Multifunctional drilling machine capable of automatically replacing rods and control strategy

Abstract

The invention relates to the technical field of drilling machines, in particular to a multifunctional drilling machine capable of automatically replacing a rod and a control strategy, the multifunctional drilling machine capable of automatically replacing the rod comprises a walking device and a machine body assembly arranged on the walking device, the mast assembly comprises an I-shaped mast installed on the machine body assembly and a driving part arranged on the I-shaped mast. The first power head and the second power head are arranged on the two sides of the I-shaped mast, when the first power head moves downwards to the limiting position, the first power head is separated from the drill rod connected with the first power head, under cooperation of the second mechanical arm, a new drill rod can be installed on the second power head and connected with the drill rod located at the bottom, and when the second power head moves downwards to the limiting position, the second power head is separated from the drill rod connected with the second power head. The second power head is separated from the drill rod connected with the second power head, the first power head is used for installing a new drill rod and is connected with the drill rod located at the bottom, and the steps are repeated, so that intelligent and rapid rod replacement is achieved, the purpose of shortening the rod replacement time is achieved, the rod replacement time is greatly saved, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of drilling rigs, and in particular to a multifunctional drilling rig capable of automatically changing rods and a control strategy. Background Art

[0002] During geological exploration, the auxiliary time consumed by the drilling rig in raising and lowering the drill and changing the rod is much greater than the pure drilling time. Common drilling rigs have only one power head. When the power head pushes a drill rod down to the bottom of the mast, the clamping device clamps the drill rod, the power head rotates in the opposite direction and disconnects from the drill rod, and moves to the top of the mast in an unloaded state. Then the two ends of the drill rod need to be connected to the bottom of the power head and the top of the previous drill rod respectively. This process usually wastes a lot of time and requires manual assistance to add rods.

[0003] Existing drilling rigs require manual assistance to change rods, and the rod change time is long and the efficiency is low. There are the following defects: 1. Geological exploration work usually requires a large amount of data collection and analysis tasks to be completed within a limited time. Drill rod replacement is an important part of the drilling process, and its duration directly affects the overall exploration efficiency. A longer rod replacement time reduces the overall exploration efficiency.

[0004] 2. The extension of rod replacement time increases the standby time and energy consumption of the equipment, and increases the operation and maintenance costs of the drilling equipment.

[0005] 3. When conducting exploration drilling in complex geological conditions such as hard rock and broken zones, it is necessary to frequently change rods. If the rod change time is too long, it will not only affect the exploration efficiency, but also increase the risk and uncertainty in the drilling process. Summary of the invention

[0006] In view of this, the purpose of the present invention is to propose a multifunctional drilling rig and control strategy that can automatically change rods, so as to solve the problem that the existing drilling rigs need to frequently change rods when conducting exploration drilling under complex geological conditions. The rod changing time is too long, which not only affects the exploration efficiency but also may increase the risk and uncertainty in the drilling process.

[0007] Based on the above-mentioned purpose, the present invention provides a multifunctional drilling rig capable of automatically changing rods, comprising a walking device and a fuselage assembly arranged on the walking device, a mast assembly being arranged on the fuselage assembly, the mast assembly comprising an I-beam mast installed on the fuselage assembly, and a driving part arranged on the I-beam mast, power head assembly 1 and power head assembly 2 being slidably arranged on both sides of the I-beam mast, the power head assembly 1 being located above the power head assembly 2, and being driven by the driving part so as to drive the power head assembly 1 and the power head assembly 2 to move synchronously, and the movement directions of the two are opposite; a straightening device for clamping a drill rod is installed at the bottom of the I-beam mast, a mechanical arm 1 and a mechanical arm 2 are installed on the fuselage assembly, the mechanical arm 1 and the power head assembly 1 are located on the same side, and the mechanical arm 2 and the power head assembly 2 are located on the same side.

[0008] Preferably, the driving part includes three bearing seats, the bearing seats are installed on the top of the I-beam mast, the bearing seats are rotatably connected to the upper transmission shaft through bearings, and one of the bearing seats is installed with a hydraulic rotary motor three for driving the upper transmission shaft to rotate; two upper gears are fixedly sleeved on the upper transmission shaft, a mounting hole is opened on the side of the I-beam mast close to the bottom, and a lower transmission shaft is rotatably connected in the mounting hole through bearings, two lower gears are fixedly sleeved on the lower transmission shaft, a transmission chain is sleeved on the upper gears and the lower gears, and the power head assembly one and the power head assembly two are installed on the transmission chain.

[0009] Preferably, the conveying chain has two breaks, and the two breaks are respectively located on both sides of the I-beam mast, and a mounting plate is hinged at the break of the conveying chain through a pin shaft, and the power head assembly 1 and the power head assembly 2 are respectively mounted on the two mounting plates.

[0010] Preferably, a guide rail is fixedly connected to the I-beam mast, and a guide block sliding on the guide rail is fixedly connected to the mounting plate.

[0011] Preferably, an upper limit switch and a lower limit switch are installed on the I-beam mast, and the upper limit switch and the lower limit switch are located on the same side of the I-beam mast as the power head assembly. The power head assembly moves to the upper limit switch at the upper limit, and the power head assembly moves to the lower limit switch at the lower limit.

[0012] Preferably, the power head assembly includes two suspension plates, and the suspension plate is installed on the mounting plate, and a swing plate is rotatably connected between the two suspension plates via a bearing, a hydraulic swing motor for driving the swing plate to rotate is installed on the suspension plate, a support plate is fixedly installed on the swing plate, a power head is installed on the support plate, and a hydraulic rotary motor is installed on the power head.

[0013] Preferably, the power head assembly 2 includes two suspension plates 2, and the suspension plates 2 are installed on the mounting plate, and a swing plate 2 is rotatably connected between the two suspension plates 2 via a bearing, and a hydraulic swing motor 2 for driving the swing plate 2 to rotate is installed on the suspension plate 2, and a support plate 2 is fixedly installed on the swing plate 2, and a power head 2 is installed on the support plate 2, and a hydraulic rotary motor 2 is installed on the power head 2.

[0014] Preferably, the first and second mechanical arms each include a mechanical arm mounting seat installed on the fuselage assembly, a connecting seat is hinged on the mechanical arm mounting seat, a hydraulic cylinder one is hinged between the mechanical arm mounting seat and the connecting seat, a mechanical large arm is hinged on the connecting seat, a hydraulic cylinder two is hinged between the connecting seat and the inner side of the mechanical large arm, a mechanical small arm is hinged at the end of the mechanical large arm, a hydraulic cylinder three is hinged at the outer side of the mechanical large arm and the end of the mechanical small arm, a mechanical claw connecting frame is hinged at the end of the mechanical small arm, a hydraulic cylinder four is hinged on the mechanical small arm, and the output end of the hydraulic cylinder four is hinged to the mechanical claw connecting frame, a mechanical claw is installed on the mechanical claw connecting frame, and a hydraulic rotary motor four for driving the mechanical claw to rotate is also installed on the mechanical claw connecting frame.

[0015] A control strategy for a multifunctional drilling rig capable of automatically changing rods, wherein the multifunctional drilling rig automatically changes rods, comprises the following steps: S1. After the power head is installed with the drill rod, the hydraulic swing motor drives the power head to rotate 90° to the right, that is, the power head rotates to the front of the I-beam mast, and then the straightening device clamps the bottom drill rod, and the hydraulic rotary motor drives the drill rod connected to the power head to rotate and be threadedly connected to the bottom drill rod; S2, then the hydraulic rotary motor 3 drives the conveyor chain to rotate, and when the conveyor chain drives the power head 1 to move downward to the limit position during the rotation, the power head 2 moves upward to the limit position; S3, when the power head 1 moves downward to the limit position, it touches the lower limit switch, and the lower limit switch sends a signal, so that the straightening device clamps the drill rod connected to the power head 1, and the hydraulic rotary motor 1 drives the power head 1 to rotate in the opposite direction, so that the drill rod connected to the power head 1 is separated from the power head 1, and at the same time, the hydraulic swing motor 1 drives the power head 1 to rotate 90° to the left and return to the left side of the I-beam mast; S4. At the same time when the power head 1 is detached from the drill rod connected to it, the power head 2 will be threadedly connected to the new drill rod with the cooperation of the mechanical arm 2. After the hydraulic swing motor 1 drives the power head 1 back to the left side of the I-beam mast, at the same time, the power head 2 that has been connected to the new drill rod will be driven by the hydraulic swing motor 2 to rotate to the front of the I-beam mast, and then, with the assistance of the straightening device, it will be connected to the bottom drill rod. Then, the hydraulic rotary motor 3 drives the transmission chain to rotate in the opposite direction, so that the power head 2 will move downward with the transmission chain, while the power head 1 will move upward with the transmission chain. When the power head 1 moves up to the extreme position, the power head 2 is detached from the drill rod connected to it, and the power head 1 installs a new drill rod and connects it to the drill rod at the bottom. This cycle is repeated to achieve intelligent and fast rod changing, so as to shorten the rod changing time.

[0016] The beneficial effects of the present invention are as follows: It can be controlled by an external PID controller. When the power head 1 is controlled to drill downward, the power head 2 will move upward. When the power head 1 moves downward to the limit position (that is, when the drill rod connected to the power head 1 drills into the ground), the power head 2 will move upward to the limit. The rotary hydraulic motor 1 drives the power head 1 to separate from the drill rod connected to it. At the same time, with the cooperation of the mechanical arm 2, the rotary hydraulic motor 2 drives the power head 2 to be threadedly connected with the new drill rod.

[0017] Then, the hydraulic swing motor 1 drives the power head 1 back to the left side of the I-beam mast. At the same time, the power head 2 connected with the new drill rod will rotate to the front of the I-beam mast under the drive of the hydraulic swing motor 2. Then, with the assistance of the straightening device, the drill rod on the power head 2 is connected with the drill rod at the bottom. Then, when the power head 2 moves downward with the conveyor chain, the power head 1 moves upward with the conveyor chain. When the power head 1 moves up to the extreme position, the power head 2 is detached from the drill rod connected to it, and the power head 1 installs a new drill rod and connects it to the drill rod at the bottom. This cycle is repeated, realizing intelligent and fast rod changing, so as to shorten the rod changing time, thereby greatly saving the rod changing time and improving work efficiency.

[0018] 2. The robotic arm can be connected to a variety of working devices. For example, mechanical claws, breaker hammers and buckets can be installed on the mechanical claw connecting frame and can be selected according to actual usage, which improves the adaptability of the robotic arm and diversifies the application scenarios of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a mast assembly according to an embodiment of the present invention; Figure 3 For the embodiment of the present invention Figure 2 A cross-sectional view of Figure 4 This is a schematic structural diagram of an I-shaped mast according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a mounting plate according to an embodiment of the present invention; Figure 6 This is a schematic structural diagram of a power head assembly 1 according to an embodiment of the present invention; Figure 7 This is a structural schematic diagram of a power head assembly 2 according to an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the robot arm 1 according to an embodiment of the present invention.

[0021] In the figure: 1. Traveling device; 2. Fuselage assembly; 3. Mast assembly; 31. I-beam mast; 32. Bearing seat; 33. Upper transmission shaft; 34. Hydraulic swing motor three; 35. Upper gear; 36. Lower transmission shaft; 37. Lower gear; 38. Conveyor chain; 39. Mounting plate; 310. Guide rail; 311. Guide block; 312. Upper limit switch; 313. Lower limit switch; 4. Power head assembly one; 41. Suspension plate one; 42. Swing plate one; 43. Hydraulic swing motor one; 44. Support plate one; 45. Power head one; 46. Hydraulic swing motor 1; 5. Mechanical arm 1; 6. Mechanical arm 2; 561. Mechanical arm mounting seat; 562. Connecting seat; 563. Hydraulic cylinder 1; 564. Mechanical arm; 565. Hydraulic cylinder 2; 566. Mechanical arm; 567. Hydraulic cylinder 3; 568. Mechanical claw connecting frame; 569. Mechanical claw; 570. Hydraulic rotary motor 4; 571. Hydraulic cylinder 4; 7. Power head assembly 2; 71. Suspension plate 2; 72. Swing plate 2; 73. Hydraulic swing motor 2; 74. Support plate 2; 75. Power head 2; 76. Hydraulic rotary motor 2; 8. Righting device. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0023] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, a multifunctional drilling rig capable of automatically changing rods comprises a traveling device 1 and a fuselage assembly 2 arranged on the traveling device 1, a mast assembly 3 is arranged on the fuselage assembly 2, the mast assembly 3 comprises an I-shaped mast 31 installed on the fuselage assembly 2, and a driving unit arranged on the I-shaped mast 31, a power head assembly 1 4 and a power head assembly 2 7 are slidably arranged on both sides of the I-shaped mast 31, the power head assembly 1 4 is located above the power head assembly 2 7, and the power head assembly 1 4 and the power head assembly 2 7 can be driven by the driving unit to move synchronously, and the movement directions of the two are opposite; A straightening device 8 for clamping the drill pipe is installed at the bottom of the I-mast 31, and a mechanical arm 1 5 and a mechanical arm 2 6 are installed on the fuselage assembly 2. The mechanical arm 1 5 and the power head assembly 1 4 are located on the same side, while the mechanical arm 2 6 and the power head assembly 2 7 are located on the same side.

[0025] The power head assembly 14 installs the drill rod and swings right to the front of the I-beam mast 31. During the downward drilling process, the power head assembly 2 7 will move upward. When the power head assembly 14 moves downward to the bottom, the power head assembly 2 7 moves upward to the top. The power head assembly 14 that has moved to the bottom can, with the cooperation of the mechanical arm 1 5 and the straightening device 8, detach the drill rod connected to the power head assembly 14, thereby releasing the connection between the power head assembly 14 and the drill rod. At the same time, the power head assembly 2 7 that has moved to the top can install a new drill rod with the cooperation of the mechanical arm 2 6, and then the power head assembly 14 It swings left to the left side of the I-mast 31, and the power head assembly 2 7 swings left to the front of the I-mast 31, and with the cooperation of the straightening device 8, the new drill rod installed on the power head assembly 2 7 is connected with the drill rod at the bottom. When the power head assembly 2 7 drives the drill rod connected thereto to drill to the bottom, that is, when the power head assembly 2 7 moves down to the extreme position, the power head assembly 2 7 is separated from the drill rod connected thereto, and the power head assembly 1 4 installs a new drill rod and connects it with the drill rod at the bottom. This cycle is repeated to realize intelligent and rapid rod changing, so as to achieve the purpose of shortening the rod changing time.

[0026] In a preferred embodiment of the present invention, the driving part includes three bearing seats 32, the bearing seats 32 are installed on the top of the I-beam mast 31, the bearing seats 32 are rotatably connected to the upper transmission shaft 33 through bearings, and one of the bearing seats 32 is installed with a hydraulic rotary motor 34 for driving the upper transmission shaft 33 to rotate; two upper gears 35 are fixedly sleeved on the upper transmission shaft 33, a mounting hole is opened on the side of the I-beam mast 31 near the bottom, and a lower transmission shaft 36 is rotatably connected in the mounting hole through bearings, two lower gears 37 are fixedly sleeved on the lower transmission shaft 36, a transmission chain 38 is sleeved on the upper gears 35 and the lower gears 37, a through groove for placing the transmission chain 38 is opened on the I-beam mast 31, and the power head assembly 1 4 and the power head assembly 2 7 are installed on the transmission chain 38.

[0027] The conveying chain 38 has two breaks, and the two breaks are respectively located on both sides of the I-beam mast 31. The breaks of the conveying chain 38 are hinged with mounting plates 39 through pins. The power head assembly 1 4 and the power head assembly 2 7 are respectively mounted on the two mounting plates 39. A guide rail 310 is fixedly connected to the I-beam mast 31, and a guide block 311 sliding on the guide rail 310 is fixedly connected to the mounting plate 39.

[0028] The power head assembly 1 4 is mounted on a mounting plate 39 located on the left side of the I-beam mast 31 near the top, and the power head assembly 2 7 is mounted on a mounting plate 39 located on the right side of the I-beam mast 31 near the bottom. When the hydraulic rotary motor 34 is started, the upper transmission shaft 33 and the upper gear 35 connected thereto will be driven to rotate. Since the lower gear 37 is rotatably connected in the I-beam mast 31, and a transmission chain 38 is provided on the upper gear 35 and the lower gear 37, starting the hydraulic rotary motor 34 can drive the transmission chain 38 to rotate. The rotation of the transmission chain 38 can drive the power head assembly 1 4 to move downward, and at the same time drive the power head assembly 2 7 to move upward, that is, under the action of the transmission chain 38, the power head assembly 1 4 and the power head assembly 2 7 move synchronously in opposite directions.

[0029] In another preferred embodiment of the present invention, an upper limit switch 312 and a lower limit switch 313 are installed on the I-beam mast 31, and the upper limit switch 312 and the lower limit switch 313 are located on the same side of the I-beam mast 31 as the power head assembly 4, the power head assembly 4 moves to the upper limit switch 312 at the upper limit, and the power head assembly 4 moves to the lower limit switch 313 at the lower limit.

[0030] When the power head assembly 14 drives the drill rod to drill downward, the transmission chain 38 drives the power head assembly 14 to move downward. When the power head assembly 14 moves downward to the lower limit switch 313, that is, moves to the lower limit position, the power head assembly 27 moves upward to the upper limit position. The upper limit switch 312 and the lower limit switch 313 limit the movement trajectory of the power head assembly 14.

[0031] It should be noted that the power head assembly 4 includes two suspension plates 41, and the suspension plates 41 are installed on the mounting plate 39, and a swing plate 42 is rotatably connected between the two suspension plates 41 through a bearing, a hydraulic swing motor 43 for driving the swing plate 42 to rotate is installed on the suspension plate 41, a support plate 44 is fixedly installed on the swing plate 42, a power head 45 is installed on the support plate 44, and a hydraulic rotary motor 46 is installed on the power head 45, the power head 45 includes a shell and a connector, the shell is installed on the support plate 44, the connector is rotatably connected to the shell and driven by the hydraulic rotary motor 46, and the connector is used to install the drill rod.

[0032] It should be noted that the power head assembly 27 includes two suspension plates 271, and the suspension plates 271 are installed on the mounting plate 39, and a swing plate 272 is rotatably connected between the two suspension plates 271 through a bearing, and a hydraulic swing motor 273 for driving the swing plate 272 to rotate is installed on the suspension plate 271, and a support plate 274 is fixedly installed on the swing plate 272, and a power head 275 is installed on the support plate 274, and a hydraulic rotary motor 276 is installed on the power head 275. The power head 275 includes a shell and a connector 2, and the shell is installed on the support plate 274. The connector 2 is rotatably connected to the shell and is driven by the hydraulic rotary motor 276. The connector 2 is used to install the drill rod.

[0033] It also includes a PID controller (not shown in the figure) installed on the fuselage assembly 2. The PID controller is electrically connected to the upper limit switch 312 and the lower limit switch 313 respectively, and controls the operation of corresponding equipment such as the hydraulic rotary motor, the hydraulic swing motor and the hydraulic cylinder.

[0034] The following is the process of automatic installation and rod replacement on the drilling rig; like Figure 1 As shown, the power head 45 is at the upper limit position on the left side of the I-mast 31, and the power head 2 75 is at the lower limit position on the right side of the I-mast 31. When the drilling rig drills downward, the mechanical claw 569 grabs the drill rod through the mechanical arm 5 in cooperation with each hydraulic cylinder, and the mechanical claw 569 moves the drill rod to the bottom of the connector 1 on the power head 45. The hydraulic rotary motor 46 drives the connector 1 on the power head 45 to rotate and be threadedly connected to the drill rod. After the connection is completed, the mechanical claw 569 releases the drill rod; then the hydraulic swing motor 43 drives the swing plate 42 to rotate 90° to the right, and the swing plate 42 drives the power head 45 to swing to the front of the I-mast 31, and the straightening device 8 clamps the bottom drill rod, and the hydraulic rotary motor 46 drives the drill rod connected to the power head 45 to rotate and be threadedly connected to the bottom drill rod. Then the straightening device 8 releases the clamping, and the drill rod is driven by the hydraulic rotary motor 46 to drill downward to complete the exploration work.

[0035] When the power head 45 moves downward with the conveyor chain 38, the power head 2 75 moves upward with the conveyor chain 38 on the right side of the I-beam mast 31. When the power head 45 moves downward to the limit position, the power head 2 75 moves upward to the upper limit position. At this time, the drill rods on the power head 45 are about to be drilled into the ground. Therefore, it is necessary to install new drill rods to continue drilling. The power head 45 touches the lower limit switch 313, and the lower limit switch 313 sends a signal. The PID controller controls the straightening device 8 to clamp the drill rod connected to the power head 45. The hydraulic rotary motor 46 drives the power head 45 to rotate in the opposite direction to make the power head 45 and the drill rod out of contact. The hydraulic swing motor 43 drives the power head 45 back to the left side of the I-beam mast 31.

[0036] At the same time as the power head 45 is separated from the drill rod, the power head 2 75 is threadedly connected to the new drill rod with the cooperation of the mechanical arm 2 6. After the power head 45 returns to the left side of the I-beam mast 31, the power head 2 75 connected to the new drill rod will be driven by the hydraulic swing motor 2 73 to rotate to the front of the I-beam mast 31. Subsequently, with the assistance of the straightening device 8, the drill rod on the power head 2 75 is connected to the drill rod at the bottom.

[0037] Then, when the power head 2 75 moves downward with the conveyor chain 38, the power head 1 45 moves upward with the conveyor chain 38. When the power head 1 45 moves up to the limit position, the power head 1 45 touches the upper limit switch 312. The upper limit switch 312 sends a signal, and the PID control controls the corresponding equipment to start, so that the power head 2 75 and the drill rod connected to it are separated, and the power head 1 45 installs a new drill rod and connects it to the drill rod at the bottom. This cycle is repeated, realizing intelligent and fast rod changing, so as to shorten the rod changing time, thereby greatly saving the rod changing time and improving work efficiency.

[0038] After the drilling rig completes ground drilling exploration, the drill pipe needs to be disassembled one by one. For example, the threads at the bottom of the drill pipe close to the ground and the threads in the formation are first disengaged. Then, with the help of manual or mechanical arms, the drill pipe can be clamped, the power head is rotated to disengage the threads at the top of the drill pipe, and the drill pipe is placed on the ground with the help of manual or mechanical arms.

[0039] It should be noted that both the robot arm 1 5 and the robot arm 2 6 include a robot arm mounting seat 561 mounted on the fuselage assembly 2, a connecting seat 562 is hinged on the robot arm mounting seat 561, a hydraulic cylinder 1 563 is hinged between the robot arm mounting seat 561 and the connecting seat 562, a mechanical arm 564 is hinged on the connecting seat 562, a hydraulic cylinder 2 565 is hinged on the inner side of the connecting seat 562 and the mechanical arm 564, and a mechanical small arm 566 is hinged at the end of the mechanical arm 564. A hydraulic cylinder three 567 is hinged on the outer side of the mechanical arm 564 and the end of the mechanical arm 566, a mechanical claw connecting frame 568 is hinged on the end of the mechanical arm 566, and a hydraulic cylinder four 571 is hinged on the mechanical arm 566, and the output end of the hydraulic cylinder four 571 is hinged to the mechanical claw connecting frame 568, a mechanical claw 569 is installed on the mechanical claw connecting frame 568, and a hydraulic rotary motor four 570 for driving the mechanical claw 569 to rotate is also installed on the mechanical claw connecting frame 568.

[0040] The robotic arm can be connected to a variety of working devices. For example, a mechanical claw, a breaker hammer and a bucket can be installed on the mechanical claw connecting frame and can be selected according to actual usage, which improves the adaptability of the robotic arm and diversifies the application scenarios of the equipment. Robot arm 1 5 and robot arm 2 6 are existing conventional technologies.

[0041] A control strategy for a multifunctional drilling rig capable of automatically changing rods, wherein the multifunctional drilling rig automatically changes rods, comprises the following steps: S1. After the power head 45 is installed with the drill rod, the hydraulic swing motor 43 drives the power head 45 to rotate 90° to the right, that is, the power head 45 rotates to the front of the I-beam mast 31, and then the straightening device 8 clamps the bottom drill rod, and the hydraulic rotary motor 46 drives the drill rod connected to the power head 45 to rotate and be threadedly connected to the bottom drill rod; S2, then the hydraulic rotary motor 34 drives the conveyor chain 38 to rotate, and when the conveyor chain 38 drives the power head 1 45 to move downward to the limit position during the rotation, the power head 2 75 moves upward to the limit position; S3, when the power head 45 moves downward to the limit position, it touches the lower limit switch 313, and the lower limit switch sends a signal, so that the straightening device 8 clamps the drill rod connected to the power head 45, and the hydraulic rotary motor 46 drives the power head 45 to rotate in the opposite direction, so that the drill rod connected to the power head 45 is separated from the power head 45, and at the same time, the hydraulic swing motor 43 drives the power head 45 to rotate 90° to the left and return to the left side of the I-beam mast 31; S4. At the same time that the power head 1 45 is detached from the drill rod connected to it, the power head 2 75 will be threadedly connected to the new drill rod with the cooperation of the mechanical arm 2 6. After the power head 1 45 returns to the left side of the I-beam mast 31, at the same time, the power head 2 75 that has been connected to the new drill rod will be driven by the hydraulic swing motor 2 73 to rotate to the front of the I-beam mast 31, and then, with the assistance of the straightening device 8, the bottom drill rod connection is realized, and then the hydraulic rotary motor 3 34 drives the transmission chain 38 to rotate in the opposite direction. The power head 2 75 drills downward with the transmission chain 38, while the power head 1 45 moves upward with the transmission chain 38. When the power head 1 45 moves up to the extreme position, the power head 2 75 is detached from the drill rod connected to it, and the power head 1 45 installs a new drill rod and connects it to the drill rod at the bottom. This cycle is repeated to realize intelligent and fast rod changing, so as to achieve the purpose of shortening the rod changing time.

[0042] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0043] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional drilling rig capable of automatically changing rods, comprising a traveling device (1) and a body assembly (2) arranged on the traveling device (1), characterized in that: The fuselage assembly (2) is provided with a mast assembly (3), the mast assembly (3) comprising an I-shaped mast (31) mounted on the fuselage assembly (2), and a driving unit mounted on the I-shaped mast (31); a power head assembly (4) and a power head assembly (7) are slidably mounted on both sides of the I-shaped mast (31); the power head assembly (4) is located above the power head assembly (7); the power head assembly (4) and the power head assembly (7) can be driven by the driving unit to move synchronously, and the movement directions of the two are opposite; a straightening device (8) for clamping a drill pipe is mounted at the bottom of the I-shaped mast (31); a mechanical arm (5) and a mechanical arm (6) are mounted on the fuselage assembly (2); the mechanical arm (5) and the power head assembly (4) are located on the same side, and the mechanical arm (6) and the power head assembly (7) are located on the same side.

2. A multifunctional drilling rig capable of automatically changing rods according to claim 1, characterized in that: The driving part comprises three bearing seats (32), wherein the bearing seats (32) are mounted on the top of the I-beam mast (31), the bearing seats (32) are rotatably connected to an upper transmission shaft (33) via bearings, and a hydraulic rotary motor (34) for driving the upper transmission shaft (33) to rotate is mounted on one of the bearing seats (32); two upper gears (35) are fixedly sleeved on the upper transmission shaft (33), a mounting hole is provided on the side surface of the I-beam mast (31) close to the bottom, and a lower transmission shaft (36) is rotatably connected in the mounting hole via bearings, two lower gears (37) are fixedly sleeved on the lower transmission shaft (36), a transmission chain (38) is sleeved on the upper gears (35) and the lower gears (37), a through slot for placing the transmission chain (38) is provided on the I-beam mast (31), and the power head assembly (4) and the power head assembly (7) are mounted on the transmission chain (38).

3. The multifunctional drilling rig capable of automatically changing rods according to claim 2, characterized in that: The conveying chain (38) has two breaks, and the two breaks are respectively located on both sides of the I-beam mast (31). The breaks of the conveying chain (38) are hinged with mounting plates (39) via pins, and the power head assembly 1 (4) and the power head assembly 2 (7) are respectively mounted on the two mounting plates (39).

4. The multifunctional drilling rig capable of automatically changing rods according to claim 3, characterized in that: The I-beam mast (31) is fixedly connected to a guide rail (310), and the mounting plate (39) is fixedly connected to a guide block (311) that slides on the guide rail (310).

5. The multifunctional drilling rig capable of automatically changing rods according to claim 1, characterized in that: An upper limit switch (312) and a lower limit switch (313) are installed on the I-beam mast (31), and the upper limit switch (312) and the lower limit switch (313) are located on the same side of the I-beam mast (31) as the power head assembly 1 (4). The power head assembly 1 (4) moves upward to the upper limit switch (312), and the power head assembly 1 (4) moves downward to the lower limit switch (313).

6. The multifunctional drilling rig capable of automatically changing rods according to claim 3, characterized in that: The power head assembly (4) comprises two suspension plates (41), and the suspension plates (41) are mounted on the mounting plate (39), and a swing plate (42) is rotatably connected between the two suspension plates (41) via a bearing, a hydraulic swing motor (43) for driving the swing plate (42) to rotate is mounted on the suspension plate (41), a support plate (44) is fixedly mounted on the swing plate (42), a power head (45) is mounted on the support plate (44), and a hydraulic rotary motor (46) is mounted on the power head (45).

7. The multifunctional drilling rig capable of automatically changing rods according to claim 3, characterized in that: The power head assembly 2 (7) comprises two suspension plates 2 (71), and the suspension plates 2 (71) are mounted on the mounting plate (39), and a swing plate 2 (72) is rotatably connected between the two suspension plates 2 (71) via a bearing, a hydraulic swing motor 2 (73) for driving the swing plate 2 (72) to rotate is mounted on the suspension plate 2 (71), a support plate 2 (74) is fixedly mounted on the swing plate 2 (72), a power head 2 (75) is mounted on the support plate 2 (74), and a hydraulic rotary motor 2 (76) is mounted on the power head 2 (75).

8. The multifunctional drilling rig capable of automatically changing rods according to claim 1, characterized in that: The mechanical arm 1 (5) and the mechanical arm 2 (6) both comprise a mechanical arm mounting seat (561) mounted on the fuselage assembly (2); a connecting seat (562) is hingedly connected to the mechanical arm mounting seat (561); a hydraulic cylinder 1 (563) is hingedly connected between the mechanical arm mounting seat (561) and the connecting seat (562); a mechanical arm (564) is hingedly connected to the connecting seat (562); a hydraulic cylinder 2 (565) is hingedly connected between the connecting seat (562) and the inner side of the mechanical arm (564); and a mechanical fork arm (566) is hingedly connected to the end of the mechanical arm (564). A hydraulic cylinder three (567) is hingedly connected at the outer side of the mechanical arm (564) and the end of the mechanical arm (566); a mechanical claw connecting frame (568) is hingedly connected at the end of the mechanical arm (566); a hydraulic cylinder four (571) is hingedly connected to the mechanical arm (566); an output end of the hydraulic cylinder four (571) is hingedly connected to the mechanical claw connecting frame (568); a mechanical claw (569) is mounted on the mechanical claw connecting frame (568); and a hydraulic rotary motor four (570) for driving the mechanical claw (569) to rotate is also mounted on the mechanical claw connecting frame (568).

9. A control strategy for a multifunctional drilling rig capable of automatic rod change as claimed in any one of claims 1 to 8, characterized in that: The automatic rod changing process of the multifunctional drilling rig includes the following steps: S1. After the power head 1 (45) is installed with the drill rod, the hydraulic swing motor 1 (43) drives the power head 1 (45) to rotate 90° to the right, that is, the power head 1 (45) rotates to the front of the I-beam mast (31), and then the straightening device (8) clamps the bottom drill rod, and the hydraulic rotary motor 1 (46) drives the drill rod connected to the power head 1 (45) to rotate and be threadedly connected to the bottom drill rod; S2, the hydraulic rotary motor 3 (34) then drives the conveyor chain (38) to rotate, and during the rotation of the conveyor chain (38), the power head 1 (45) is driven to move downward to the limit position, and the power head 2 (75) is moved upward to the limit position; S3, when the power head 1 (45) moves downward to the limit position, it touches the lower limit switch (313), and the lower limit switch sends a signal, so that the straightening device (8) clamps the drill rod connected to the power head 1 (45), and the hydraulic rotary motor 1 (46) drives the power head 1 (45) to rotate in the opposite direction, so that the drill rod connected to the power head 1 (45) is separated from the power head 1 (45), and at the same time, the hydraulic swing motor 1 (43) drives the power head 1 (45) to rotate 90 degrees to the left and return to the left side of the I-beam mast (31); S4. When the power head 1 (45) is detached from the drill rod connected to it, the power head 2 (75) is threadedly connected to the new drill rod with the cooperation of the mechanical arm 2 (6). After the power head 1 (45) returns to the left side of the I-beam mast (31), the power head 2 (75) connected to the new drill rod is driven by the hydraulic swing motor 2 (73) to rotate to the front of the I-beam mast (31). Then, with the assistance of the straightening device (8), the bottom drill rod is connected. Then The hydraulic rotary motor three (34) drives the conveyor chain (38) to rotate in the opposite direction, and the power head two (75) moves downward along with the conveyor chain (38) to drill, while the power head one (45) moves upward along with the conveyor chain (38). When the power head one (45) moves upward to the limit position, the power head two (75) is detached from the drill rod connected to it, and the power head one (45) is installed with a new drill rod and connected to the drill rod at the bottom. This cycle is repeated, thereby realizing intelligent and rapid rod replacement, thereby achieving the purpose of shortening the rod replacement time.

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