An unmanned drilling rig

Abstract

The present invention discloses an unmanned drilling rig, which relates to the technical field of drilling equipment. The rig comprises a base, a vertical beam rotatably connected to the base, a height adjustment device disposed on the vertical beam, a horizontal beam disposed at the output end of the height adjustment device, a power head disposed at the output end of the height adjustment device, and a manipulator slidably connected to the horizontal beam. The base is provided with a lower clamp capable of clamping a drilling tool, and an upper clamp fixedly disposed above the lower clamp. The base is provided with a plurality of mounting holes for placing drilling tools evenly distributed around the vertical beam. The manipulator can remove the drilling tool from the mounting holes and place it in the upper and lower clamps. The drilling tool can be threadedly connected to the power head, which can drive the drilling tool to rotate or impact. The unmanned drilling rig provided by the present invention can automate operations, reduce construction costs, avoid personnel entering dangerous areas for operations, and improve the safety and economic efficiency of drilling operations.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling equipment, in particular to an unmanned drilling rig. Background Art

[0002] In the fields of geological exploration, deep-sea drilling, iceberg polar exploration, disaster rescue and detection, drilling and coring operations are often required. However, due to the special and complex environment, the operation safety is poor. At the same time, it is difficult for operators to reach the designated area to carry out operations, and the construction cost is high. Summary of the Invention

[0003] The purpose of the present invention is to provide an unmanned drilling rig to solve the problems existing in the above-mentioned prior art, which can automate operations, reduce construction costs, avoid personnel entering dangerous areas for operations, and improve the safety and economy of drilling operations.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an unmanned drilling rig, comprising a base, a vertical beam rotatably connected to the base, a height adjustment device arranged on the vertical beam, a horizontal beam arranged at the output end of the height adjustment device, a power head arranged at the output end of the height adjustment device, and a manipulator slidably connected to the horizontal beam, wherein the base is provided with a lower clamper capable of clamping a drilling tool and an upper clamper fixedly arranged above the lower clamper, a plurality of mounting holes capable of placing the drilling tool are evenly distributed around the circumference of the vertical beam on the base, the manipulator can take the drilling tool out of the mounting hole and place it in the upper clamper and the lower clamper, the drilling tool can be threadedly connected to the power head, and the power head can drive the drilling tool to rotate or impact.

[0006] Preferably, it also includes a ground anchor that can pass through the base and extend into the ground, the top of the ground anchor is provided with an outer hexagon, the power head is provided with an inner hexagon, and the inner hexagon can be snapped into the outer hexagon.

[0007] Preferably, the ground anchor includes an anchor rod and a spiral leaf fixedly arranged on the anchor rod.

[0008] Preferably, a support seat is fixedly provided on the base, the vertical beam is rotatably connected to the support seat, and a vertical beam driving device can drive the vertical beam to rotate around its own axis on the support seat.

[0009] Preferably, a guide groove is provided on the vertical beam, the cross beam is slidably connected to the guide groove, and the power head is fixedly arranged at the end of the cross beam.

[0010] Preferably, the height adjustment device includes a vertical screw rod rotatably connected to the vertical beam and a vertical transmission motor transmission-connected to the vertical screw rod, the vertical screw rod is parallel to the extension direction of the guide groove, the crossbeam is threadedly connected to the vertical screw rod, and the vertical transmission motor can drive the vertical screw rod to rotate to drive the crossbeam to reciprocate up and down in the guide groove.

[0011] Preferably, a guide rail is provided on the crossbeam, a slider is slidably connected to the guide rail, a transverse screw is rotatably connected to the crossbeam, the transverse screw can pass through the slider and be threadedly connected to the slider, a transverse transmission motor is fixedly provided on the crossbeam, the transverse transmission motor is transmission-connected to the transverse screw, and the mechanical claw is fixedly provided on the slider.

[0012] Preferably, the mechanical claw includes a driving motor fixedly arranged on the slider and a clamping claw transmission-connected to the driving motor.

[0013] Preferably, the upper clamp and the lower clamp both include a clamping seat, a clamping block slidably connected to the clamping seat, and an electric cylinder transmission-connected to the clamping block; the clamping seat is provided with a through hole for placing the drill tool; the electric cylinder can push the clamping block and clamp the drill tool on the clamping seat.

[0014] Preferably, the power head includes a transmission box fixedly arranged on the crossbeam, a rotary motor and an impact motor transmission-connected to the transmission box, and a main shaft fixedly arranged at the output end of the transmission box, the main shaft is provided with the hexagonal socket, and the main shaft can be threadedly connected to the drilling tool.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The unmanned drilling rig provided by the present invention can move the position of the manipulator by rotating the vertical beam, adjusting the height of the horizontal beam and sliding the manipulator, thereby removing the drill tool from the installation hole and placing it in the upper clamp and the lower clamp. The power head can drive the drill tool to rotate or impact to complete the drilling operation. After the drilling operation is completed, the drill lifting process can be reversed according to the above steps. Finally, the lifted coring drill tool is placed separately in the base positioning hole, and then a new coring drill tool is connected to perform a new round of coring operation. The device has a simple structure and low construction cost. There is no need for personnel to enter dangerous areas for operation, which improves the safety and economy of the drilling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of the unmanned drilling rig provided by the present invention;

[0019] Figure 2 A schematic structural diagram of the crossbeam provided by the present invention;

[0020] Figure 3 A schematic structural diagram of the vertical beam provided by the present invention;

[0021] Figure 4 A schematic structural diagram of the ground anchor provided by the present invention;

[0022] Figure 5 A schematic diagram of the base layout provided by the present invention;

[0023] Figure 6 A schematic diagram of the drill pipe connection sequence structure provided by the present invention;

[0024] Figure 7 A schematic diagram of the initial state of the unmanned drilling rig provided by the present invention;

[0025] Figure 8 A schematic diagram of the ground anchor drilling state provided by the present invention;

[0026] Figure 9 Schematic diagram of the manipulator provided by the present invention grabbing a drilling tool;

[0027] Figure 10 A schematic diagram of the upper clamp provided by the present invention clamping a drilling tool;

[0028] Figure 11 A schematic diagram of the connection state of the drilling tool provided by the present invention;

[0029] In the figure: 1-base; 11-avoidance space; 12-ground anchor hole; 13-drilling hole; 2-drilling tool; 3-ground anchor; 31-external hexagonal; 32-anchor rod; 33-spiral blade; 4-manipulator; 41-grip; 42-drive motor; 5-crossbeam; 51-angular transmission; 52-slider; 53-transverse screw rod; 54-transverse transmission motor; 56-transmission structure; 6-power head; 61-rotary motor; 62-impact motor; 63-transmission box; 64-spindle; 7-vertical beam; 71-support seat; 72-vertical screw rod; 73-vertical transmission motor; 81-upper clamp; 82-lower clamp. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide an unmanned drilling rig to solve the problems existing in the prior art, to automate operations, to reduce construction costs, to avoid personnel entering dangerous areas for operations, and to improve the safety and economy of drilling operations.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The present invention provides an unmanned drilling rig, such as Figures 1 to 11 As shown, it includes a base 1, a vertical beam 7 rotatably connected to the base 1, a height adjustment device arranged on the vertical beam 7, a horizontal beam 5 arranged at the output end of the height adjustment device, a power head 6 arranged at the output end of the height adjustment device, and a manipulator 4 slidably connected to the horizontal beam 5. The manipulator 4 is used to grab the drilling tool 2. The horizontal beam 5 is horizontally arranged. The manipulator 4 can slide back and forth in the horizontal direction on the horizontal beam 5. The base 1 plays the role of supporting the entire drilling rig. A lower clamp 82 for clamping the drilling tool 2 and an upper clamp 81 fixedly arranged above the lower clamp 82 are provided on the base 1. The base 1 is provided with a vertical clamp 82 for clamping the drilling tool 2 and an upper clamp 81 fixedly arranged above the lower clamp 82. The beam 7 is evenly distributed around the circumference with multiple mounting holes for placing the drilling tool 2, which is convenient for the layout and fixation of the drilling tool 2. The mounting holes include the mounting holes for the drilling tool 2 and the holes for the coring drilling tool 2. The base 1 has a hole corresponding to the lower clamp 82 for drilling the drilling tool 2. The manipulator 4 can take the drilling tool 2 out of the mounting hole and place it in the upper clamp 81 and the lower clamp 82. The upper clamp 81 and the lower clamp 82 can both clamp the drilling tool 2. The drilling tool 2 can be threadedly connected to the power head 6, and the power head 6 can drive the drilling tool 2 to rotate or impact. The drilling tool 2 can be equipped with a drill rod or a core tube according to actual needs.

[0034] In some embodiments, a ground anchor is also included that can pass through the base 1 and extend into the ground. A hole is opened on the base 1 corresponding to the center position of the ground anchor for drilling the ground anchor. An outer hexagon 31 is provided on the top of the ground anchor, and an inner hexagon is provided on the power head 6. The inner hexagon can be snapped into the outer hexagon 31 to achieve the connection between the ground anchor and the power head 6, which is used for transmitting torque of the ground anchor. Since the drilling rig itself is light in weight, the ground anchor can fix the base 1 and provide counter-torque.

[0035] In some embodiments, the ground anchor includes an anchor rod 32 and a spiral blade 33 fixed on the anchor rod 32 . The spiral blade 33 is rotated to enable the anchor rod 32 to drill into the ground.

[0036] In some embodiments, a support seat 71 is fixedly provided on the base 1, and the vertical beam 7 is rotatably connected to the support seat 71. A vertical beam 7 driving device can drive the vertical beam 7 to rotate around its own axis on the support seat 71. The vertical beam 7 driving device is preferably a servo motor, and the support seat 71 is preferably a rotary support, the lower part of which is connected to the base 1 and the upper part is connected to the vertical beam 7. The servo motor can drive the vertical beam 7 to rotate and accurately control the rotation angle.

[0037] In some embodiments, the vertical beam 7 can support and guide the horizontal beam 5. A guide groove is provided on the vertical beam 7, and the horizontal beam 5 is slidably connected in the guide groove. The power head 6 is fixedly arranged at the end of the horizontal beam 5 where the robot 4 is not provided.

[0038] In some embodiments, the height adjustment device includes a vertical screw rod 72 rotatably connected to the vertical beam 7 and a vertical transmission motor 73 transmission-connected to the vertical screw rod 72, the vertical screw rod 72 is parallel to the extension direction of the guide groove, the horizontal beam 5 has a transmission structure 55, the horizontal beam 5 is threadedly connected to the vertical screw rod 72 through the transmission structure 55, the vertical transmission motor 73 can drive the vertical screw rod 72 to rotate to drive the horizontal beam 5 to reciprocate up and down in the guide groove.

[0039] In some embodiments, the crossbeam 5 serves as a supporting structure, and a guide rail is provided on the crossbeam 5. A slider 52 is slidably connected in the guide rail, and a transverse screw rod 53 is rotatably connected to the crossbeam 5. The transverse screw rod 53 can pass through the slider 52 and is threadedly connected to the slider 52. A transverse transmission motor 54 is fixedly provided on the crossbeam 5, and the transverse transmission motor 54 is transmission-connected to the transverse screw rod 53. The mechanical claw is fixedly provided on the slider 52. The transverse transmission motor 54 can drive the transverse screw rod 53 to rotate and move the slider 52 left and right on the crossbeam 5. The transverse transmission motor 54 adopts servo control, and the transverse transmission motor 54 and the transverse screw rod 53 are connected through the angle transmission device 51 to realize 90° reversing transmission of power.

[0040] In some embodiments, the mechanical claw includes a drive motor 42 fixed on a slider 52 and a clamping jaw 41 that is transmission-connected to the drive motor 42. The drive motor 42 adopts servo control to drive the clamping jaw 41 to open and close. By controlling different numbers of revolutions, different opening and closing sizes of the clamping jaw 41 can be achieved to clamp drilling tools 2 of different sizes.

[0041] In some embodiments, the upper clamp 81 and the lower clamp 82 both include a clamping seat, a clamping block slidably connected to the clamping seat, and an electric cylinder transmission-connected to the clamping block. The clamping seat is provided with a through hole for placing the drill tool 2. After the drill tool 2 is inserted into the through hole, the electric cylinder can push the clamping block and clamp the drill tool 2 on the clamping seat.

[0042] In some embodiments, the power head 6 includes a transmission box 63 fixedly set on the crossbeam 5, a rotary motor 61 and an impact motor 62 transmission-connected to the transmission box 63, and a main shaft 64 fixedly set at the output end of the transmission box 63. The transmission box 63 is provided with gears and an impact structure. The rotary motor 61 and the impact motor 62 input power to drive the main shaft 64 to achieve rotation and impact. The rotary motor 61 is used to drive the drill tool 2 to rotate, and the impact motor 62 is used to drive the impact mechanism to impact, further realizing the impact of the drill tool 2. An inner hexagon is provided on the main shaft 64, and the inner and outer hexagons 31 are matched to enable the main shaft 64 to be connected to the ground anchor, and the ground anchor can be driven to rotate through the main shaft 64. The main shaft 64 can be threadedly connected to the drill tool 2, and the drill tool 2 can be driven to rotate through the main shaft 64.

[0043] In some embodiments, the layout of the drilling rig base 1 is as follows Figure 5 As shown, the whole is divided into five areas: avoidance space 11, I, II, III and IV. Areas I, II, III and IV are used for placing drilling tools 2. The avoidance space 11 is the area shown by the section line. Drilling tools 2 are not placed in this area. It is mainly used as a transfer channel when the manipulator 4 clamps the drilling tool 2, a mast rotation channel and a space for the up and down movement of the beam 5. Drill holes 13 and anchor holes 12 are symmetrically arranged in the avoidance space 11.

[0044] In some embodiments, during drilling, it is necessary to continuously connect drill rods. The drill rod connection scheme is as follows: Figure 6 As shown: Taking area I as an example, the drill rods are placed at positions A, B, C... and a, b, c..., among which positions A, B, C... do not have drill rods, while positions a, b, c... do. When drilling, the manipulator 4 sequentially grasps the drill rods at positions a, b, c..., etc., then moves laterally to the avoidance space 11 and rotates back to the drilling position 13. When lifting the drill to coring, the coring drill 2 can be placed in empty positions A, B, C..., etc.

[0045] The present invention further provides a coring method for drilling, which is applied to the unmanned drilling rig in the above embodiment and comprises the following steps:

[0046] Step 1: The initial state is as follows Figure 7 As shown, the drilling rig is equipped with drilling tools 2 such as drill pipes and core tubes according to actual needs;

[0047] Step 2: Move the horizontal beam 5 to the highest point (to prevent the manipulator 4 from interfering with the drilling tool 2), drive the vertical beam 7 to rotate, and the power head 6 moves to the ground anchor. The horizontal beam 5 is lowered, and the inner hexagon of the power head main shaft 64 is matched with the outer hexagon 31 of the ground anchor. The power head 6 rotates, and the horizontal beam 5 moves downward to apply pressure, and finally the ground anchor is drilled into the formation;

[0048] Step 3: After the anchor is drilled, the manipulator 4 is used to clamp the drilling tool 2. Figure 9 As shown, the drilling tool 2 is sequentially clamped and then enters the annular avoidance space 11 and then moves back and forth;

[0049] Step 4: When the drilling tool 2 moves to the top of the upper clamp 81, the vertical beam 7 stops rotating, and the horizontal beam 5 moves downward to allow the drilling tool 2 to enter the upper clamp 81. After the upper clamp 81 clamps the drilling tool 2, the manipulator 4 releases the drilling tool 2;

[0050] Step 5: Drive the vertical beam 7 to rotate, so that the power head 6 rotates back to the top of the upper clamp 81, and the power head main shaft 64 rotates to cooperate with the cross beam 5 to descend, so that the main shaft 64 thread is screwed into the drill tool 2 thread, completing the connection between the power head 6 and the drill tool 2, loosening the lower clamp 82, and the power head 6 rotates and impacts to start the drilling operation; when the connected drill tool 2 is not the first drill tool 2, a rod is added. At this time, a drill tool 2 is already clamped in the hole by the lower clamp 82. When the connection between the power head 6 and the drill tool 2 is completed, the upper clamp 81 is loosened, and the power head 6 rotates to cooperate with the moving cross beam 5 to move downward, completing the connection between the drill tool 2 and the drill tool 2;

[0051] Step 6: When the drilling operation is completed, it is necessary to lift the drill and take the core. The lifting process can be performed in reverse according to the above steps. Finally, the lifted coring drill 2 is placed separately on the coring drill 2 hole position of the base 1, and then a new coring drill 2 and drill rod are connected to perform a new round of coring operation.

[0052] The unmanned drilling rig and drilling coring method provided by the present invention are unmanned automated drilling rigs. The mechanical arm formed by the crossbeam 5 can rotate and move, driving the manipulator 4 to clamp the drilling tool 2 deployed by the drilling rig; the power head 6 used for drilling is integrated on the manipulator arm; the coring process adopts the drill lifting and coring method; the drilling rig manipulator 4 and the power head 6 share the same motor drive for up and down movement, and the manipulator 4 "lateral movement + rotation" can cover the entire area of ​​the drilling rig. The unmanned drilling rig provided by the present invention has the advantages of small size, light weight, and high integration.

[0053] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An unmanned drilling rig, characterized in that: include: The lifting mechanism comprises a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism of the lifting mechanism, a lifting mechanism of the lifting mechanism being arranged on the lifting mechanism, a lifting mechanism of the lifting mechanism being arranged on the lifting mechanism, a lifting mechanism of the lifting mechanism being arranged on the lifting mechanism, a lifting mechanism of the lifting mechanism being arranged on the lifting mechanism, It also includes a ground anchor capable of passing through the base and extending into the ground, wherein the top of the ground anchor is provided with an outer hexagonal member, and the power head is provided with an inner hexagonal member, and the inner hexagonal member can be snapped into the outer hexagonal member; The power head includes a transmission box fixedly arranged on the crossbeam, a rotary motor and an impact motor connected to the transmission box, and a main shaft fixedly arranged at the output end of the transmission box, the main shaft is provided with the hexagonal thread, and the main shaft can be threadedly connected to the drilling tool; When the inner hexagon on the main shaft is engaged with the outer hexagon on the top of the anchor, the main shaft rotates and the crossbeam moves downward to apply pressure, thereby drilling the anchor into the ground. When the spindle is placed above the drill tool in the upper holder, the spindle rotates and the crossbeam moves downward, enabling the spindle to be threadedly connected to the drill tool; After the main shaft is threadedly connected to the drilling tool, the main shaft can drive the drilling tool to rotate or impact.

2. The unmanned drilling rig according to claim 1, characterized in that: The ground anchor comprises an anchor rod and a spiral leaf fixedly arranged on the anchor rod.

3. The unmanned drilling rig according to claim 1, characterized in that: A support seat is fixedly provided on the base, and the vertical beam is rotatably connected to the support seat. A vertical beam driving device can drive the vertical beam to rotate around its own axis on the support seat.

4. The unmanned drilling rig according to claim 3, characterized in that: A guide groove is provided on the vertical beam, the cross beam is slidably connected to the guide groove, and the power head is fixedly arranged on the end of the cross beam.

5. The unmanned drilling rig according to claim 4, characterized in that: The height adjustment device includes a vertical screw rod rotatably connected to the vertical beam and a vertical transmission motor connected to the vertical screw rod. The vertical screw rod is parallel to the extension direction of the guide groove. The crossbeam is threadedly connected to the vertical screw rod. The vertical transmission motor can drive the vertical screw rod to rotate to drive the crossbeam to reciprocate up and down in the guide groove.

6. The unmanned drilling rig according to claim 5, characterized in that: A guide rail is provided on the crossbeam, a slider is slidably connected to the guide rail, a transverse screw rod is rotatably connected to the crossbeam, the transverse screw rod can pass through the slider and is threadedly connected to the slider, a transverse transmission motor is fixedly provided on the crossbeam, the transverse transmission motor is transmission-connected to the transverse screw rod, and the manipulator is fixedly provided on the slider.

7. The unmanned drilling rig according to claim 6, characterized in that: The manipulator comprises a driving motor fixedly arranged on the slider and a clamping claw transmission-connected to the driving motor.

8. The unmanned drilling rig according to claim 1, characterized in that: The upper clamp and the lower clamp both include a clamping seat, a clamping block slidably connected to the clamping seat, and an electric cylinder transmission-connected to the clamping block. The clamping seat is provided with a through hole for placing the drilling tool, and the electric cylinder can push the clamping block and clamp the drilling tool on the clamping seat.

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