Obstacle removal system for rotary drilling rigs

Abstract

The present invention discloses an obstacle removal system applied to a rotary drilling rig, and relates to the technical field of obstacle removal, which includes a drilling mechanism of a rotary drilling rig, the drilling mechanism includes a drill rod, a power head driving the drill rod to rotate, and a drill bit at one end of the drill rod, and also includes a detection mechanism, a sensor module, and a controller; the detection mechanism includes a measuring component for measuring soil hardness, a base plate, and an inflation mechanism, the base plate is sleeved on the drill rod and rotatably connected to the top of the drill bit, the measuring component is installed on the base plate and has a telescopic end that telescopes along the diameter direction of the drill rod, and the inflation mechanism is connected to the measuring component; the measuring component has two groups and is symmetrically arranged on both sides of the drill rod; the sensor module is electrically connected to the controller. The present application has the effect of improving the quality of obstacle removal.

Description

Technical Field

[0001] The present application relates to the technical field of obstacle removal, and in particular to an obstacle removal system applied to a rotary drilling rig. Background Art

[0002] In order to ensure the stability of the foundation and other structures, construction projects need to pile, which requires drilling. Manual drilling is inefficient, so rotary drilling rigs are currently used. Figure 5 As shown) and other equipment as drilling equipment.

[0003] During the drilling process, many obstacles will be encountered, such as underground pipelines, large rocks, etc. Among them, underground pipelines need to contact the municipal government and other units, and then change the route according to their requirements, while large rocks are cleared by the construction unit themselves.

[0004] In the process of clearing obstacles such as rocks, the staff will first stake out the location of the obstacle drilling hole, and then assemble the barrel drill bit for the rotary drilling rig; when the drilling rig is in place and ready for construction, the drill bit is lowered below the obstacle, the drill bit is turned and pressurized, and the rocks are squeezed into the drill barrel. When the rocks fill the drill barrel, the drill bit is reversed, the bottom of the drill bit is closed and lifted out of the hole, and then the switch at the bottom of the drill bit is automatically turned on to pour out and transport the cleared obstacles.

[0005] In the above-mentioned drilling process, since the rock hardness is relatively large and the fit between the drill rod and the power head becomes worse due to wear after long-term use of the rotary drilling rig, it is relatively easier to cause the drill rod to tilt due to the fit clearance, resulting in the actual drilling path and the expected drilling path being out of axial alignment, affecting the obstacle clearance effect. Therefore, the present application proposes a new technical solution. Summary of the invention

[0006] In order to improve the obstacle clearing effect of a rotary drilling rig, the present application provides an obstacle clearing system applied to a rotary drilling rig.

[0007] The present application provides an obstacle removal system for a rotary drilling rig, which adopts the following technical solution:

[0008] An obstacle removal system for a rotary drilling rig includes a drilling mechanism of the rotary drilling rig, wherein the drilling mechanism includes a drill rod, a power head for driving the drill rod to rotate, and a drill bit at one end of the drill rod, and also includes a detection mechanism, a sensor module, and a controller;

[0009] The detection mechanism includes a measuring component for measuring soil hardness, a base plate, an inflating mechanism and a vertical rod. The base plate is sleeved on the drill rod and rotatably connected to the top of the drill bit. The measuring component is installed on the base plate and has a telescopic end that is telescopic along the diameter direction of the drill rod. The inflating mechanism is connected to the measuring component. The measuring component has two groups and is symmetrically arranged on both sides of the drill rod. The vertical rod is arranged vertically and the lower end is inserted into the pre-opened hole structure on the base plate, and the upper end extends out of the drill hole.

[0010] The sensor module is electrically connected to the controller, and includes distance sensor 1, distance sensor 2 and distance sensor 3. Distance sensor 1 and distance sensor 2 are installed above the drill rod and symmetrically arranged on both sides of the drill rod. The detection ends of distance sensor 1 and distance sensor 2 are both facing the drill bit and in the same direction; there are two distance sensor 3, which are respectively installed in two measuring components for measuring the extended length of the telescopic end.

[0011] Optionally, a tube structure is formed in the middle of the substrate and the lower end of the tube structure extends radially outward, and a rotation groove adapted to the tubular structure of the substrate is provided on the top of the drill bit, and the rotation groove is an inverted T-shape when viewed from the front.

[0012] Optionally, the measuring assembly includes a telescopic rod and a fixed block, the fixed block is fixed to the top of the base plate, the fixed block is hollow inside and has an opening at one end away from the drill rod, the telescopic rod is slidably connected to the cavity of the fixed block, and the outward end of the telescopic rod is used to extend out of the opening and insert into the soil, the top end of the fixed block close to one end of the drill rod is opened and connected to the inflation mechanism; the ranging sensor three is installed in the fixed block, and the probe is facing the telescopic rod.

[0013] Optionally, the inflation mechanism includes an air pipe, an air pump and a hose reel, one end of the air pipe is connected to the inner cavity of the fixed block, and the other end is connected to the air pump, a section of the air pipe close to the drill bit is a three-way pipe structure and an electric valve is installed on the external port, and the electric valve is electrically connected to the controller; the hose reel includes a base and a cylinder, the cylinder is rotatably connected to the base, the cylinder is provided with spirally distributed grooves, and the air pipe wound on the cylinder is hidden in the grooves; a motor is installed on the outer shell of the base, and the output shaft of the motor is linked to the cylinder.

[0014] Optionally, the controller is configured as:

[0015] Define the data fed back by the distance measuring sensor 1 as a1, the data fed back by the distance measuring sensor 2 as a2, and the sampling interval as the preset duration s;

[0016] Calculate the difference a3 of a1-a2;

[0017] If the absolute value of a3 is greater than the preset maximum allowable deviation value x, the current drill rod is determined to be skewed, and an instruction is output for moving the drill rod up a distance d1 and then down again to drill.

[0018] Optionally, the controller is configured as:

[0019] Define the data fed back by one of the three ranging sensors as b1, and the data fed back by the other three ranging sensors as b2;

[0020] Calculate the difference b3 of b1-b2;

[0021] If the absolute value of b3 is greater than the preset maximum allowable hardness difference y, the drilling mechanism is instructed to reduce the drilling speed.

[0022] Optionally, the controller is configured as:

[0023] The duration t1 is defined as the duration to prevent misjudgment;

[0024] The difference b3 is recorded along the time axis, and multiple b3 in each duration t1 are grouped together;

[0025] If the average value of any group of difference values ​​b3 is greater than the maximum allowable hardness difference value y, the drilling mechanism is ordered to reduce the drilling speed.

[0026] Optionally, the air pump and the motor are electrically connected to a controller respectively, and the controller is configured as follows:

[0027] If the drill rod is currently moving downward, the electric valve is opened;

[0028] If the drill pipe is currently moving upward, the electric valve will be opened to relieve pressure.

[0029] If the current drill pipe is stopped and it is the sampling period of the measuring component, the electric valve is closed, and the drilling depth h1 of the drill pipe and the initial inflation rate v1 of the air pump are obtained;

[0030] Calculate the gas volume G2 to be inflated according to the preset unit gas volume G1 and the drilling depth h1;

[0031] Calculate the inflation time t2 according to the gas volume G2 to be inflated and the inflation rate V1;

[0032] The air pump is controlled to work according to the inflation time t2.

[0033] Optionally, the controller is configured as:

[0034] If the inflation time t2 is a fixed parameter, the required inflation rate v2 is calculated based on the gas volume G2 to be inflated and the inflation time t2;

[0035] The air pump is controlled according to the difference between the initial inflation rate v1 and the required inflation rate v2.

[0036] Optionally, an air pressure sensor is installed on the fixed block, a probe of the air pressure sensor extends into the inner cavity of the fixed block, the air pressure sensor is electrically connected to a controller, and the controller is configured as follows:

[0037] If the current moment is the measurement completion moment, the air pump is activated to pump air, and the air pump is stopped when the detection value of the air pressure sensor reaches the preset retraction negative pressure threshold;

[0038] According to b1 and b2, it is judged whether the telescopic rod retracts normally. If yes, the electric valve is opened afterwards; if not, the air pump continues to pump air, and when the detection value of the air pressure sensor reaches the preset lower limit pressure, the air pump is stopped, the electric valve is opened and an alarm message is output.

[0039] In summary, the present application includes the following beneficial technical effects: through the data fed back by ranging sensor 1 and ranging sensor 2, it is possible to determine whether the angle of the drill rod is offset during operation and adjust it in time; by inserting the telescopic end of the measuring component into the soil, ranging sensor 3 and ranging sensor 4 feed back data each time, it is possible to determine whether there is a large difference in the hardness of the soil on the side of the drill rod, and adjust the drilling speed of the drill rod in time according to the soil conditions, thereby reducing the degree of deviation of the borehole. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of this application;

[0041] Figure 2 yes Figure 1 A magnified view of part A;

[0042] Figure 3 It is a structural schematic diagram of the hose reel of the present application;

[0043] Figure 4 It is a connection diagram of the controller of this application;

[0044] Figure 5 It is a structural diagram of a rotary drilling rig.

[0045] Explanation of the accompanying drawings: 1. drilling mechanism; 2. detection mechanism; 3. sensor module; 4. inflation mechanism; 11. drill rod; 12. power head; 13. drill bit; 21. measuring component; 22. base plate; 211. fixing block; 212. telescopic rod; 31. distance measuring sensor 1; 32. distance measuring sensor 2; 33. distance measuring sensor 3; 41. air pump; 42. hose reel; 421. base; 422. cylinder. DETAILED DESCRIPTION

[0046] The following is combined with Figure 1-5 This application is described in further detail.

[0047] An embodiment of the present application discloses an obstacle removal system applied to a rotary drilling rig.

[0048] Reference Figure 1 The obstacle removal system applied to the rotary drilling rig includes a drilling mechanism 1, a detection mechanism 2, a sensor module 3 and a controller; wherein the drilling mechanism 1 is a rotary drilling rig (such as Figure 5 The drilling component (as shown) includes a drill rod 11, a power head 12 and a drill bit 13. The drill rod 11 should be set vertically when in use. Before the drill rod 11 is lowered, a bubble level and a level ruler can be placed on the side wall to observe closely to see whether the drill rod 11 is vertical. The verticality of the drill rod 11 can reduce the deviation during drilling. The drill rod 11 passes through the power head 12 and the power head 12 is used to drive the drill rod 11 to rotate. The drill bit 13 is connected to the lower end of the drill rod 11. The drill bit 13 is a cylindrical structure with a hollow interior and a tooth structure at the bottom and a connecting structure at the top. For example: a barrel drill; the drill rod 11, the power head 12 and the drill bit 13 are composed of an existing rotary drilling rig, so they are not described in detail.

[0049] Reference Figure 2 and Figure 3 , the detection mechanism 2 can measure the hardness of the underground soil, so that the staff can analyze the drilling speed that the drilling mechanism 1 should choose when drilling. For example: when the soil on one side is hard and the soil on the other side is soft and the difference is large, the drilling path is relatively easy to deviate, and the drilling speed should be reduced at this time. The detection mechanism 2 includes a measuring component 21 and a base plate 22. The middle part of the base plate 22 forms a tube structure, which is sleeved outside the drill rod 11, and the lower end of the tube structure extends radially outward; a metal structure is welded on the top of the drill bit 13, and the metal structure forms a rotating groove surrounding the lower end of the tube structure. The rotating groove is an inverted T shape when viewed from the front. This structure allows the base plate 22 and the drill bit 13 to be interconnected and can follow its rise and fall, but can be stationary when the drill bit 13 rotates, so that the measuring component 21 can perform the detection action.

[0050] In order to allow the base plate 22 to be stationary when it does not need to rotate, a hole can be opened on the base plate 22, and a vertical rod can be inserted into the hole. The length of the vertical rod is greater than the depth of the drill hole or close to the length of the drill rod to ensure that it can extend out of the drill hole; a bracket can be fixed outside the drill hole, and the vertical rod passes through a pre-opened vertical hole on the fixed bracket.

[0051] If it is necessary to rotate the base plate 22 to adjust the detection direction of the detection mechanism 2, the fixed bracket can be equipped with a base surrounding the drilled hole, and the base has an annular groove with the same central axis as the drilled hole. The fixed bracket is slidably connected to the annular groove and is generally fixed in position with screws.

[0052] The measuring assembly 21 has two groups, each group includes a telescopic rod 212 and a fixed block 211. The fixed block 211 is fixed to the top of the base plate 22 by bolts. The fixed block 211 is hollow inside and has an opening at one end away from the drill rod 11. The telescopic rod 212 is slidably connected to the cavity of the fixed block 211. The end of the telescopic rod 212 close to the drill rod 11 is turned outward to form a limit, which can prevent the telescopic rod 212 from sliding out of the fixed block 211 when it is extended; the inner end of the telescopic rod 212 is fixed with a piston structure, and the outer end of the telescopic rod 212 can be set as a round head. The fixed block 211 is opened at the top near the drill rod 11 and is connected to the inflation mechanism 4. The inflation mechanism 4 is inflated and inhaled to control the sliding of the telescopic rod 212.

[0053] Reference Figure 1 and Figure 2 The sensor module 3 includes a distance sensor 1 31, a distance sensor 2 32 and a distance sensor 3 33. The distance sensor 1 31 and the distance sensor 2 32 are installed on the top or above the drill rod 11 with a bracket and a cross plate. If it is the top, it is on a fixed ring surrounding the top of the drill rod 11, and the fixed ring is fixed with a bracket; this embodiment is preferably installed above the drill rod 11, and can be installed on a pulley mounting frame, where the pulley refers to the pulley that guides the traction rope of the drill rod to move; the distance sensor 1 31 and the distance sensor 2 32 are symmetrically arranged based on the drill rod 11, and the detection ends of the distance sensor 1 31 and the distance sensor 2 32 are arranged toward the drill bit 13 and are in the same direction.

[0054] When in use, the drill rod 11 and the borehole can be judged whether they are deflected by comparing the data difference between the distance sensor 1 31 and the distance sensor 2 32. Example: When drilling starts, the detection value of the distance sensor 1 31 is Z1, and the detection value of the distance sensor 2 32 is Z2. At this time, the difference between the two is +1cm; if the difference changes to -1cm later, it means that the drill rod 11 and the borehole are deflected. At this time, it is necessary to stop drilling downwards, lift the drill rod 11 until it returns to +1cm, and then drill again.

[0055] It should be noted that if the upper part of the drill bit is uneven, an elevated ring can be welded to facilitate detection; if there is a large amount of water accumulated in the hole during drilling, it can be pumped out with a water pump to avoid hindering the implementation of the detection; when the accumulated water cannot be cleaned up in time, vertical long rods can be welded on the above-mentioned ring, with two long rods corresponding to two ranging structures respectively, to analyze and judge the distance between the rod ends.

[0056] There are two distance measuring sensors 33, which are respectively installed in the two fixing blocks 211, and the detection ends are facing the telescopic rod 212. The distance measuring sensor 33 can measure the distance of the telescopic rod 212. When the inflation amount is the same, the difference in distance is compared to analyze whether the hardness of the soil on both sides is consistent, and even analyze and evaluate the difference.

[0057] Reference Figure 1 and Figure 3 The inflation mechanism 4 includes an air pipe (not shown), an air pump 41 and a hose reel 42. One end of the air pipe is connected to the pipe joint at the rear end of the fixed block 211, and the other end is connected to the air pump 41. The air pump 41 can be a speed-regulating air pump. The end of the air pipe close to the drill bit 13 is a three-way pipe structure and an electric valve is installed on the external port. When the drill rod 11 starts to move up, the electric valve needs to be opened to release air. It is understandable that in this process, when the solenoid valve is opened to release pressure, the air pump should stop or work at the minimum inflation power to maintain pressure floating balance.

[0058] The hose reel 42 includes a base 421 and a cylinder 422. The cylinder 422 is rotatably connected to the base 421. The cylinder 422 is provided with spirally distributed grooves. The air pipe wound on the cylinder 422 is hidden in the grooves. A motor is installed on the shell of the base 421. The output shaft of the motor is linked to the cylinder 422. The motor can be a servo motor. The hose reel 42 can roll up and store the air pipe, so that the air pipe is not placed messily on the ground. The groove design on it can be used to reduce the squeezing between the pipes, so that the air can smoothly pass through the winding section into the unfolding section. Therefore, the pipes in each groove are preferably not stacked, and a single layer or two layers are preferred.

[0059] The distance measuring sensor 1 31 and the distance measuring sensor 2 32 are electrically connected to the controller.

[0060] In another embodiment of the present application, the controller is configured as:

[0061] Define the data fed back by the distance sensor 1 31 as a1, the data fed back by the distance sensor 2 32 as a2, and the sampling interval is s; wherein s can be 2-3 minutes, and the drill rod 11 stops rotating when sampling occurs;

[0062] Calculate the difference a3 of a1-a2;

[0063] If the absolute value of a3 is greater than the preset maximum allowable deviation value x, the current drill rod 11 is determined to be skewed, and an instruction is output for the drill rod 11 to move up a distance d1 and then descend again to drill. d1 is a variable value. When the drill rod 11 moves up, it stops moving up when a3 is less than x. The upward distance d1 in this process is d1. Therefore, d1 can be the distance from the position when the drilling hole was not skewed during the previous detection to the current position.

[0064] Through the data fed back by the ranging sensor 1 31 and the ranging sensor 2 32, if the drill rod 11 is always in a vertical state, the fed back data difference will be the same as the initial difference, so that by comparing the data difference, it can be determined whether the drill rod 11 is skewed. If the deflection is serious, the drilling mechanism 1 is moved up and then lowered to drill for adjustment. x and d1 can be determined according to the on-site working conditions.

[0065] In another embodiment of the present application, the distance measuring sensor 33 is electrically connected to the controller, and the controller is configured as follows:

[0066] Define the data fed back by one of the distance measuring sensors 33 as b1, and the data fed back by the other distance measuring sensor 33 as b2;

[0067] Calculate the difference b3 of b1-b2;

[0068] If the absolute value of b3 is greater than the preset maximum allowable hardness difference y, the drilling mechanism 1 is instructed to reduce the drilling speed, wherein the reduced drilling speed is determined according to the on-site working conditions, for example, reduced to 2 / 3 of the original speed.

[0069] According to the data fed back by the distance measuring sensor 33, if the hardness of the soil on the side of the drill rod 11 is similar and the resistance of the telescopic rod 212 when inserted into the soil is similar, the difference in the extended distance of each telescopic rod 212 will not be too large. If the difference is large, it can be judged that the hardness of the side soil is very different, which may easily cause the drilling deviation. The drilling deviation caused by different soil resistance can be slowed down by reducing the drilling speed, thereby improving the obstacle removal effect.

[0070] In another embodiment of the present application, the controller is configured as:

[0071] The duration t1 is defined as the duration to prevent misjudgment;

[0072] The difference b3 is recorded along the time axis, and multiple b3 in each duration t1 are grouped together;

[0073] If the average value of any group of difference values ​​b3 is greater than the maximum allowable hardness difference value y, the drilling mechanism 1 is instructed to reduce the drilling speed.

[0074] Since there may be obstacles with abnormal local hardness such as stones in the soil, if the telescopic rod 212 happens to hit them when extending, it is easy to cause misjudgment. Therefore, the data of multiple measurements are grouped together, and it is more accurate to judge whether the hardness of the lateral soil is consistent or similar by comparing the whole group.

[0075] In another embodiment of the present application, the air pump 41, the motor and the electric valve are electrically connected to the controller, the controller is electrically connected to the control system of the rotary drilling rig, and the controller is configured as follows:

[0076] If the drill rod 11 is currently moving downward, the electric valve is opened; if necessary, a filter screen or a cloth bag can be fixed to the external port of the electric valve to prevent soil from entering.

[0077] If the current drill pipe 11 is moving upward, the electric valve is opened to relieve pressure.

[0078] If the drill rod 11 is currently stopped and it is the sampling period of the measuring assembly 21, the electric valve is closed, and the drilling depth h1 of the drill rod 11 and the initial inflation rate v1 of the air pump are obtained (through the control system of the rotary drilling rig);

[0079] Calculate the gas volume G2 to be inflated according to the preset unit inflation volume G1 and the drilling depth h1; example: G2=h1 / unit volume corresponding to G1*G1;

[0080] Calculate the inflation time t2 according to the gas volume G2 to be inflated and the inflation rate V1;

[0081] The air pump is controlled to work according to the inflation time t2.

[0082] According to the above arrangement, the increase in drilling depth can be reduced, but the measurement error caused by the different standard telescopic amounts of the telescopic rod 212 due to insufficient inflation or excessive inflation can be reduced.

[0083] It should be noted that when testing the soil hardness, the telescopic rod 212 will not be inserted too deep into the soil layer, and the standard hardness soil layer can be within 5 cm; after the test is completed, the telescopic rod 212 can be retracted by negative pressure instead of just releasing the gas, or a fixed electric cylinder can be embedded at the bottom of the fixed block 211, with the telescopic rod of the electric cylinder facing the inner end of the fixed block 211 and in conflict with the outward extension of the inner end of the telescopic rod 212 after it is extended; thereby, the telescopic rod 212 can be pushed back by extending the electric cylinder.

[0084] The telescopic rod 212 is retracted by negative pressure. For example, after the test is completed, the air pump is reversed to pump air or the upper end of the air pipe is connected to two pumps at the same time by a three-way valve, one pump is used for inflation and the other pump is used for pumping air.

[0085] In another embodiment of the present application, the controller is configured as:

[0086] If the inflation time t2 is a fixed parameter, the required inflation rate v2 is calculated based on the gas volume G2 to be inflated and the inflation time t2; that is, v2=G2 / t2;

[0087] The air pump is controlled according to the difference between the initial inflation rate v1 and the required inflation rate v2.

[0088] According to the above configuration, the time for each drill rod pause detection in the present application is the same, rather than waiting longer as the drilling goes deeper. The inflation rate of the air pump is adjusted as the drilling depth increases.

[0089] In another embodiment of the method, an air pressure sensor is installed on the fixed block 211, a probe of the air pressure sensor extends into the inner cavity of the fixed block 211, and the air pressure sensor is electrically connected to the controller; in this case, the controller is configured as follows:

[0090] If the current moment is the measurement completion moment, the air pump is activated to pump air, and the air pump is stopped when the detection value of the air pressure sensor reaches the preset retraction negative pressure threshold;

[0091] According to b1 and b2, it is determined whether the telescopic rod 212 retracts normally. If yes, the electric valve is opened subsequently; if not, the air pump continues to pump air, and when the detection value of the air pressure sensor reaches the preset lower limit pressure, the air pump is stopped, the electric valve is opened and an alarm message is output.

[0092] According to the above configuration, the present application can also ensure that the telescopic rod 212 is safely retracted after detection, and promptly discover and give prompts when abnormal retraction occurs, making the present application safer to use.

[0093] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An obstacle removal system for a rotary drilling rig, comprising a drilling mechanism (1) of the rotary drilling rig, wherein the drilling mechanism (1) comprises a drill rod (11), a power head (12) for driving the drill rod (11) to rotate, and a drill bit (13) at one end of the drill rod (11), characterized in that: It also includes a detection mechanism (2), a sensor module (3) and a controller; The detection mechanism (2) comprises a measuring component (21) for measuring soil hardness, a base plate (22), an air charging mechanism (4) and a vertical rod, wherein the base plate (22) is sleeved on the drill rod (11) and rotatably connected to the top of the drill bit (13), the measuring component (21) is mounted on the base plate (22) and has a telescopic end that is telescopic along the diameter direction of the drill rod (11), and the air charging mechanism (4) is connected to the measuring component (21); the measuring component (21) has two groups and is symmetrically arranged on both sides of the drill rod (11); the vertical rod is arranged vertically and the lower end is inserted into a pre-opened hole structure on the base plate (22), and the upper end extends out of the drill hole; The sensor module (3) is electrically connected to the controller. The sensor module (3) comprises a distance sensor 1 (31), a distance sensor 2 (32) and a distance sensor 3 (33). The distance sensor 1 (31) and the distance sensor 2 (32) are mounted above the drill rod (11) and are symmetrically arranged on both sides of the drill rod (11). The detection ends of the distance sensor 1 (31) and the distance sensor 2 (32) are both facing the drill bit (13) and are in the same direction. There are two distance sensors 3 (33) which are respectively mounted on two measuring assemblies (21) for measuring the extension length of the telescopic end.

2. The obstacle removal system for rotary drilling rig according to claim 1, characterized in that: The middle of the base plate (22) forms a tube structure, and the lower end of the tube structure extends radially outwards. The top of the drill bit (13) is provided with a rotation groove adapted to the tubular structure of the base plate (22), and the rotation groove is in an inverted T shape when viewed from the front.

3. The obstacle removal system for rotary drilling rig according to claim 2 is characterized in that: The measuring assembly (21) comprises a telescopic rod (212) and a fixed block (211); the fixed block (211) is fixed to the top of the base plate (22); the fixed block (211) is hollow inside and has an opening at one end away from the drill rod (11); the telescopic rod (212) is slidably connected to the cavity of the fixed block (211); the end of the telescopic rod (212) facing outward is used to extend out of the opening and be inserted into the soil; the top end of the fixed block (211) close to one end of the drill rod (11) is opened and connected to the inflation mechanism (4); the distance measuring sensor 3 (33) is installed in the fixed block (211), and the probe faces the telescopic rod (212).

4. The obstacle removal system for rotary drilling rig according to claim 3 is characterized in that: The inflation mechanism (4) comprises an air pipe, an air pump (41) and a hose reel (42); one end of the air pipe is connected to the inner cavity of the fixed block (211), and the other end is connected to the air pump (41); the end of the air pipe close to the drill bit (13) is a three-way pipe structure and an electric valve is installed at the external port, and the electric valve is electrically connected to the controller; the hose reel (42) comprises a base (421) and a cylinder (422); the cylinder (422) is rotatably connected to the base (421); the cylinder (422) is provided with spirally distributed grooves, and the air pipe wound on the cylinder (422) is hidden in the grooves; a motor is installed on the outer shell of the base (421), and the output shaft of the motor is linked to the cylinder (422).

5. The obstacle removal system for rotary drilling rig according to claim 4, characterized in that: The controller is configured as follows: Define the data fed back by the distance measuring sensor 1 (31) as a1, the data fed back by the distance measuring sensor 2 (32) as a2, and the sampling interval as a preset time length s; Calculate the difference a3 of a1-a2; If the absolute value of a3 is greater than a preset maximum allowable deviation value x, it is determined that the current drill rod (11) is skewed, and an instruction is outputted for causing the drill rod (11) to move up a distance d1 and then descend again to drill.

6. The obstacle removal system for rotary drilling rig according to claim 5, characterized in that: The controller is configured as follows: Define the data fed back by one of the distance measuring sensors 3 (33) as b1, and the data fed back by the other distance measuring sensor 3 (33) as b2; Calculate the difference b3 of b1-b2; If the absolute value of b3 is greater than the preset maximum allowable hardness difference y, the drilling mechanism (1) is instructed to reduce the drilling speed.

7. The obstacle removal system for rotary drilling rig according to claim 6, characterized in that: The controller is configured as follows: The duration t1 is defined as the duration to prevent misjudgment; The difference b3 is recorded along the time axis, and multiple b3 in each duration t1 are grouped together; If the average value of any group of difference values ​​b3 is greater than the maximum allowable hardness difference value y, the drilling mechanism (1) is caused to reduce the drilling speed.

8. The obstacle removal system for rotary drilling rig according to claim 6, characterized in that: The air pump (41) and the motor are electrically connected to a controller respectively, and the controller is configured as follows: If the drill rod (11) is currently moving downward, the electric valve is opened; If the drill rod (11) is currently moving upward, the electric valve is opened to release the pressure; If the drill rod (11) is currently stopped and it is the sampling period of the measuring component (21), the electric valve is closed, and the drilling depth h1 of the drill rod (11) and the initial inflation rate v1 of the air pump are obtained; Calculate the gas volume G2 to be inflated according to the preset unit gas volume G1 and the drilling depth h1; Calculate the inflation time t2 according to the gas volume G2 to be inflated and the inflation rate V1; The air pump is controlled to work according to the inflation time t2.

9. The obstacle removal system for rotary drilling rig according to claim 8, characterized in that: The controller is configured as follows: If the inflation time t2 is a fixed parameter, the required inflation rate v2 is calculated based on the gas volume G2 to be inflated and the inflation time t2; The air pump is controlled according to the difference between the initial inflation rate v1 and the required inflation rate v2.

10. The obstacle removal system for rotary drilling rig according to claim 8, characterized in that: An air pressure sensor is mounted on the fixed block (211), a probe of the air pressure sensor extends into the inner cavity of the fixed block (211), the air pressure sensor is electrically connected to a controller, and the controller is configured as follows: If the current moment is the measurement completion moment, the air pump is activated to pump air, and the air pump is stopped when the detection value of the air pressure sensor reaches the preset retraction negative pressure threshold; According to b1 and b2, it is determined whether the telescopic rod (212) is normally retracted. If so, the electric valve is subsequently opened; if not, the air pump is allowed to continue pumping air, and when the detection value of the air pressure sensor reaches a preset lower limit pressure, the air pump is stopped, the electric valve is opened, and an alarm message is output.

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