Ultrahigh-pressure water jet mechanical combined drilling machine and method

Abstract

The invention provides an ultrahigh-pressure water jet mechanical combined drilling machine and method.The drilling machine comprises a drilling rod, a water jet mechanical combined drilling tool is arranged at the front end of the drilling rod, a plurality of water jet pipelines are arranged in the water jet mechanical combined drilling tool, cutting teeth are arranged on the front face and the rear face of the water jet mechanical combined drilling tool, and a high-pressure water jet pipeline is contained in the drilling rod; one end of a high-pressure water jet pipeline of the drill rod is connected to a water jet pipeline of the water jet mechanical combined drilling tool, and the other end is connected with an ultrahigh-pressure water jet pump set through a swivel joint; and a plurality of deslagging channels are also arranged in the drill rod and connected with water jet holes of the water jet mechanical combined drilling tool, and high-pressure water jet or high-pressure gas is introduced into the deslagging channels through reverse rotation of the water jet mechanical combined drilling tool, so that blockages are discharged from the channels, and the problem of hole collapse is relieved. According to the invention, ultra-long distance drilling rock breaking can be realized, the rock strength and integrity can be monitored in real time, the drilling position and the offset condition of the drilling tool can be mastered, and the hole collapse problem can be relieved.

Description

Technical Field

[0001] The invention belongs to the field of rock drilling and breaking, and specifically relates to an ultra-high pressure water jet mechanical combined drilling rig and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The advance drilling technology is to explore the foundation soil in advance by drilling holes before the foundation construction of the building. This technology mainly relies on drilling equipment to conduct detailed exploration of the underground soil structure, rock properties, groundwater conditions, etc. to obtain geological information. In this way, engineers can evaluate the bearing capacity and stability of the foundation, providing important basis for subsequent engineering design and construction.

[0004] During actual drilling, the "hole collapse" phenomenon is often seen. Hole collapse refers to the situation in which the water (mud) level in the wellbore casing suddenly rises and overflows the casing, then suddenly drops and bubbles emerge, the amount of slag discharge increases significantly without any footage, and the load on the drilling rig increases significantly.

[0005] Some researchers have proposed using a combined drilling rig to solve this problem. For example, the "Ultra-High Pressure Rotary Abrasive Water Jet Drill" with authorization announcement number CN105239928B proposed a dynamic seal plus a static seal to solve the problem of short life of the rotary sealing device of the ultra-high pressure water jet drilling rig; the "A High-Pressure Water Jet Drilling-Expansion-Cutting Multifunctional Drill Tool and Its Use Method" with application publication number CN117167009A announced a multifunctional drill tool that uses a function conversion slide sleeve and an elastic part to achieve low-pressure water drilling and high-pressure water cutting; the "A Self-Moving Water Jet Drill" with application publication number CN105840100A announced a water jet drill with a crawler-type self-propelled mechanism; however, the above technologies have not solved the problem of ultra-long distance drilling and rock breaking, and cannot monitor rock strength and integrity, which still poses certain obstacles to the actual application of ultra-high pressure water jet drilling rigs in engineering. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes an ultra-high pressure water jet mechanical combined drilling rig and method, which can achieve ultra-long distance drilling and rock breaking, and monitor rock strength and integrity in real time, and grasp the drilling position and drill tool offset.

[0007] According to some embodiments, the present invention adopts the following technical solutions:

[0008] An ultra-high pressure water jet mechanical combined drilling rig, comprising a drilling device, an adjustment device, a lifting device, a walking device and a guiding device, wherein:

[0009] The lifting device is arranged on the walking device, and the lifting device comprises a column;

[0010] The guide device comprises a feed frame and a centralizer, and the feed frame is arranged on the column in an adjustable angle through an adjustment device;

[0011] The drilling device includes a drill rod, a driving device and a water jet mechanical combined drilling tool. The drill rod is arranged on a feed frame. The driving device is used to drive the drill rod to move. A water jet mechanical combined drilling tool is arranged at the front end of the drill rod. A high-pressure water jet pipeline is accommodated inside the drill rod. One end of the high-pressure water jet pipeline of the drill rod is connected to the water jet structure of the water jet mechanical combined drilling tool, and the other end is connected to an ultra-high pressure water jet pump group through a swivel joint.

[0012] As an optional embodiment, the water jet mechanical combined drilling tool includes cutting teeth and a drill tool casing, and a plurality of groups of cutting teeth are circumferentially distributed at the front and rear of the drill tool to form two sets of drilling tooth structures, and one of the two sets of drilling tooth structures is distributed in a counterclockwise direction and the other is distributed in a clockwise direction.

[0013] As an optional implementation, an arc sensor is provided on the edge of the drill tool between two adjacent groups of drill tooth structures.

[0014] As an optional implementation, a plurality of water jet structures are arranged inside the water jet mechanical combined drilling tool, and the water jet structure is arranged between two adjacent groups of drill tooth structures and has no overlap or shielding with the drill tooth mechanism.

[0015] As an optional embodiment, the water jet structure includes a water jet injection hole, and a water jet nozzle is arranged in the water jet injection hole, and each water jet structure has a different distance from the center point of the drilling tool and is distributed on circles with different radii;

[0016] A wireless control switch is arranged in the water jet injection hole, which can be turned on or off manually according to actual working conditions.

[0017] As an optional implementation, the drill rod is composed of multiple sections, each section is connected by threads, and the connecting part is provided with a conical joint surface.

[0018] As an optional embodiment, the drill rod is a hollow structure or has a plurality of slag discharge channels arranged inside;

[0019] The driving device is a bidirectional driving mechanism.

[0020] When the hole collapses and blocks the spray hole or jams the drill bit, the water jet mechanical combined drill bit reverses, and the cutting teeth at the rear of the water jet mechanical combined drill bit loosen the jammed drill bit. At the same time, a high-pressure water jet or high-pressure gas is introduced into the slag discharge channel and output from the water jet structure of the water jet mechanical combined drill bit. Because the ultra-high pressure water jet has crushed the rock before the hole collapses, and the mechanical drill bit further grinds and crushes the rock blocks to improve fluidity, the blockage can be discharged from the gap between the outer surface of the drill pipe and the rock formation, alleviating the problem of hole collapse.

[0021] As an optional implementation, the drill pipe and the swivel joint are connected via threads.

[0022] As an optional embodiment, the swivel joint includes a swivel joint front end, a bearing, a water pipe, a gasket, a seal and a swivel joint rear end, the swivel joint front end and the swivel joint rear end are connected by threads, the seal, gasket, water pipe and bearing are sequentially installed in the hole cavity between the swivel joint front end and the swivel joint rear end, the outer diameter of the water pipe has a circle of protrusions, and the protrusions are adapted to the gasket and the bearing.

[0023] As an optional embodiment, the lifting device further comprises a lifting cylinder, which is used to drive the rotating mechanism together with the feed frame to move up and down along the column, so as to autonomously adjust the height of the drill rod / drilling tool according to the height of the drilling position;

[0024] The adjusting device is an angle adjusting device, which is installed on the column through a shaft sleeve.

[0025] As an optional embodiment, the feed frame includes a frame mechanism, a movable slide and a slider movably arranged on the movable slide, and the drilling device is arranged on the slider to drive the water jet mechanical combined drilling tool to feed forward and retreat backward along the feed frame; the stabilizer is fixed at the front end of the feed frame to clamp and straighten the water jet mechanical combined drilling tool.

[0026] As an optional embodiment, the swivel joint is connected to the driving device; the driving device includes a servo cylinder and an oil pressure sensor, the servo cylinder is used to drive the drilling tool to move, and the oil pressure sensor is used to measure the oil pressure in two chambers of the servo cylinder.

[0027] The working method based on the above-mentioned ultra-high pressure water jet mechanical combined drilling rig includes the following steps:

[0028] Start the traveling device to move the ultra-high pressure water jet mechanical combined drilling rig to the front of the target drilling position;

[0029] Stop the traveling device and move the lifting device to move the water jet mechanical combined drilling tool to the same height as the target drilling position;

[0030] Control the adjustment device to align the water jet mechanical combined drilling tool with the target drilling position at a set angle;

[0031] Adjust the guide device and fine-tune the distance between the water jet mechanical combined drilling tool and the target drilling position so that it is within the predetermined distance;

[0032] The water jet mechanical combined drilling tool is started to enable the drill tooth mechanism and the water jet structure to break the rock individually or together.

[0033] When the drill tool is offset, the arc sensor detects the current drilling position and offset, and uses the wireless control switch to control the switch of the corresponding water jet end nozzle. The water jet end nozzle is opened in the opposite direction of the offset to break the hard rock environment, and the reaction force is used to return the drill tool and drill rod to the correct forward direction.

[0034] After the current length of drill rod is excavated, unscrew the drill rod connection, move the drive device backward, install the new drill rod, extend the overall drill rod length, and realize rapid connection of the drill rod.

[0035] Furthermore, based on the test data, a drilling speed data model is constructed:

[0036] H1=Vs λ1 *P λ2 *d λ3 *F λ4

[0037] Among them, Vs is the drilling rig speed, P is the pump pressure of the pump group, d is the nozzle diameter, F is the drilling thrust, λi is the undetermined coefficient, and H1 is the drilling speed.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The present invention adopts a water jet mechanical joint drill tool and a drill rod, and the drill rods are detachably connected. This drill rod and drill tool connection method can realize the rapid switching of drill tools of different specifications. The drill rod is continuously connected, which can achieve the effect of long-distance and rapid drilling, and improve the efficiency of engineering implementation.

[0040] 2. The present invention detects data such as drilling tool torque and propulsion force through oil pressure sensors, thereby solving the problem of connecting the traditional force sensor with the rotary drilling tool at the front end, avoiding the contamination of the sensor by rock debris and scale, and greatly improving the safety of construction and the convenience of maintenance. The drilling rig has the ability of sensing while drilling, real-time monitoring of rock strength and integrity, mastering the drilling position and drilling tool offset, and improving the accuracy of drilling.

[0041] 3. The present invention can be combined with advanced detection technology to pre-analyze the distribution of rock formations, first use ultra-high pressure water jets to form a fracture network, and then use ultra-high pressure water jet machinery to jointly drill holes, and alleviate the hole collapse phenomenon through the slag discharge channel, which greatly improves the reliability and efficiency of engineering implementation.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0044] Figure 1 A schematic diagram of the three-dimensional structure of an ultra-high pressure water jet mechanical combined drilling rig according to an embodiment;

[0045] Figure 2 A front view of an ultra-high pressure water jet mechanical combined drilling rig according to an embodiment;

[0046] Figure 3 An axial cross-sectional view of a drilling device according to an embodiment;

[0047] Figure 4 A schematic diagram of a water jet mechanical combined drilling tool according to an embodiment;

[0048] Figure 5 A schematic diagram of a drill rod structure according to an embodiment;

[0049] Figure 6 An axial cross-sectional view of a rotary joint according to an embodiment;

[0050] Among them, 1. drilling device, 11. water jet mechanical combined drilling tool, 12. drill rod, 13. swivel joint, 14. driving device, 111. cutting teeth, 112. drill tool casing, 113. water jet structure, 121. high-pressure water jet pipeline, 122. slag discharge channel, 131. water pipe, 132. front end of swivel joint, 133. bearing, 134. gasket, 135. seal, 136. rear end of swivel joint;

[0051] 2. Adjustment device, 21. Rotation mechanism, 22. Adjustment control mechanism;

[0052] 3. lifting device, 31. column, 32. lifting cylinder;

[0053] 4. Walking device;

[0054] 5. guide device, 51. feed frame, 52. centralizer, 53. support frame;

[0055] 6. Ultra-high pressure water jet pump set. DETAILED DESCRIPTION

[0056] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other.

[0060] An ultra-high pressure water jet mechanical combined drilling rig comprises a drilling device 1, an adjustment device 2, a lifting device 3, a walking device 4, a guide device 5 and an ultra-high pressure water jet pump group 6:

[0061] In some embodiments of the present invention, Figure 3 As shown, the drilling device 1 includes a water jet mechanical combined drilling tool 11, a drill rod 12, a swivel joint 13 and a driving device 14. The water jet mechanical combined drilling tool 11 is arranged at the front end of the drill rod 12, and the rear end of the drill rod 12 is connected to the swivel joint 13 by a thread, and the swivel joint 13 is connected to the driving device 14.

[0062] In this embodiment, the water jet mechanical combined drilling tool 11 includes a cutting tooth 111 and a drilling tool casing 112. Figure 4 As shown, the front and rear of the water jet mechanical combined drilling tool 11 are circumferentially distributed with a plurality of groups of cutting teeth 111, forming two sets of drilling tooth structures, and one of the two sets of drilling tooth structures is distributed in a counterclockwise direction, and the other is distributed in a clockwise direction. The water jet mechanical combined drilling tool 11 is a multi-wing PDC composite drilling tool structure, and the cutting teeth of each wing are in a streamlined tooth arrangement form.

[0063] A plurality of water jet structures 113 are arranged inside the water jet mechanical combined drilling tool 11. The water jet structure is arranged between two adjacent groups of drill tooth structures, and has no overlap or obstruction with the drill tooth structure. Nozzles are arranged inside the water jet structure, distributed on circles with different radii, and the jets form different trajectories, which are evenly distributed within the circle of the drill tool diameter. The water jet structure 113 has two functions. One is to output high-pressure water jets to break rocks. During the rotation of the drill tool, high-pressure water jets are simultaneously ejected outward to form a crack network on the rock surface, reducing the strength and integrity of the rock. A wireless control switch is arranged in the water jet injection hole, which can be manually turned on or off according to the actual working conditions; the other is to output high-pressure water jets or high-pressure gases to clean up rock debris, slurry, etc.

[0064] In this embodiment, an arc sensor is provided on the edge of the drill tool between two adjacent groups of drill tooth structures, for detecting the current drilling position and offset of the drill tool.

[0065] like Figure 5 As shown, the drill rod 12 is a quick-connect drill rod, each section of the drill rod 12 is connected by a pipe thread, and the previous section of the drill rod 12 and the next section of the drill rod 12 are sealed by a conical joint surface. The interior of the drill rod 12 contains a high-pressure water jet pipeline 121, one end of the high-pressure water jet pipeline 121 is connected to the water jet structure 113 of the water jet mechanical combined drilling tool, and the other end is connected to the ultra-high pressure water jet pump group through the swivel joint. A plurality of slag discharge channels 122 are also provided inside the drill rod 12. In this embodiment, three 120° equally divided fan-shaped slag discharge channels are provided.

[0066] In some embodiments, the diameter of the drill rod is smaller than the diameter of the drill bit. When the drilling rig is drilling, high-pressure water is input from the fan-shaped hollow position of the drill rod 12, and a high-pressure water jet is ejected from the drilling tool water jet structure 113 to discharge rock debris and the like through the gap between the outside of the drill rod and the rock formation.

[0067] When the hole collapses and blocks the spray hole or jams the drill bit, the water jet mechanical combined drill bit 11 is reversed, and the cutting teeth 111 at the rear of the water jet mechanical combined drill bit 11 loosen the jammed drill bit, and at the same time, a high-pressure water jet or high-pressure gas is introduced into the slag discharge channel and output from the water jet structure 113 of the water jet mechanical combined drill bit. Because the ultra-high pressure water jet has crushed the rock before the hole collapses, and the mechanical drill bit further grinds and crushes the rock blocks to improve fluidity, the blockage can be discharged from the gap between the outer surface of the drill rod 12 and the rock formation, alleviating the problem of hole collapse.

[0068] The rear end of the drill rod 12 is connected to the swivel joint 13 by a threaded connection. Figure 6As shown, the swivel joint 13 includes a swivel joint front end 132, a bearing 133, a water pipe 131, a gasket 134, a seal 135 and a swivel joint rear end 136. The swivel joint front end 132 is connected to the swivel joint rear end 136 by threads, and the seal 135, gasket 134, water pipe 131 and bearing 133 are sequentially installed in the cavity between the swivel joint front end 132 and the swivel joint rear end 136.

[0069] In this embodiment, the water pipe 131 has a circle of protrusions on its outer diameter, and the protrusions are combined with the gasket 134 and the bearing 133 .

[0070] In some embodiments, the bearing 133 includes a thrust bearing and a deep groove ball bearing, and the rotary joint 13 is connected to the driving device 14; the driving device 14 includes a servo cylinder and sensors such as an oil pressure sensor, a displacement sensor, and an arc sensor.

[0071] The use of oil pressure sensors solves the problem of connecting traditional force sensors to rotary drill bits at the front end, avoids contamination of the sensors by rock debris and scale, improves the accuracy of drilling, monitors the propulsion force in real time, and thus monitors the strength and integrity of the rock, which also greatly improves the safety of construction and the convenience of maintenance.

[0072] In some embodiments, the adjustment device 2 is configured to change the relative tilt position of the water jet mechanical combined drilling tool, and includes a rotating mechanism 21 and an adjustment control mechanism 22. The rotating mechanism 21 can rotate and move, and the adjustment control mechanism 22 is used to control the rotation and movement and is fixed at a set angle.

[0073] The rotating mechanism 21 can be any existing mechanism capable of angular rotation, such as a flange, a rotating platform, etc., which will not be described in detail here.

[0074] In some embodiments, the lifting device 3 is adjusted autonomously according to the height of the drilling position, and includes a column 31 and a lifting cylinder 32 . A shaft sleeve is provided on the column 31 to mount the rotating mechanism 21 . The lifting cylinder 32 drives the rotating mechanism 21 to move along the column 31 .

[0075] In some embodiments, the guide device 5 is limitedly matched with the water jet mechanical combined drilling tool 11 and is installed on the rotating mechanism 21. The guide device 5 includes a feed frame 51, a centralizer 52 and a support frame 53. The feed frame 51 includes a frame mechanism, a movable slide rail and a slider. The slider can move along the movable slide rail. The support frame 53 is installed on the slider, and the drilling device 1 is installed on the support frame 53. The feed frame 51 limits the forward feeding and backward retreating trajectory of the water jet mechanical combined drilling tool 11 along the feed frame 51; the centralizer 52 is fixed to the front end of the feed frame 51, and is used to clamp and centralize the water jet mechanical combined drilling tool 11.

[0076] In this embodiment, the guide device 5 can shorten the cantilever length of the water jet mechanical combined drilling tool 11. The cantilever length is positively correlated with the vibration amplitude. The guide device 5 further reduces the vibration of the water jet mechanical combined drilling tool 11 during the drilling process, thereby weakening the deviation of the drilling direction, improving the engineering construction accuracy, and also improving the construction speed and efficiency.

[0077] In some embodiments, the traveling device 4 is a base of the drilling rig, on which the lifting device 3 is installed. The traveling device 4, including the base, wheels and wheel driving device, can all adopt existing technologies.

[0078] Of course, in some embodiments, the traveling device 4 may also be a universal wheel type moving mechanism or a crawler type traveling mechanism, which will not be described in detail here.

[0079] The position and angle of the water jet mechanical combined drilling tool 11 in space can be changed through the lifting device 3, walking device 4, guiding device 5 and adjusting device 2 to achieve all-round and multi-angle continuous drilling. The drilling state and drilling posture of the drilling tool can be adjusted at any time according to the different hardness of rock formations at different depths, and can reach a depth of about 200m.

[0080] In some embodiments of the present invention, the ultra-high pressure water jet pump group 6 provides ultra-high pressure water for the water jet mechanical joint drilling rig, such as Figure 1 to Figure 2 As shown, only the outlet pipe of the ultra-high pressure water jet pump group is marked in the figure.

[0081] Embodiment 2

[0082] A working method of an ultra-high pressure water jet mechanical combined drilling rig provided in the first embodiment comprises the following steps:

[0083] Start the traveling device to move the ultra-high pressure water jet mechanical combined drilling rig to the front of the target drilling position;

[0084] Stop the traveling device and move the lifting device to move the water jet mechanical combined drilling tool to the same height as the target drilling position;

[0085] Control the adjustment device to align the water jet mechanical combined drilling tool with the target drilling position at a set angle;

[0086] Adjust the guide device and fine-tune the distance between the water jet mechanical combined drilling tool and the target drilling position so that it is within the predetermined distance;

[0087] The water jet mechanical combined drilling tool is started to enable the drill tooth mechanism and the water jet structure to break the rock individually or together.

[0088] When the drill tool is offset, the arc sensor detects the current drilling position and offset, opens the water jet end nozzle in the direction opposite to the offset, breaks up the hard rock environment, and uses the reaction force to return the drill tool and drill rod to the correct forward direction.

[0089] After the current length of drill rod is excavated, unscrew the drill rod connection, move the drive device backward, install the new drill rod, extend the overall drill rod length, and realize rapid connection of the drill rod.

[0090] Furthermore, based on the test data, a drilling speed data model is constructed:

[0091] H1=Vs λ1 *P λ2 *d λ3 *F λ4

[0092] Among them, Vs is the drilling rig speed, P is the pump pressure of the pump group, d is the nozzle diameter, F is the drilling thrust, λi is the undetermined coefficient, and H1 is the drilling speed.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention without creative labor shall be included in the protection scope of the present invention.

Claims

1. An ultra-high pressure water jet mechanical combined drilling rig, characterized in that: It includes drilling device, adjustment device, lifting device, walking device and guiding device, among which: The lifting device is arranged on the walking device, and the lifting device includes a column, and a support frame is movably arranged on the column; The guide device includes a feed frame, a centralizer and a support frame, and the feed frame is arranged on the column in an angle-adjustable manner through an adjustment device; The drilling device includes a drill rod, a driving device and a water jet mechanical combined drilling tool. The drill rod is arranged on the support frame, the stabilizer is arranged at the front of the drill rod, connecting the drill rod and the feed frame, the driving device is used to drive the drill rod to move, and the front end of the drill rod is provided with a water jet mechanical combined drilling tool. The interior of the drill rod accommodates a high-pressure water jet pipeline, one end of the high-pressure water jet pipeline is connected to the water jet structure of the water jet mechanical combined drilling tool, and the other end is connected to the ultra-high pressure water jet pump group through a rotary joint.

2. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The drill rod is a hollow structure or is provided with a plurality of slag discharge channels, so as to allow high-pressure water jets or high-pressure gas to be introduced for slag discharge; The drill rod is composed of multiple sections, each section is connected by threads, and the connection part is provided with a tapered joint surface; The driving device is a bidirectional driving mechanism.

3. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The water jet mechanical combined drilling tool includes a drill tooth and a drill casing. A plurality of groups of drill tooth structures are circumferentially distributed in front and rear of the drill casing. The drill tooth structures and the water jet structures are spaced apart. A plurality of water jet structures are arranged inside the drilling tool. The water jet structures are arranged between two adjacent groups of drill tooth structures and do not overlap or block the drill tooth mechanisms. An arc sensor is provided on the edge of the drill tool between two adjacent groups of drill tooth structures.

4. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The water jet structure includes a water jet injection hole, and a water jet nozzle is provided in the water jet injection hole. The distance between each water jet structure and the center point of the drilling tool is different and they are distributed on circles with different radii. A wireless control switch is provided in the water jet injection hole, which can be manually turned on or off according to actual working conditions.

5. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The rotary joint is connected to the driving device; the driving device includes a servo cylinder and an oil pressure sensor, the servo cylinder is used to drive the drilling tool to move, and the oil pressure sensor is used to measure the oil pressure in the two chambers of the servo cylinder.

6. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The rotary joint includes a front end of the rotary joint, a bearing, a water pipe, a gasket, a seal and a rear end of the rotary joint. The front end of the rotary joint and the rear end of the rotary joint are connected by threads. The seal, gasket, water pipe and bearing are sequentially installed in the cavity between the front end of the rotary joint and the rear end of the rotary joint. The outer diameter of the water pipe has a circle of protrusions, and the protrusions are adapted to the gasket and the bearing.

7. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The lifting device also includes a lifting cylinder, which is used to drive the support frame to move up and down along the column to autonomously adjust the height of the drill rod / drilling tool according to the height of the drilling position; The adjusting device is an angle adjusting device, which is installed on the column through a shaft sleeve.

8. The ultra-high pressure water jet mechanical combined drilling rig according to claim 1, characterized in that: The feed frame includes a frame mechanism, a movable slide and a slider movably arranged on the movable slide. The drilling device is arranged on the slider to drive the water jet mechanical combined drilling tool to feed forward and retreat backward along the feed frame; the centralizer is fixed to the front end of the feed frame to clamp and centralize the water jet mechanical combined drilling tool.

9. The working method of the ultra-high pressure water jet mechanical combined drilling rig according to any one of claims 1 to 8, characterized in that: The following steps are involved: Start the traveling device to move the ultra-high pressure water jet mechanical combined drilling rig to the front of the target drilling position; Stop the traveling device and move the lifting device to move the water jet mechanical combined drilling tool to the same height as the target drilling position; Control and adjust the device to align the water jet mechanical combined drilling tool with the target drilling position at a set angle; Adjust the guide device and fine-tune the distance between the water jet mechanical combined drilling tool and the target drilling position so that it is within the predetermined distance; Start the water jet mechanical combined drilling tool to make the drill tooth mechanism and the water jet structure break the rock individually or together.

10. The method according to claim 9, wherein: When the drill tool deviates, the arc sensor detects the current drilling position and deviation, opens the water jet nozzle in the opposite direction of the deviation, breaks up the hard rock environment, and uses the reaction force to return the drill tool and drill rod to the correct forward direction; After the current length of drill rod is excavated, unscrew the drill rod connection, move the drive unit backward, install the new drill rod, extend the overall drill rod length, and realize the rapid connection of the drill rod; Or, the drilling speed data model is: H1=Vs λ1 *P λ2 *d λ3 *F λ4 Among them, Vs is the drilling rig speed, P is the pump pressure of the pump group, d is the nozzle diameter, F is the drilling thrust, λi is the undetermined coefficient, and H1 is the drilling speed.

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