculation, and adjust the working parameters of each actuator in real time, thereby adjusting the spatial state of the outer sleeve 29 and the inner drill rod 28, and adapting to different working states of the drilling rig platform to achieve fast and accurate work;

[0119] The control module 4 performs data standardization on all data acquired by the sensor module 6. The number of each data set is N. The average values ​​corresponding to all data sets of the posture sensor are calculated to be a 10 、a 20 、a 30 、a 40 、a 50 、a 60 , A 10 , A 20 , A 30 , A 40 , A 50 , A 60 、b 10 、b 20 、b 30 、b 40 , B 10 , B 20 , B 30 , B 40 , and the corresponding ranges (maximum value - minimum value) of all data sets are a 1d 、a 2d 、a 3d 、a 4d 、a 5d 、a 6d , A 1d , A 2d , A 3d , A 4d , A 5d , A 6d 、b 1d 、b 2d 、b 3d 、b 4d , B 1d , B2d , B 3d , B 4d , the drill pipe assembly state factor Q is calculated 1 for:

[0120]

[0121] Where: μ 1 , μ 2 , μ 3 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 1 , γ 2 , γ 3 is the adjustment coefficient, which is set according to the state requirements of the drill pipe assembly and is a real number between 1 and 3;

[0122] The average values ​​of all data sets of the speed sensor are calculated as c 10 、c 20 、c 30 、c 40 、c 50 、c 60 、c 70 、c 80 、c 90 、c 100 、c 110 、c 120 、c 130 、c 140 、c 150 、c 160 、c 170 , C 10 , C 20 , C 30 , C 40 , C 50 , C 60 , C 70 , C 80 , C 90 , C 100 , C 110 , C 120 , C 130 , C 140 , C 150 , C 160 , C 170 And the range (maximum value - minimum value) of all corresponding data sets are c 1d 、c 2d 、c 3d 、c 4d 、c 5d 、c 6d 、c 7d 、c 8d 、c 9d 、c10d 、c 11d 、c 12d 、c 13d 、c 14d 、c 15d 、c 16d 、c 17d , C 1d , C 2d , C 3d , C 4d , C 5d , C 6d , C 7d , C 8d , C 9d , C 10d , C 11d , C 12d , C 13d , C 14d , C 15d , C 16d , C 17d , the drill pipe assembly migration coefficient Q is calculated 2 for:

[0123]

[0124] Where: μ 4 , μ 5 , μ 6 , μ 7 , μ 8 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 4 , γ 5 , γ 6 , γ 7 , γ 8 The adjustment coefficient is determined according to the drilling rod assembly movement requirements and is a real number between 1 and 3;

[0125] The average values ​​of all the vibration sensor data sets are calculated as d 10 ,d 20 ,d 30 ,d 40 ,d 50 ,d 60 ,d 70 ,d 80 ,d 90 ,d 100 ,d 110 ,d 120 , D 10 , D 20 , D 30 , D 40 , D 50 , D 60 , D 70, D 80 , D 90 , D 100 , D 110 , D 120 And the range (maximum value - minimum value) of all corresponding data sets are d 1d d 2d d 3d d 4d d 5d d 6d d 7d d 8d d 9d d 10d d 11d d 12d , D 1d , D 2d , D 3d , D 4d , D 5d , D 6d , D 7d , D 8d , D 9d , D 10d , D 11d , D 12d The calculation results show that the loading and unloading coefficient of the drill pipe assembly is Q 3 for:

[0126]

[0127] Where: μ 9 , μ 10 , μ 11 , μ 12 , μ 13 are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; 9 , γ 10 , γ 11 , γ 12 , γ 13 is the adjustment coefficient, which is determined according to the requirements for loading and unloading the drill pipe assembly and is a real number between 1 and 3;

[0128] The drilling rod assembly movement process can be accurately controlled by formulas (1) to (2), and the following formula can be used for judgment and control:

[0129] When Q 1 ×Q 2 ≤M, the control module 4 does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round;

[0130] When Q 1 ×Q 2>M, the control module 4 needs to adjust the working parameters of each device, select the speed sensor to obtain the maximum range of all data sets, and then find the corresponding execution device (one of the special gripper 9, the lifting mechanism 23, the external power device 24, the internal power device 25 and the rubbing rod device 15), and then adjust the working parameters of the device. When the range is ≥ the average value, the increase in adjustment is the average value × C; when the range is < the average value, the decrease in adjustment is the average value × C;

[0131] The values ​​of M and C are determined independently based on the drill pipe assembly movement requirements and historical experience.

[0132] Formulas (1) and (3) can be used to accurately control the loading and unloading process of the drill pipe assembly, and the following formula can be used for judgment and control:

[0133] When Q 1 ×Q 3 When ≤N, the control module 4 does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round;

[0134] When Q 1 ×Q 3 >N, the control module 4 needs to adjust the working parameters of each device, select the vibration sensor to obtain the maximum range of all data sets, and then find the corresponding execution device (one of the hoisting mechanism 23, the external power device 24, the internal power device 25, the outer casing control device 26 and the inner drill rod control device 27), and then the working parameters of the device need to be adjusted. When the range is ≥ the average value, the increase in adjustment amount is the average value × C; when the range is < the average value, the decrease in adjustment amount is the average value × C;

[0135] The values ​​of N and D are determined independently based on the loading and unloading requirements of the drill pipe assembly and historical experience.

[0136] The method for using the horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system provided in this embodiment is completed by cooperating with the above-mentioned devices, and includes the following steps:

[0137] Step 1: All construction equipment, drill rod assemblies and other consumables are transported to the rescue tunnel area, assembled and debugged, the initial space layout is completed, and safety inspections are carried out to ensure that all equipment works normally and meets construction requirements;

[0138] Step 2: The drill rod transport vehicle 7 is transported to the drill rod assembly stacking area, and the working state of the folding arm 10 is adjusted to move the special gripper 9 to the target drill rod assembly to determine the position. At the same time, the spatial posture of the special gripper 9 is locally fine-tuned to ensure that the special gripper 9 can quickly grab the reserved connection hole of the drill rod assembly according to the placement position of the drill rod assembly, and place it on the vehicle body platform for transportation, and quickly reach the transfer platform 5;

[0139] Step 3, the drill rod transport vehicle 7 transfers the drill rod assembly from the vehicle body platform to the transfer platform 5, the sensor module 6 collects the transport information of the drill rod assembly in real time, the control module 4 adjusts the working parameters of the special gripper 9 to ensure that the drill rod assembly always runs along the prescribed route, and is placed at the same horizontal chamfer of two sets of guide grooves 16 (i.e., the front guide groove and the rear guide groove), and the rubbing rod device 15 is used to rotate the drill rod assembly. The transport process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0140] Step 4, the diagonal support cylinder 18 is retracted to fold the hoisting device 3 for easy transportation to the designated location, the diagonal support cylinder 18 is extended to keep the hoisting device 3 in a vertical position, and the top cylinder 21 supports the top of the tunnel. At the same time, the hoisting mechanism 23 extracts the drill rod assembly from the fixed position of the transfer platform 5, passes over the dual power device 2, and is placed between the dual power device 2 and the clamping and straightening device 1. The loading and unloading process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0141] Step 5, initially, the drill bit and the drill rod short section are placed at the straightening clamping device through relevant equipment, and the brake is performed through the inner drill rod control device 27. At this time, the dual power device 2 and the lifting device 3 cooperate to install the first set of drill rod assemblies. First, the external power device 24 is inserted into the first outer sleeve 29 and moved forward. There is no need to use the rear-end manipulator to install the connecting pin shaft. The front end of the first inner drill rod 28 is in contact with the drill rod short section. At this time, the external power device 24 drives the first outer sleeve 29 to continue to move forward, while the first inner drill rod remains stationary. Then the first outer sleeve 29 moves forward more than the first inner drill rod 28 by the drill rod short section distance, and then The external power device 24 moves backward, and the outer sleeve control device 26 clamps the first outer sleeve 29, just exposing the joint of the first inner drill rod 28. At this time, the internal power device 25 moves forward and inserts into the joint of the first inner drill rod 28, and uses the rear end manipulator of the drilling rig platform to insert the connecting pin to ensure that the internal power device 25 and the first inner drill rod 28 are reliably connected. Finally, the external power device 24 moves forward and inserts into the joint of the first outer sleeve 29, and uses the rear end manipulator of the drilling rig platform to insert the connecting pin to ensure that the external power device 24 and the first outer sleeve 29 are reliably connected, and the rear end fixed connection of the first set of drill rod assemblies is completed. The loading and unloading process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0142] Step 6, the internal power device 25 drives the first inner drill rod 28 forward and inserts the drill rod short section, the inner drill rod control device 27 brakes the drill rod short section, and uses the front-end manipulator of the drilling rig platform to insert the connecting pin shaft to ensure that the first inner drill rod 28 and the drill rod short section are reliably connected, and the front end of the first set of drill rod components is fixedly connected. At this time, the outer sleeve control device 26 is used to straighten the first set of drill rod components. At the same time, the external power device 24 and the internal power device 25 cooperate to complete the feeding construction of the first set of drill rod components. After the construction is completed, the rear end of the first inner drill rod 28 is longer than the rear end of the first outer sleeve 29 by the distance of the drill rod short section. The loading and unloading process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0143] Step 7: As shown in steps 1-4, the transfer of the second set of drill rod assemblies is completed. At this time, the outer sleeve control device 26 clamps the first outer sleeve 29, and the inner drill rod control device 27 brakes the first inner drill rod 28. At this time, the dual power device 2 and the lifting device 3 cooperate to install the second set of drill rod assemblies. First, the outer power device 24 is inserted into the second outer sleeve 29 and moves forward. There is no need to use the rear-end manipulator to install the connecting pin shaft. The front end of the second inner drill rod 28 is in contact with the rear end of the second inner drill rod 28. At this time, the external power device 24 drives the second outer sleeve 29 to continue to move forward, while the second inner drill rod 28 remains stationary. Then, the second outer sleeve 29 is longer than the second inner drill rod. 28 more advance drill rod short section distance, then the external power device 24 retreats, the outer sleeve control device 26 moves backward to clamp the second outer sleeve 29, then the second inner drill rod 28 joint is just exposed, at this time the internal power device 25 advances to insert into the second inner drill rod 28 joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft, to ensure that the internal power device 25 and the second inner drill rod 28 are reliably connected, finally the external power device 24 advances to insert into the second outer sleeve 29 joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft, to ensure that the external power device 24 and the second outer sleeve 29 are reliably connected, and the rear end fixed connection of the second set of drill rod assembly is completed. The loading and unloading process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0144] Step 8: The external power device 24 drives the second outer sleeve 29 to retreat, while the internal power device 25 drives the second inner drill rod 28 forward and inserts the first inner drill rod 28, the inner drill rod control device 27 brakes the first inner drill rod 28, and uses the front end manipulator of the drilling rig platform to insert the connecting pin to ensure that the second inner drill rod 28 and the first inner drill rod 28 are reliably connected, then the external power device 24 drives the second outer sleeve 29 forward, the outer sleeve control device 26 clamps the first outer sleeve 29, and uses the front end manipulator of the drilling rig platform to insert the connecting pin to ensure that the second outer sleeve 29 and the first outer sleeve 29 are reliably connected, and the front end of the second drill rod assembly is fixedly connected. At this time, the outer sleeve control device 26 is used to straighten the second drill rod assembly, and the external power device 24 and the internal power device 25 cooperate to complete the feeding construction of the second drill rod assembly. After the construction is completed, the rear end of the second inner drill rod 28 is longer than the rear end of the second outer sleeve 29 by the distance of the drill rod short section. The loading and unloading process is detected by the detection module, and the control module 4 is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements;

[0145] Step 9: Use the same method to complete the construction of subsequent drill rod assemblies. All drill rod assemblies can be automatically and continuously constructed until the designed depth requirement is reached. The entire dismantling process is the opposite of the above process.

[0146] In summary, the horizontal large-diameter follow-pipe rescue drilling rig drilling tool transportation and loading and unloading system provided in this embodiment can complete the full process of automatic grabbing, transfer, and disassembly and assembly of drilling tools through the cooperation of various components, without manual intervention, and can adapt to different drilling postures of the rescue drilling rig, improve the drilling construction efficiency, and realize the efficient and intelligent construction of the rescue drilling rig. It has high operating efficiency, a wide range of applications, and greatly reduces the number of construction personnel, while reducing the labor intensity of personnel. It can receive the operating information of the drill rod assembly in real time, autonomously control and adjust the movement trajectory of the drill rod assembly, realize the full process transfer, and require less space. At the same time, it can realize continuous high-precision loading and unloading of drilling tools, improve construction efficiency, high automation efficiency, and high operation accuracy, providing key core equipment for efficient drilling construction of horizontal rescue drilling rigs.

Claims

1. A horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system, characterized in that: The invention mainly comprises a drill pipe transport vehicle (7), a transfer platform (5), a hoisting device (3), a dual power device (2), a clamping and straightening device (1), a sensor module (6) and a control module (4), wherein: The drill rod transport vehicle (7) is mainly used to accurately grab the drill rod assembly in the stacking area and place it on the vehicle body platform so as to conveniently and flexibly transport it to the transfer platform (5) quickly; The transfer platform (5) is mainly used to provide an intermediate position of the drill rod assembly to achieve accurate spatial position positioning of the drill rod assembly; The hoisting device (3) can be folded and supported, which is convenient for transportation and hoisting, and is mainly used for the rapid transfer of the drill rod assembly; The dual power device (2) is mainly used for rapid drilling construction of the drill rod assembly; The clamping and straightening device (1) can straighten and clamp the drill rod assembly, and cooperate with the dual power device (2) to install and remove the drill rod and casing without affecting each other; The sensor module (6) is mainly arranged on various components and the drill rod assembly, and is used to measure the spatial posture parameters and real-time operation information of the drill rod assembly; The control module (4) is mainly used to receive information collected by the sensor device, analyze and process it, and output control parameters to achieve accurate and rapid positioning of the drill rod assembly throughout the entire process; The drill rod transport vehicle (7) mainly comprises a crawler vehicle body (12), a folding arm (10), a special gripper (9), an operating table (13), a drill rod rack (8), and a cable reel (11), wherein: The crawler vehicle body (12) is used for the movement and transfer of the entire machine and provides power for each component; The folding arm (10) is connected to one side of the rear of the crawler vehicle body (12) by bolts and can be rotated, lifted and translated. The output end is connected to the special gripper (9) by a steel wire rope. The operating table (13) is fixedly connected to the other side of the rear of the vehicle body and is used to control the drill rod transport vehicle (7), and can be operated remotely or manually; The cable drum (11) is fixedly connected in the middle of the crawler vehicle body (12) and is used to provide input power; The drill rod rack (8) is arranged in front of the crawler vehicle body (12) and is used to place the drill rod assembly, and is provided with a fixed stop pin to prevent the drill rod assembly from deviating; The main body of the special gripper (9) adopts a crossbeam structure, with annular hooks arranged at both ends, a spring flexibly connected, and a micro-cylinder, the spacing between which and the length of the reserved connection hole of the drill rod assembly is less than 3-4 mm, and the length can be adjusted, and is used to grab the reserved connection hole of the drill rod assembly; The transfer platform (5) mainly comprises a bracket (14), two sets of stabilizing legs (17), two sets of guide grooves (16) and a rod rubbing device (15), wherein: The support (14) is in the form of a steel frame structure and is used to place the drill rod assembly; the two sets of stable legs (17) are stably supported by diagonal support cylinders, one end of which is connected to the side of the support and the other end is connected to the ground; The two groups of guide grooves (16) are both arranged on the bracket, the spacing between the lower edges of the two guide grooves (16) is 5-6 mm smaller than the length of the drill rod assembly, both adopt a sloped V-shaped structure, evenly distribute horizontal chamfers, and are symmetrically arranged, and are used to fix the drill rod assembly; The rod twisting device (15) is arranged in the middle of the two guide grooves (16), is driven to rotate by a servo motor, and has an output end with an elastic cylindrical structure, which is used to locally adjust the angle state of the drill rod assembly; The hoisting device (3) mainly comprises four sets of main arms (19), a main guide rail (22), four sets of upper cylinders (21), two sets of diagonal support cylinders (18), four sets of fixed arms (20) and a hoisting mechanism (23); wherein: The four sets of main arms (19) are symmetrically arranged and mounted on the drilling rig platform in an articulated manner, and can rotate around the articulated points to achieve a folding transportation and upper support hoisting state of the entire hoisting device; The four groups of fixed arms (20) are respectively connected to the upper ends of the four groups of main arms (19) by means of universal joints, so as to ensure that the four groups of fixed arms (20) are always in a horizontal direction; one end of the two groups of diagonal support cylinders (18) is connected to the drilling rig platform, and the other end is connected to the corresponding main arm (19), and the main arm (19) is rotated by extending and retracting the diagonal support cylinders (18); The main guide rail (22) is fixedly connected to the center position of the two sets of fixed arms (20) and always maintains a relatively static state with the fixed arms (20); The hoisting mechanism (23) adopts a double hook form, which is driven by double motors respectively, and can adjust the hook posture individually or synchronously, and ensure that the two are always in the same plane according to the operating state of the drill rod assembly, so as to complete the grabbing of the drill rod assembly; The dual power device (2) mainly comprises an external power device (24) and an internal power device (25); wherein the external power device (24) is mainly used to drive the outer casing to rotate, thereby realizing the outer casing drag reduction drilling construction; the internal power device (25) is mainly used to drive the inner drill rod to rotate, thereby realizing the inner drill rod drilling construction, and the overall drilling construction is completed by controlling and matching the inner drill rod and the outer casing.

2. The horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system as claimed in claim 1 is characterized in that: The clamping and straightening device (1) comprises an outer casing control device (26) and an inner drill rod control device (27); wherein the outer casing control device (26) is used to straighten and clamp the outer casing, and uses two groups of vertical top cylinders to extend and retract, and clamps through slips; the inner drill rod control device (27) is mainly used to brake the inner drill rod, and uses two groups of horizontal top cylinders to extend and retract, and brakes through controlling the bayonet seat.

3. The horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system as claimed in claim 1 is characterized in that: The drill rod assembly mainly comprises an outer sleeve (29) and an inner drill rod (28), the two having the same length, the inner drill rod (28) being placed inside the outer sleeve (29) and maintaining axial alignment and radial clearance fit.

4. The horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system as claimed in claim 1 is characterized in that: The sensor module (6) mainly includes a posture sensor, a speed sensor and a vibration sensor; wherein: The posture sensor is used to measure the posture state of the outer casing (29) and the inner drill rod (28), mainly including the three-dimensional space coordinates, and obtain the corresponding comprehensive coordinate value; The posture sensors are mainly arranged on the casing and drill pipe to detect the spatial posture parameters of the drill pipe assembly and obtain the comprehensive coordinate values. They are evenly arranged on the end faces of both ends of the casing and fixedly connected. There are 6 evenly distributed on both end faces, and the corresponding data are a1, a2, a3, a4, a5, a6 and A1, A2, A3, A4, A5, A6. At the same time, one is arranged on each end face of the spiral drill pipe, and the corresponding data are b1 and B1. At the same time, three are arranged on the left and right sides of the spiral line at the center of the spiral drill pipe, and the corresponding data are b2, b3, b4 and B2, B3, B4, which are mainly used for the spatial posture state of the drill pipe. The speed sensor is used to measure the working parameters of each device during the movement of the drill rod assembly, mainly including the 3D space speed, and obtain the corresponding comprehensive speed value; The speed sensors are mainly arranged on the special gripper (9), the hoisting mechanism (23), the external power device (24), the internal power device (25) and the rod rubbing device (15) to collect the operating parameters of each actuator during the movement of the drill rod assembly and obtain a comprehensive speed value. Two speed sensors are installed on each side of the two annular hooks of the special gripper (9), and the corresponding data obtained are c1, c2, c3, c4 and C1, C2, C3, C4 respectively; two speed sensors are installed on each side of the double hooks of the hoisting mechanism (23), and the corresponding data obtained are c5, c6, c7, c8 and C5, C6, C7, C8 respectively; one speed sensor is installed on each side of the external power device (24) around the box body, and the corresponding data obtained are c9, c10, c11, c12, c13, c14 respectively. 10 、c 11 、c 12 and C9, C 10 , C 11 , C 12 , one internal power device (25) is installed on each side of the box, and the corresponding data is c 13 、c 14 、c 15 、c 16 and C 13 , C 14 , C 15 , C 16 , one is installed on each end of the rubbing rod device, and the corresponding data is c 17 、c 18 and C 17 , C 18 ; The vibration sensor is used to measure the vibration state of each device during the drilling rod assembly buckling process, mainly including 3-bit spatial acceleration, and obtain the corresponding comprehensive acceleration value; The vibration sensors are mainly arranged in the hoisting mechanism (23), the external power device (24), the internal power device (25), the outer casing control device (26) and the inner drill rod control device (27), and are mainly used to collect the operating parameters of each actuator during the loading and unloading process of the drill rod assembly to obtain a comprehensive acceleration value. Among them, two sensors are installed on each side of the double hook of the hoisting mechanism (23) and are arranged at intervals with the speed sensor. The corresponding data obtained are d1, d2, d3, d4 and D1, D2, D3, D4 respectively. One sensor is installed on each side of the box of the external power device (24) and the internal power device (25). The corresponding data obtained are d5, d6, d7, d8 and D5, D6, D7, D8 respectively. One sensor is installed on each of the two groups of top cylinders of the outer casing control device (26) and the inner drill rod control device (27). The corresponding data obtained are d9, d10, d11, d12, d13, d14 and D1, D2, D3, D4 respectively. 10 d 11 d 12 and D9, D 10 , D 11 , D 12 .

5. The horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system as claimed in claim 1 is characterized in that: The control module (4) is used to process all data values ​​acquired by the sensor module, obtain the drill rod assembly state coefficient, migration coefficient and loading and unloading coefficient, use judgment rules to perform comprehensive analysis and calculation, and adjust the working parameters of each actuator in real time, thereby adjusting the spatial state of the outer casing and the inner drill rod, and adapting to different working states of the drilling rig platform to achieve fast and accurate work; The control module (4) performs data standardization on all data acquired by the sensor module (6), the number of each data set is N, and the average values ​​corresponding to all data sets of the posture sensor are calculated to be a 10 、a 20 、a 30 、a 40 、a 50 、a 60 , A 10 , A 20 , A 30 , A 40 , A 50 , A 60 , b 10 , b 20 , b 30 , b 40 , B 10 , B 20 , B 30 , B 40 , and the corresponding ranges of all data sets are a 1d 、a 2d 、a 3d 、a 4d 、a 5d 、a 6d , A 1d , A 2d , A 3d , A 4d , A 5d , A 6d , b 1d , b 2d , b 3d , b 4d , B 1d , B 2d , B 3d , B 4d , the drill pipe assembly state coefficient Q1 is calculated as: + （1） Where: , , are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; , , is the adjustment coefficient, which is set according to the state requirements of the drill pipe assembly and is a real number between 1 and 3; The average values ​​of all data sets of the speed sensor are calculated as c 10 、c 20 、c 30 、c 40 、c 50 、c 60 、c 70 、c 80 、c 90 、c 100 、c 110 、c 120 、c 130 、c 140 、c 150 、c 160 、c 170 , C 10 , C 20 , C 30 , C 40 , C 50 , C 60 , C 70 , C 80 , C 90 , C 100 , C 110 , C 120 , C 130 , C 140 , C 150 , C 160 , C 170 And the ranges of all corresponding data sets are c 1d 、c 2d 、c 3d 、c 4d 、c 5d 、c 6d 、c 7d 、c 8d 、c 9d 、c 10d 、c 11d 、c 12d 、c 13d 、c 14d 、c 15d 、c 16d 、c 17d , C 1d , C 2d , C 3d , C 4d , C 5d , C 6d , C 7d , C 8d , C 9d , C 10d , C 11d , C 12d , C 13d , C 14d , C 15d , C 16d , C 17d , the drill pipe assembly migration coefficient Q2 is calculated as: + （2） Where: , , , , are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; , , , , The adjustment coefficient is determined according to the drilling rod assembly movement requirements and is a real number between 1 and 3; The average values ​​of all the vibration sensor data sets are calculated as d 10 d 20 d 30 d 40 d 50 d 60 d 70 d 80 d 90 d 100 d 110 d 120 , D 10 , D 20 , D 30 , D 40 , D 50 , D 60 , D 70 , D 80 , D 90 , D 100 , D 110 , D 120 and the range of all corresponding data sets, respectively, are d 1d d 2d d 3d d 4d d 5d d 6d d 7d d 8d d 9d d 10d d 11d d 12d , D 1d , D 2d , D 3d , D 4d , D 5d , D 6d , D 7d , D 8d , D 9d , D 10d , D 11d , D 12d , the calculation shows that the loading and unloading coefficient of the drill pipe assembly is Q3: + （3） Where: , , , , are variable coefficients, all of which are real numbers between 0 and 1, and their sum is 1; , , , , is the adjustment coefficient, which is determined according to the requirements for loading and unloading the drill pipe assembly and is a real number between 1 and 3; The drill pipe assembly movement process can be accurately controlled by formulas (1) to (2), and the following formula can be used for judgment and control: when When M, the control module does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round; when M, the control module needs to adjust the working parameters of each device, select the speed sensor to obtain the maximum range of all data sets, and then find the corresponding execution device, which is one of the special gripper, hoisting mechanism, external power device, internal power device and rubbing rod device. Then, the working parameters of the device need to be adjusted. When the range is ≥ the average value, the increase in adjustment is the average value × C; when the range is < the average value, the decrease in adjustment is the average value × C; The values ​​of M and C are determined independently based on the drill pipe assembly movement requirements and historical experience; Formulas (1) and (3) can be used to accurately control the loading and unloading process of the drill pipe assembly, and the following formula can be used for judgment and control: when When N, the control module does not need to adjust the working parameters, and each device continues to operate according to the default working parameters of the previous round; when N, the control module needs to adjust the working parameters of each device, select the vibration sensor to obtain the maximum range of all data sets, and then find the corresponding execution device, which is one of the hoisting mechanism, the external power device, the internal power device, the outer casing control device and the inner drill rod control device. Then, the working parameters of the execution device need to be adjusted. When the range is ≥ the average value, the increase in adjustment is the average value × C; when the range is < the average value, the decrease in adjustment is the average value × C; The values ​​of N and C are determined independently based on the loading and unloading requirements of the drill pipe assembly and historical experience.

6. The method for using the horizontal large-diameter pipe rescue drilling rig drilling tool transportation and loading and unloading system according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: All construction equipment and drill rod assemblies are transported to the rescue tunnel area, assembled and debugged, the initial space layout is completed, and safety inspections are carried out to ensure that all equipment works normally and meets construction requirements; Step 2: The drill rod transport vehicle is transported to the drill rod assembly stacking area, and the folding arm working state is adjusted to move the special gripper to the target drill rod assembly to determine the position. At the same time, the special gripper's spatial posture is locally fine-tuned to ensure that the special gripper can quickly grab the reserved connection hole of the drill rod assembly according to the placement position of the drill rod assembly, and place it on the vehicle body platform for transportation, and quickly reach the transfer platform; Step 3: The drill rod transport vehicle transfers the drill rod assembly from the vehicle body platform to the transfer platform. The sensor module collects the transport information of the drill rod assembly in real time. The control module adjusts the working parameters of the special gripper to ensure that the drill rod assembly always runs along the specified route. The assembly is placed at the same horizontal chamfer of the front guide groove and the rear guide groove, and the drill rod assembly is rotated by the rubbing device. The entire transport process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements. Step 4: The diagonal support cylinder is retracted to fold the lifting device for easy transportation to the designated location. The diagonal support cylinder is extended to keep the lifting device in a vertical position. At the same time, the top cylinder supports the top of the tunnel. At the same time, the lifting mechanism extracts the drill rod assembly from the fixed position of the transfer platform, passes over the dual power device, and places it between the dual power device and the clamping and straightening device. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements; Step 5: Initially, the drill bit and the drill pipe short section are placed at the straightening clamping device through relevant equipment, and the brake is applied through the inner drill pipe control device. At this time, the dual power device and the lifting device cooperate to install the first set of drill pipe assemblies. First, the outer power device is inserted into the first outer sleeve and moved forward. There is no need to use the rear-end manipulator to install the connecting pin shaft. The front end of the first inner drill pipe is in contact with the drill pipe short section. At this time, the external power device drives the first outer sleeve to continue to move forward, while the first inner drill pipe remains stationary. The first outer sleeve moves forward more than the first inner drill pipe by the drill pipe short section. Then the external power device retreats, and the outer sleeve control device clamps the first outer sleeve. Casing, the first inner drill rod joint is just exposed, at this time the inner power device is inserted into the first inner drill rod joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the inner power device and the first inner drill rod are connected reliably, and finally the outer power device is inserted into the first outer casing joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the outer power device and the first outer casing are connected reliably, and the rear end fixed connection of the first set of drill rod assembly is completed; the loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements; Step 6: The internal power device drives the first inner drill rod forward and inserts the drill rod short section. The internal drill rod control device brakes the drill rod short section, and uses the front-end manipulator of the drilling rig platform to insert the connecting pin shaft to ensure that the first inner drill rod and the drill rod short section are reliably connected, and the front end of the first set of drill rod assembly is fixedly connected. At this time, the outer casing control device is used to straighten the first set of drill rod assembly. At the same time, the external power device and the internal power device cooperate to complete the feeding construction of the first set of drill rod assembly. After the construction is completed, the rear end of the first inner drill rod is longer than the rear end of the first outer casing by the distance of the drill rod short section; the loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements; Step 7: Complete the transfer of the second set of drill rod assemblies as shown in steps 1-4. At this time, the outer casing control device clamps the first outer casing, and the inner drill rod control device brakes the first inner drill rod. At this time, the dual power device and the lifting device cooperate to install the second set of drill rod assemblies. First, use the external power device to insert the buckle into the second outer casing to move forward. There is no need to use the rear-end manipulator to install the connecting pin. The front end of the second inner drill rod contacts the rear end of the second inner drill rod. At this time, the external power device drives the second outer casing to continue to move forward, while the second inner drill rod remains stationary. The second outer casing moves forward a short distance of the drill rod more than the second inner drill rod. Then the external power device retreats, and the outer casing control device The device moves backward to clamp the second outer sleeve, just exposing the second inner drill rod joint. At this time, the inner power device moves forward and is inserted into the second inner drill rod joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the inner power device and the second inner drill rod are connected reliably. Finally, the outer power device moves forward and is inserted into the second outer sleeve joint, and the rear end manipulator of the drilling rig platform is used to insert the connecting pin shaft to ensure that the outer power device and the second outer sleeve are connected reliably, and the rear end fixed connection of the second set of drill rod assembly is completed. The loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements. Step 8: The external power device drives the second outer casing backward, while the internal power device drives the second inner drill rod forward and inserts the first inner drill rod. The inner drill rod control device brakes the first inner drill rod, and uses the front end manipulator of the drilling rig platform to insert the connecting pin shaft to ensure that the second inner drill rod and the first inner drill rod are reliably connected. Then the external power device drives the second outer casing forward, the outer casing control device clamps the first outer casing, and uses the front end manipulator of the drilling rig platform to insert the connecting pin shaft to ensure that the second outer casing and the first outer casing are reliably connected, and the front end of the second drill rod assembly is fixedly connected. At this time, the outer casing control device is used to straighten the second drill rod assembly. At the same time, the external power device and the internal power device cooperate to complete the feeding construction of the second drill rod assembly. After the construction is completed, the rear end of the second inner drill rod is longer than the rear end of the second outer casing by the distance of the drill rod short section; the loading and unloading process is detected by the detection module, and the control module is used to adjust the working parameters to ensure that the spatial posture and angle of the drill rod assembly meet the design requirements; Step 9: Use the same method to complete the construction of subsequent drill rod assemblies. All drill rod assemblies can be automatically and continuously constructed until the designed depth requirement is reached; and the entire dismantling process is the opposite of the process from step 2 to step 8.

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