A multi-rod docking drilling device, control system and control method

Abstract

The present invention relates to the technical field of automated drilling, and more specifically, to a multi-rod docking drilling device, control system, and control method. The device includes a frame, a drilling mechanism, and a clamping mechanism disposed on the frame. The drilling mechanism includes a feed box, a feed mechanism, a rotary mechanism disposed on the feed box, and an impact mechanism. The output end of the rotary mechanism is connected to a drill tool via a drill pipe connector. The device also includes a quick-connect connector and a quick-connect mechanism. The top of the quick-connect connector is fixedly connected to the drill pipe connector, and the bottom of the quick-connect connector is detachably connected to the drill tool. The quick-connect mechanism is installed in the quick-connect connector and is clamped to the drill tool. The quick-connect connector allows for rapid connection and installation of the drill tool, and the quick-connect mechanism allows for reliable installation of the drill tool, thereby improving drilling efficiency and ensuring smooth drilling operations.

Description

Technical Field

[0001] The present invention relates to the technical field of automated drilling, and more particularly to a multi-rod docking drilling device, a control system, and a control method. Background Art

[0002] To meet the needs of deep-seated extraterrestrial soil sampling, current drilling robots have limitations in terms of intelligence and automation. Current equipment often cannot automatically adjust drilling parameters based on different stratum characteristics, resulting in increased energy consumption and reduced efficiency. Therefore, existing technologies need to be improved and developed.

[0003] The prior art discloses a multi-rod detachable rotary impact auger drilling machine, comprising a frame, a feed box movably arranged on the frame, an auger pipe arranged at the bottom of the feed box, a rotating mechanism arranged in the feed box for driving the auger pipe to rotate, an impact mechanism arranged in the feed box for providing impact force to the auger pipe, a feed mechanism arranged on the frame and for controlling the vertical movement of the feed box, and a clamping mechanism arranged on the frame and for clamping the auger pipe; the impact mechanism comprises an impact base rotatably arranged at the bottom of the feed box, the bottom of the impact base has a connector inserted into the feed box, and the outer wall of the connector is provided with a limiting protrusion; an inner wall of one end of the auger pipe is provided with a T-shaped groove, the T-shaped groove includes a vertical groove and a transverse groove, the limiting protrusion can be inserted from the vertical groove into the transverse groove and slide between the two ends of the transverse groove; the outer wall of one end of the auger pipe with the T-shaped groove is provided with an external thread, and the inner wall of the other end is provided with an internal thread that can be connected to the external thread; the clamping mechanism can clamp the second auger pipe from top to bottom in the drill pipe column formed by connecting the auger pipes. In this solution, the installation of the spiral drill pipe is achieved by clamping the limiting protrusion with the transverse groove. During the rotation process, the limiting protrusion may disengage from the transverse groove, causing the drill pipe to fall and affecting the drilling operation. Only when the limiting protrusion abuts the end of the transverse groove can the rotating mechanism and the limiting protrusion achieve synchronous movement, resulting in cumbersome and time-consuming drill pipe disassembly and assembly operations. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art that the disassembly and assembly of drill pipes is time-consuming and the installation is unreliable, and to provide a multi-rod docking drilling and production device and a control system and control method, which can realize the rapid and stable installation and disassembly of drilling tools, improve drilling and production efficiency and ensure the smooth progress of drilling and production operations.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A multi-rod docking drilling and production device is provided, comprising a frame and a drilling mechanism and a clamping mechanism arranged on the frame, the drilling mechanism comprising a feed box, a feed mechanism, a rotary mechanism and an impact mechanism, the feed mechanism being arranged on the frame, the output end of the feed mechanism being connected to the feed box to drive the feed box to move up and down along the frame, the rotary mechanism and the impact mechanism being installed on the feed box, the output end of the rotary mechanism being connected to a drill tool through a drill pipe connector to drive the drill tool to rotate, and the output end of the impact mechanism being contactable with the drill pipe connector; the device also comprises a quick-connect connector and a quick-connect mechanism, the top of the quick-connect connector being fixedly connected to the drill pipe connector, the bottom of the quick-connect connector being detachably connected to the drill tool, the quick-connect mechanism being installed in the quick-connect connector, and the quick-connect mechanism being clamped with the drill tool.

[0007] The multi-rod docking drilling device of the present invention, when in use, is configured to move the feed box and its quick-connect connector and quick-connect mechanism upward via the feed mechanism, secure the drill tool below the feed box, and then engage the drill tool via the drilling mechanism to secure the drill tool. During drilling, the feed mechanism and the rotary mechanism operate simultaneously, reliably driving the drill tool to rotate and feed. During drilling, the impact mechanism can be selectively activated to assist the drilling operation. When drilling reaches the target depth or when further drilling is impossible, the rotary mechanism is stopped, and the feed mechanism reverses to raise the feed box, thereby raising the drill tool. When the drill tool is fully raised, the drill tool is secured, the quick-connect mechanism is operated to disengage the engagement with the drill tool, and the drilling mechanism is operated again to further move the feed box and quick-connect connector upward to complete the separation of the quick-connect connector from the drill tool. The present invention can achieve rapid drilling connection via the quick-connect connector, and can achieve stable installation of the drill tool via the quick-connect mechanism, thereby improving drilling efficiency and device reliability.

[0008] Furthermore, the quick-connect mechanism includes a linear telescopic motor, a fixed seat, a pushing plate, a connecting shaft, a torsion spring, a first push rod and a second push rod. The linear telescopic motor is installed in the quick-connect connector through the fixed seat, and the output shaft of the linear telescopic motor is connected to the pushing plate. Both ends of the connecting shaft are respectively fixed to the quick-connect connector, one end of the first push rod is rotatably connected to one end of the connecting shaft, and one end of the second push rod is rotatably connected to the other end of the connecting shaft. Notches are respectively provided on both sides of the lower part of the quick-connect connector to accommodate the other end of the first push rod and the other end of the second push rod. The bottom two sides of the pushing plate can respectively abut against the first push rod and the second push rod, the torsion spring is arranged around the connecting shaft, and the two ends of the torsion spring are respectively connected to the first push rod and the second push rod, and the top of the drilling tool is provided with grooves that cooperate with the other end of the first push rod and the other end of the second push rod.

[0009] Furthermore, the bottom of the quick-connect connector is provided with a first external thread, the drilling tool includes a double-mother drill pipe and a drill bit, the two ends of the double-mother drill pipe are respectively provided with a first internal thread, the first internal thread at the top of the double-mother drill pipe can be matched with the first external thread at the bottom of the quick-connect connector, the top of the double-mother drill pipe is provided with a groove that can respectively match with the other end of the first push rod and the other end of the second push rod, the top of the drill bit is provided with a second external thread, the first internal thread at the bottom of the double-mother drill pipe is matched with the second external thread, and the bottom of the drill bit is provided with a cutting edge.

[0010] Furthermore, the drilling tool also includes several single-mother drill pipes, the top of the single-mother drill pipe is provided with the first internal thread, the top of the single-mother drill pipe is provided with the groove that can respectively cooperate with the other end of the first push rod and the other end of the second push rod, and the bottom of the single-mother drill pipe is provided with a third external thread. The first internal thread at the top of the single-mother drill pipe cooperates with the first external thread or cooperates with the third external thread at the bottom of the adjacent single-mother drill pipe, and the third external thread can cooperate with the first internal thread at the top of the adjacent double-mother drill pipe.

[0011] Furthermore, it also includes a storage mechanism and an operating mechanism provided on the frame, the storage mechanism is used to store the drilling tools, and the operating mechanism is used to clamp the drilling tools and transfer the drilling tools between the quick-connect mechanism and the storage mechanism; the operating mechanism includes a rotating mechanism, a telescopic mechanism and a grasping mechanism, the rotating mechanism is installed on the frame, the telescopic mechanism is installed at the output end of the rotating mechanism, and the grasping mechanism is installed at the output end of the telescopic mechanism.

[0012] Furthermore, the grabbing mechanism includes a motion base, a grabbing motor, a screw rod, a nut and a grabbing claw for clamping the drilling tool. The output end of the telescopic mechanism is connected to the motion base, the grabbing motor is installed on the motion base, the screw rod is rotatably installed on the motion base, the output shaft of the grabbing motor is coaxially connected to one end of the screw rod, the nut is slidingly connected to the other end of the screw rod, one end of the grabbing claw is hinged to the nut, and the grabbing claw is hinged to the motion base. When the grabbing motor is running, the other end of the grabbing claw opens or contracts.

[0013] Furthermore, the telescopic mechanism includes a fixed plate, a telescopic motor, a driving cylinder, a rope, a sliding wheel assembly and a rope rack, the output end of the operating mechanism is connected to the fixed plate, the telescopic motor is installed on the fixed plate, the output shaft of the telescopic motor is transmission-connected to the driving cylinder, the sliding wheel assembly includes at least two fixed pulleys, the fixed pulleys are rotatably installed on the fixed plate, the rope is wound around the fixed pulleys, the two ends of the rope are respectively fixed to the rope rack, the driving cylinder is in contact with the rope, the grabbing mechanism is installed on the rope rack, and when the telescopic motor is running, the rope pulls the rope rack, and the grabbing mechanism moves with the rope rack.

[0014] Furthermore, the rotating mechanism includes a rotating motor, a first intermediate shaft, a rotating frame and a second intermediate shaft. The rotating motor is installed on the frame, the output shaft of the rotating motor is connected to one end of the first intermediate shaft, the other end of the first intermediate shaft is fixedly connected to the top of the rotating frame, one end of the second intermediate shaft is fixedly connected to the bottom of the rotating frame, and the other end of the second intermediate shaft is rotatably connected to the frame. The telescopic mechanism is installed on the rotating frame. When the rotating motor is running, the rotating frame rotates, and the telescopic mechanism rotates with the rotating frame.

[0015] The present invention also provides a multi-rod docking drilling and production control system for controlling the above-mentioned multi-rod docking drilling and production device to perform operations, comprising a main control computer, a network switch, a motor control module and a sensor parameter acquisition module; the motor control module and the sensor parameter acquisition module are respectively connected to the main control computer for communication via the network switch, the sensor parameter acquisition module is used to collect and feed back status information of the drilling mechanism, storage mechanism, clamping mechanism, quick-connect mechanism, storage mechanism and operating mechanism to the main control computer, and the motor control module is used to control the movement of the drilling mechanism, storage mechanism, clamping mechanism, quick-connect mechanism, storage mechanism and operating mechanism.

[0016] In the multi-rod docking drilling and production control system of the present invention, the main control computer communicates with the motor control module and the sensor parameter acquisition module through a network switch, can implement the acquisition of drilling and production status information and thereby control the motor control module, and further control the movement of the drilling mechanism, storage mechanism, clamping mechanism, quick connection mechanism, storage mechanism and operating mechanism, thereby realizing the smooth progress of the drilling and production operation.

[0017] The present invention also provides a multi-rod butt-jointed drilling and production control method, which utilizes the multi-rod butt-jointed drilling and production device to perform operations, including the following steps:

[0018] S1: Initialization preparation, making each mechanism in its corresponding initial position;

[0019] S2: Install double female drill pipe on the quick connector;

[0020] S3: Control double drill pipe drilling;

[0021] S4: Determine whether the target drilling depth has been reached. If so, stop drilling the double-mother drill pipe, control the clamping mechanism to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism to reset, control the drilling mechanism to reset, and proceed to step S5. If not, determine whether the double-mother drill pipe has been fully drilled. If so, stop drilling the double-mother drill pipe, control the clamping mechanism to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism to reset, control the drilling mechanism to reset, and proceed to step S7. If not, return to step S3.

[0022] S5: lifting double drill pipes;

[0023] S6: putting the double mother drill pipe back into the storage mechanism to complete the drilling operation;

[0024] S7: Install the single female drill pipe on the quick connector;

[0025] S8: Control single drill pipe drilling;

[0026] S9: Determine whether the target drilling depth has been reached. If so, stop drilling the single-core drill pipe, control the clamping mechanism to clamp the drilled single-core drill pipe, control the quick-connect mechanism to reset, control the drilling mechanism to reset, and proceed to step S10. If not, determine whether the single-core drill pipe has been fully drilled. If so, stop drilling the single-core drill pipe, control the clamping mechanism to clamp the drilled single-core drill pipe, control the quick-connect mechanism to reset, control the drilling mechanism to reset, and return to step S7. If not, return to step S8.

[0027] S10: lifting single drill pipe;

[0028] S11: putting the single mother drill pipe back into the storage mechanism;

[0029] S12: Determine whether all single mother drill pipes have been placed. If not, return to step S10; if so, return to step S5.

[0030] The multi-rod docking drilling control method of the present invention achieves rapid and stable installation of drilling tools by controlling the operating mechanism, drilling mechanism, and quick-connect mechanism. Furthermore, the drilling mechanism is controlled to achieve reliable drilling operations. After the drilling operation is completed, the quick-connect mechanism, drilling mechanism, and operating mechanism are controlled to quickly disassemble the drilling tools and transfer them to a storage mechanism for storage. This embodiment enables rapid and stable installation of drilling tools, improves drilling efficiency, and ensures smooth drilling operations.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The quick connection connector can realize the rapid connection and installation of the drilling tools, and the quick connection mechanism can realize the reliable installation of the drilling tools;

[0033] 2. The storage mechanism and operating mechanism can be used to transfer drilling tools and assist in their installation;

[0034] 3. The drilling tool includes a drill bit, double-mother drill pipes and several single-mother drill pipes, which can realize multi-rod connection and can carry out drilling operations at different depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the structure of a multi-rod docking drilling and production device according to an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the structure of a quick-connect connector in an embodiment of the present invention;

[0037] Figure 3 Schematic diagram of the structure of the quick-connect mechanism in an embodiment of the present invention;

[0038] Figure 4 This is an exploded view of the quick-connect mechanism in an embodiment of the present invention after the linear telescopic motor is removed;

[0039] Figure 5 Schematic diagram of the structure of a single mother drill pipe in an embodiment of the present invention;

[0040] Figure 6 This is a schematic structural diagram of an operating mechanism in an embodiment of the present invention;

[0041] Figure 7 This is a structural diagram of a gripping mechanism in an embodiment of the present invention;

[0042] Figure 8 This is a structural diagram of the telescopic mechanism in an embodiment of the present invention;

[0043] Figure 9 Schematic diagram of the installation of the second intermediate shaft in an embodiment of the present invention;

[0044] Figure 10 This is a schematic structural diagram of a multi-rod docking drilling and production control system in a fourth embodiment of the present invention;

[0045] Figure 11 This is a flow chart of a multi-rod docking drilling control method in a fifth embodiment of the present invention;

[0046] Figure 12 This is a flowchart of recovering from an abnormal state of a drilling rig in the fifth embodiment of the present invention.

[0047] In the accompanying drawings: 1-frame; 101-clamping mechanism; 2-drilling mechanism; 21-feed box; 22-feed mechanism; 23-rotation mechanism; 24-impact mechanism; 3-drill pipe connector; 31-slip ring; 4-quick connector; 41-first external thread; 42-notch; 5-quick connection mechanism; 51-linear telescopic motor; 52-fixed seat; 53-pushing plate; 54-connecting shaft; 55-torsion spring; 56-first push rod; 57-second push rod; 58-limiting shaft; 6-drilling tool; 61-first internal thread; 62-groove; 63-third external thread; 7-rotation mechanism; 71-rotation motor; 72-first intermediate shaft; 73-rotation frame; 74-second intermediate shaft; 7 5-bearing upper sleeve; 76-thrust ball bearing; 77-deep groove ball bearing; 78-bearing lower sleeve; 8-telescopic mechanism; 81-fixed plate; 82-telescopic motor; 83-driving cylinder; 84-rope winding; 85-fixed pulley; 86-rope rack; 87-guide rail; 88-slider; 9-grabbing mechanism; 91-motion base; 92-grabbing motor; 93-screw; 94-nut; 95-grabbing claw; 951-first connecting rod; 952-second connecting rod; 953-gripping claw; 10-storage mechanism; 11-motion controller; 12-motor driver; 13-network switch; 14-data acquisition card; 15-Modbus gateway; 16-transmitter; 17-connecting seat. DETAILED DESCRIPTION

[0048] The present invention is further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0049] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0050] Example 1

[0051] This embodiment is the first embodiment of the multi-rod docking drilling and production device. Figure 1As shown, it includes a frame 1 and a drilling mechanism 2 and a clamping mechanism 101 arranged on the frame 1. The drilling mechanism 2 includes a feed box 21, a feed mechanism 22, a rotary mechanism 23 and an impact mechanism 24. The feed mechanism 22 is arranged on the frame 1, and the output end of the feed mechanism 22 is connected to the feed box 21 to drive the feed box 21 to move up and down along the frame 1. The rotary mechanism 23 and the impact mechanism 24 are installed on the feed box 21. The output end of the rotary mechanism 23 is connected to the drill tool 6 through the drill pipe connector 3 to drive the drill tool 6 to rotate. The output end of the impact mechanism 24 can contact the drill pipe connector 3; it also includes a quick-connect connector 4 and a quick-connect mechanism 5. The top of the quick-connect connector 4 is fixedly connected to the drill pipe connector 3, and the bottom of the quick-connect connector 4 is detachably connected to the drill tool 6. The quick-connect mechanism 5 is installed in the quick-connect connector 4, and the quick-connect mechanism 5 is clamped with the drill tool 6.

[0052] When the multi-rod docking drilling device is used, the feed box 21 and the quick-connect connector 4 and the quick-connect mechanism 5 thereon are moved upward by the feed mechanism 22, and the drilling tool 6 is fixed under the feed box 21. The quick-connect connector 4 is moved downward by the drilling mechanism 2 and quickly connected to the drilling tool 6, and then the drilling tool 6 is clamped by the quick-connect mechanism 5 to fix the installation of the drilling tool 6. During drilling, the feed mechanism 22 and the rotary mechanism 23 operate simultaneously to reliably drive the drilling tool 6 to rotate and feed. During the drilling process, the impact mechanism 24 can be selectively turned on to assist the drilling operation. When drilling, When the target depth is reached or drilling is no longer possible, the rotation mechanism 23 is stopped, and the drill tool 6 is clamped by the clamping mechanism 101. When the drill tool 6 needs to be lifted, the clamping mechanism 101 is released from the drill tool 6, and the feed mechanism 22 is reversed to lift the feed box 21, thereby lifting the drill tool 6. When the drill tool 6 is fully lifted, the drill tool 6 is fixed, the quick-connect mechanism 5 is operated to disengage the engagement with the drill tool 6, and the drilling mechanism 2 is operated again to cause the feed box 21 and the quick-connect connector 4 to continue to move upward, completing the separation of the quick-connect connector 4 from the drill tool 6. In this embodiment, the quick-connect connector 4 enables rapid drilling connection, and the quick-connect mechanism 5 enables stable installation of the drill tool 6, thereby improving drilling efficiency and device reliability.

[0053] like Figure 3 、 Figure 4As shown, the quick-connect mechanism 5 includes a linear telescopic motor 51, a fixed seat 52, a push plate 53, a connecting shaft 54, a torsion spring 55, a first push rod 56, a second push rod 57, a first shaft sleeve and a second shaft sleeve. The slip ring 31 is provided at the top of the quick-connect connector 4. The linear telescopic motor 51 is connected to the slip ring 31. The linear telescopic motor 51 is installed in the quick-connect connector 4 through the fixed seat 52. The output shaft of the linear telescopic motor 51 is connected to the push plate 53. The two ends of the connecting shaft 54 ​​are respectively fixed to the quick-connect connector 4. One end of the first push rod 56 is connected to one end of the connecting shaft 54 ​​through the first shaft sleeve. Rotational connection, one end of the second push rod 57 is rotationally connected to the other end of the connecting shaft 54 ​​through the second sleeve, and notches 42 are respectively provided on both sides of the lower part of the quick-connect connector 4 to accommodate the other end of the first push rod 56 and the other end of the second push rod 57. The bottom two sides of the push plate 53 can respectively abut the first push rod 56 and the second push rod 57. The torsion spring 55 is arranged around the connecting shaft 54, and the two ends of the torsion spring 55 are respectively connected to the first push rod 56 and the second push rod 57. The top of the drilling tool 6 is provided with a groove 62 that cooperates with the other end of the first push rod 56 and the other end of the second push rod 57. Specifically, it also includes a slip ring 31 installed on the drill pipe connector 3, and a linear telescopic motor 51 is connected to the slip ring 31. When the drilling tool 6 is installed, the drilling tool 6 is located below the quick-connect mechanism 5. The linear telescopic motor 51 is first operated in the forward direction, and the output shaft of the linear telescopic motor 51 extends to drive the push plate 53 to move down and squeeze the first push rod 56 and the second push rod 57. The first push rod 56 and the second push rod 57 rotate around the connecting shaft 54 ​​in the direction of approaching each other, that is, the first push rod 56 and the second push rod 57 are respectively retracted from the notch 42 to the inside of the quick-connect connector 4, and squeeze the torsion spring 55 to keep the linear telescopic motor 51 in the extended state, and the quick-connect connector 4 is moved to the docking position through the drilling mechanism 2. The drilling mechanism 2 continues to operate to connect the quick-connect connector 4 to the drilling tool 6. When the quick-connect connector 4 is in the extended state, When the joint 4 is connected to the drilling tool 6, the notch 42 corresponds to the position of the groove 62 on the top of the drilling tool 6, the operation of the drilling mechanism 2 is stopped, and the linear telescopic motor 51 is operated in the reverse direction. The output shaft of the linear telescopic motor 51 is retracted, driving the push plate 53 to move upward, and the first push rod 56 and the second push rod 57 are reset under the action of the torsion spring 55, so that the first push rod 56 and the second push rod 57 are respectively engaged with the groove 62 through the notch 42, completing the stable connection between the drilling tool 6 and the quick-connect mechanism 5; when disassembling the drilling tool 6, the linear telescopic motor 51 is operated in the forward direction again to retract the first push rod 56 and the second push rod 57, keeping the linear telescopic motor 51 in the extended state, and the quick-connect connector 4 is separated from the drilling tool 6 through the drilling mechanism 2 and moved above the drilling tool 6 to complete the rapid disassembly of the drilling tool 6.

[0054] like Figure 3 、 Figure 4As shown, the quick-connect mechanism 5 further includes a limit shaft 58, the ends of which are fixed to the quick-connect connector 4. The limit shaft 58 is arranged parallel to and below the connecting shaft 54, and the first push rod 56 and the second push rod 57 can contact the limit shaft 58. When the linear telescopic motor 51 rotates forward to push the push plate 53, the push plate 53 moves downward to squeeze the first push rod 56 and the second push rod 57, causing them to rotate until they respectively contact the limit shaft 58, preventing the first push rod 56 and the second push rod 57 from excessive rotation and thus preventing the torsion spring 55 from failing.

[0055] like Figure 2 As shown, the bottom of the quick-connect connector 4 is provided with a first external thread 41 , the top of the drill 6 is provided with a first internal thread 61 that matches the first external thread 41 , and the bottom of the drill 6 is provided with a cutting edge. When the drilling tool 6 is installed, the feeding mechanism 22 and the rotating mechanism 23 operate simultaneously, driving the quick-connect connector 4 to rotate and feed. Before the quick-connect connector 4 is connected to the drilling tool 6, the linear telescopic motor 51 operates in the forward direction, causing the first push rod 56 and the second push rod 57 to retract, and the quick-connect connector 4 continues to rotate and feed, so that the first external thread 41 of the quick-connect connector 4 is tightened with the first internal thread 61 at the top of the drilling tool 6, and the position of the notch 42 corresponds to the position of the groove 62. The operation of the feeding mechanism 22 and the rotating mechanism 23 is stopped, and the linear telescopic motor 51 operates in the reverse direction. The first push rod 56 and the second push rod 57 pop out under the action of the torsion spring 55 and are engaged in the groove 62 through the notch 42, fixing the connection between the quick-connect connector 4 and the drilling tool 6, and preventing the drilling tool 6 from being detached from the quick-connect connector 4 during the subsequent movement of the drilling tool 6 driven by the drilling mechanism 2.

[0056] like Figure 1 As shown, the machine frame 1 further includes a storage mechanism 10 and an operating mechanism. The storage mechanism 10 is used to store the drilling tool 6. The operating mechanism is used to clamp the drilling tool 6 and transfer the drilling tool 6 between the quick-connect mechanism 5 and the storage mechanism 10. During implementation, the operating mechanism clamps the drilling tool 6 from the storage mechanism 10 and transfers the drilling tool 6 to the docking position. The drilling tool 6 is fixed during the installation process. After the drilling tool 6 is installed, the operating mechanism is reset to prevent interference with the drilling of the drilling tool 6. After the drilling is completed, the drilling tool is lifted to the disassembly position. The operating mechanism can clamp the drilling tool 6 again to fix the drilling tool 6 and assist in disassembly of the drilling tool 6. After the drilling tool 6 is removed from the quick-connect connector 4, the operating mechanism transfers the clamped drilling tool 6 to an empty space on the storage mechanism 10 for placement. After the drilling tool 6 is placed, the operating mechanism releases the drilling tool 6 and resets.

[0057] Example 2

[0058] This embodiment is the second embodiment of a multi-rod docking drilling and production device. This embodiment is similar to the first embodiment, except that the drilling tool 6 includes a double-mother drill pipe and a drill bit. The double-mother drill pipe is provided with a first internal thread 61 at each end. The first internal thread 61 at the top of the double-mother drill pipe mates with the first external thread 41 at the bottom of the quick-connect connector 4. The top of the double-mother drill pipe is provided with a groove 62 that mates with the other end of the first push rod 56 and the other end of the second push rod 57, respectively. The top of the drill bit is provided with a second external thread. The first internal thread 61 at the bottom of the double-mother drill pipe mates with the second external thread. A cutting edge is provided at the bottom of the drill bit. Specifically, the double-mother drill pipe and the drill bit are integrally connected and placed in a storage mechanism 10. When the storage mechanism 10 is in the initial position, the double-mother drill pipe is in the grabbing position. During installation, the operating mechanism grabs the double drill pipe with the bottom connecting drill bit from the storage mechanism 10 and transfers it to the bottom of the quick connector 4. The feeding mechanism 22 and the rotating mechanism 23 both rotate forward, causing the quick connector 4 to rotate and move downward. During this process, the linear telescopic motor 51 rotates forward, and the push disk 53 squeezes the first push rod 56 and the second push rod 57, so that the first push rod 56 and the second push rod 57 are retracted into the quick connector 4. The quick connector 4 continues to rotate and move downward until the first external thread 41 is engaged with the first internal thread 61 at the top of the double drill pipe, and the notch 42 corresponds to the position of the groove 62 at the top of the double drill pipe. The linear telescopic motor 51 reverses, and the first push rod 56 and the second push rod 57 are reset. The first push rod 56 and the second push rod 57 are respectively connected to the groove 62 at the top of the double drill pipe through the notch 42, and the operating mechanism releases the double drill pipe and resets. During use, the feed mechanism 22 and the rotary mechanism 23 simultaneously rotate forward, driving the double drill pipe and the drill bit to complete the drilling process. After drilling reaches the designated position, the feed mechanism 22 stops, while the rotary mechanism 23 continues to operate to remove chips. Finally, the rotary mechanism 23 stops to complete the drilling process. The clamping mechanism 101 contracts and clamps the double drill pipe that has been drilled. The linear telescopic motor 51 rotates forward, and the first push rod 56 and the second push rod 57 exit the groove 62. The feed mechanism 22 and the rotary mechanism 23 simultaneously operate in the reverse direction to disconnect the quick-connect connector 4 from the double drill pipe until the quick-connect connector 4 is at its highest position. The linear telescopic motor 51 then rotates in the reverse direction to reset, and the first push rod 56 and the second push rod 57 return to their original position and open.

[0059] The drilling tool 6 also includes several single mother drill pipes, such as Figure 5As shown, the top of the single-mother drill pipe is provided with a first internal thread 61, and a groove 62 is provided on the top of the single-mother drill pipe, which can respectively mate with the other end of the first push rod 56 and the other end of the second push rod 57. The bottom of the single-mother drill pipe is provided with a third external thread 63. The first internal thread 61 on the top of the single-mother drill pipe can mate with the first external thread 41 or the third external thread 63 on the bottom of an adjacent single-mother drill pipe. The third external thread 63 can also mate with the first internal thread 61 on the top of an adjacent double-mother drill pipe. The single-mother drill pipe is placed in the storage mechanism 10. If the drilling depth of the double-mother drill pipe cannot reach the specified position, several single-mother drill pipes are installed on top of the double-mother drill pipe. The double-mother drill pipes that have been drilled are clamped by the clamping mechanism 101. The storage mechanism 10 is then operated forward to place the single-mother drill pipe in the grabbing position. During installation, the operating mechanism grabs the single female drill pipe from the storage mechanism 10 and transfers it to the bottom of the quick connector 4. The feeding mechanism 22 and the rotating mechanism 23 both rotate forward, causing the quick connector 4 to rotate and move downward. During this process, the linear telescopic motor 51 rotates forward, and the push disk 53 squeezes the first push rod 56 and the second push rod 57, so that the first push rod 56 and the second push rod 57 are retracted into the quick connector 4. The quick connector 4 continues to rotate and move downward until the first external thread 41 is engaged with the first internal thread 61 at the top of the single female drill pipe, and the notch 42 corresponds to the position of the groove 62 at the top of the single female drill pipe. The linear telescopic motor 51 reverses, and the first push rod 56 and the second push rod 57 are reset. The first push rod 56 and the second push rod 57 are respectively connected to the groove 62 at the top of the single female drill pipe through the notch 42, and the operating mechanism releases the single female drill pipe and resets. The feed mechanism 22 and the rotary mechanism 23 rotate forward, driving the single-core drill pipe to rotate and move downward until the third external thread 63 at the bottom of the single-core drill pipe engages with the first internal thread 61 at the top of the double-core drill pipe. At this point, the feed mechanism 22 and the rotary mechanism 23 continue to operate forward to achieve drilling of the single-core drill pipe. When the target depth is reached or the single-core drill pipe is fully drilled, the clamping mechanism 101 clamps the single-core drill pipe, the linear telescopic motor 51 rotates forward, and the first and second push rods 56 and 57 push out of the groove 62. The feed mechanism 22 and the rotary mechanism 23 rotate reversely, disconnecting the quick-connect connector 4 from the single-core drill pipe until the quick-connect connector 4 is at its highest position. The linear telescopic motor 51 then reverses and resets, and the first and second push rods 56 and 57 return to their original positions and open. If the target depth is not reached after the single-core drill pipe is fully drilled, the above operation is repeated to install and drill the next single-core drill pipe until the target depth is reached, completing the drilling process.

[0060] After the drilling process is completed, the drill tool 6 needs to be recovered, and the clamping mechanism 101 clamps the top single mother drill pipe. The feeding mechanism 22 and the rotary mechanism 23 both rotate forward, causing the quick connector 4 to rotate and move downward. During this process, the linear telescopic motor 51 rotates forward, and the push disk 53 squeezes the first push rod 56 and the second push rod 57, causing the first push rod 56 and the second push rod 57 to be retracted into the quick connector 4. The quick connector 4 continues to rotate and move downward until the first external thread 41 is matched with the first internal thread 61 at the top of the top single mother drill pipe, and the notch 42 corresponds to the position of the groove 62 at the top of the single mother drill pipe. The linear telescopic motor 51 reverses, and the first push rod 56 and the second push rod 57 are reset. The first push rod 56 and the second push rod 57 are respectively connected to the groove 62 at the top of the single mother drill pipe through the notch 42; stop the operation of the rotary mechanism 23 and operate in the reverse direction. The feed mechanism 22 lifts the drill tool 6, completely lifting the topmost single drill pipe. The clamping mechanism 101 grips the single drill pipe or double drill pipe connected to the topmost single drill pipe. The feed mechanism 22 and the slewing mechanism 23 rotate in reverse to disconnect the topmost single drill pipe from the adjacent single drill pipe or double drill pipe. The slewing mechanism 23 stops, and the operating mechanism grabs the single drill pipe connected to the quick-connect connector 4. The linear telescopic motor 51 rotates forward to retract the first push rod 56 and the second push rod 57. The slewing mechanism 23 rotates in reverse to disconnect the quick-connect connector 4 from the single drill pipe. The drilling mechanism 2 resets, and the operating mechanism transfers the single drill pipe to the storage mechanism 10 for storage. The single drill pipe is released and reset. Repeat the above operation to complete the removal and placement of the remaining single drill pipes or double drill pipes.

[0061] Example 3

[0062] This embodiment is the third embodiment of the multi-rod docking drilling and production device. This embodiment is similar to the first or second embodiment, except that Figure 6 As shown, the operating mechanism includes a rotating mechanism 7, a telescopic mechanism 8, and a gripping mechanism 9. The rotating mechanism 7 is mounted on the frame 1, the telescopic mechanism 8 is mounted on the output end of the rotating mechanism 7, and the gripping mechanism 9 is mounted on the output end of the telescopic mechanism 8. During operation, the rotating mechanism 7 can drive the telescopic mechanism 8 and the gripping mechanism 9 thereon to rotate, the telescopic mechanism 8 can drive the gripping mechanism 9 to extend and retract, and the gripping mechanism 9 can grip or release the drilling tool 6.

[0063] like Figure 7As shown, the grabbing mechanism 9 includes a motion base 91, a grabbing motor 92, a screw rod 93, a nut 94 and a grabbing claw 95 for clamping the drilling tool 6. The output end of the telescopic mechanism 8 is connected to the motion base 91, the grabbing motor 92 is installed on the motion base 91, the screw rod 93 is rotatably installed on the motion base 91, the output shaft of the grabbing motor 92 is coaxially connected to one end of the screw rod 93, the nut 94 is slidingly connected to the other end of the screw rod 93, one end of the grabbing claw 95 is hinged to the nut 94, and the grabbing claw 95 is hinged to the motion base 91. When the grabbing motor 92 is running, the other end of the grabbing claw 95 opens or contracts. During implementation, the grabbing motor 92 rotates forward, driving the screw rod 93 to rotate. Since the grabbing claw 95 is hinged to the nut 94 and the moving base 91 respectively, the nut 94 is limited by the moving base 91 and moves along the central axis of the screw rod 93 towards the grabbing motor 92 when the screw rod 93 rotates, thereby driving the grabbing claw 95 to grasp and achieve the grasping of the drilling tool 6; when the grabbing motor 92 is reversed, the screw rod 93 rotates in the opposite direction, and moves away from the grabbing motor 92 through the nut 94, driving the grabbing claw 95 to open and release the grasping of the drilling tool 6.

[0064] Specifically, the grabbing claw 95 includes two sets of grabbing arms, such as Figure 7 As shown, each group of grabbing arms includes a first connecting rod 951, a second connecting rod 952, and a clamping jaw 953. One end of the first connecting rod 951 is hinged to the nut 94, and the other end of the first connecting rod 951 is hinged to the middle of the second connecting rod 952. One end of the second connecting rod 952 is hinged to the moving base 91, and the other end of the second connecting rod 952 is hinged to one end of the clamping jaw 953. When the nut 94 moves along the screw rod 93, the two clamping jaws 953 are driven respectively by the first connecting rod 951 and the second connecting rod 952 of the two groups of grabbing arms, so that the two clamping jaws 953 are clamped or opened, thereby achieving the grasping or release of the drilling tool 6.

[0065] like Figure 7 As shown, there are two groups of grabbing claws 95, which are arranged along the axial direction of the drill tool 6. The two groups of grabbing claws 95 respectively grab different positions of the drill tool 6, thereby improving the grabbing reliability of the drill tool 6 and preventing the drill tool 6 from deflecting.

[0066] like Figure 8As shown, the telescopic mechanism 8 includes a fixed plate 81, a telescopic motor 82, a driving cylinder 83, a rope 84, a sliding wheel assembly and a rope rack 86. The output end of the operating mechanism is connected to the fixed plate 81, the telescopic motor 82 is installed on the fixed plate 81, the output shaft of the telescopic motor 82 is transmission-connected to the driving cylinder 83, the sliding wheel assembly includes at least two fixed pulleys 85, the fixed pulley 85 is rotatably installed on the fixed plate 81, the rope 84 is wound around the fixed pulley 85, the two ends of the rope 84 are respectively fixed to the rope rack 86, the driving cylinder 83 is in contact with the rope 84, and the grabbing mechanism 9 is installed on the rope rack 86. When the telescopic motor 82 is running, the rope 84 pulls the rope rack 86, and the grabbing mechanism 9 moves with the rope rack 86. Specifically, the sliding wheel assembly includes four fixed pulleys 85, two of which are rotatably mounted at both ends of the top of the fixed plate 81, and the other two fixed pulleys 85 are rotatably mounted at both ends of the bottom of the fixed plate 81. A rope rack 86 is located above the fixed plate 81. One end of the rope 84 is connected to the rope rack 86. The other end of the rope 84 first passes around one fixed pulley 85 at the top of the fixed plate 81, then passes around the two fixed pulleys 85 at the bottom of the fixed plate 81, and finally passes around the other fixed pulley 85 at the top of the fixed plate 81 and is connected to the rope rack 86. The driving cylinder 83 contacts the rope 84 between the two fixed pulleys 85 at the bottom of the fixed plate 81. A guide rail 87 is provided at the top of the fixed plate 81, and a slider 88 is slidably connected to the guide rail 87. The slider 88 and the rope rack 86 are respectively fixedly connected to the motion base 91. During implementation, the telescopic motor 82 runs, the driving cylinder 83 rotates and drives the rope 84 through friction, and drives the rope rack 86 through the rope 84. At the same time, the guide rail 87 and the slider 88 are used to guide the rope rack 86, so that the moving base 91 moves along the axial direction of the screw rod 93 to realize the telescopic movement of the grasping mechanism 9.

[0067] like Figure 6 As shown, the rotating mechanism 7 includes a rotating motor 71, a first intermediate shaft 72, a rotating frame 73, and a second intermediate shaft 74. The rotating motor 71 is installed on the frame 1. The output shaft of the rotating motor 71 is connected to one end of the first intermediate shaft 72. The other end of the first intermediate shaft 72 is fixedly connected to the top of the rotating frame 73. One end of the second intermediate shaft 74 is fixedly connected to the bottom of the rotating frame 73. The other end of the second intermediate shaft 74 is rotatably connected to the frame 1. The telescopic mechanism 8 is installed on the rotating frame 73. When the rotating motor 71 is running, the rotating frame 73 rotates, and the telescopic mechanism 8 rotates with the rotating frame 73. Specifically, as shown in FIG. Figure 9As shown, the rotating mechanism 7 further includes an upper bearing sleeve 75, a thrust ball bearing 76, a deep groove ball bearing 77, and a lower bearing sleeve 78. The upper bearing sleeve 75 is fixedly mounted on the bottom of the rotating frame 73. The second intermediate shaft 74 is fixedly connected to the upper bearing sleeve 75. The thrust ball bearing 76 and the deep groove ball bearing 77 are respectively sleeved between the outer periphery of the second intermediate shaft 74 and the inner wall of the lower bearing sleeve 78. The thrust ball bearing 76 is disposed adjacent to the upper bearing sleeve 75, and the deep groove ball bearing 77 is disposed adjacent to the lower bearing sleeve 78. The bottom of the lower bearing sleeve 78 is fixedly connected to the frame 1. During operation, the rotating motor 71 is operated to drive the rotating frame 73 and the second intermediate shaft 74 to rotate via the first intermediate shaft 72, thereby driving the fixed plate 81 and the structural components thereon to rotate.

[0068] The working principle of the multi-rod docking drilling and production device of this embodiment is as follows:

[0069] When the operating mechanism is in the initial position, the grabbing mechanism 9 is in a retracted state, the grabbing claw 95 is open, and the grabbing claw 95 is facing the drilling mechanism 2. The rotary motor 71 rotates forward, so that the grabbing claw 95 faces the drilling tool 6 to be taken from the storage mechanism 10, and the rotary motor 71 stops; the telescopic motor 82 rotates forward, so that the grabbing claw 95 extends, and the telescopic motor 82 stops; the grabbing motor 92 rotates forward, the grabbing claw 95 grabs the drilling tool 6, and the grabbing motor 92 stops; the telescopic motor 82 rotates reversely, and the grabbing claw 95 holding the drilling tool 6 retracts, and the telescopic motor 82 stops; the rotary motor 71 rotates reversely, so that the grabbing claw 95 faces the quick-connect connector 4, and the rotary motor 71 stops. Stop operation; the telescopic motor 82 rotates forward, the grabbing claw 95 that clamps the drilling is extended, so that the drilling tool 6 is located directly under the quick-connect connector 4, and the telescopic motor 82 stops running; when the drilling tool 6 is connected to the quick-connect connector 4, and the quick-connect mechanism 5 is engaged with the drilling tool 6, the grabbing motor 92 is reversed, the grabbing claw 95 releases the drilling tool 6, and the grabbing motor 92 stops running; the telescopic motor 82 rotates reversely, so that the grabbing claw 95 retracts, and the telescopic motor 82 stops running; at this time, the drilling tool 6 can be driven by the drilling mechanism 2 to perform drilling operations.

[0070] Example 4

[0071] This embodiment is the first embodiment of a multi-rod docking drilling and production control system, which is used to control the multi-rod docking drilling and production device of any one of Embodiments 1 to 3 to perform operations, and includes a main control computer, a network switch 13, a motor control module, and a sensor parameter acquisition module; the motor control module and the sensor parameter acquisition module are respectively connected to the main control computer through the network switch 13 for communication, the sensor parameter acquisition module is used to collect and feed back status information of the drilling mechanism 2, storage mechanism 10, clamping mechanism 101, quick-connect mechanism 5, storage mechanism 10, and operating mechanism to the main control computer, and the motor control module is used to control the movement of the drilling mechanism 2, storage mechanism 10, clamping mechanism 101, quick-connect mechanism 5, storage mechanism 10, and operating mechanism.

[0072] In the above-mentioned control system, the main control computer communicates with the motor control module and the sensor parameter acquisition module through the network switch 13, can collect drilling status information and thereby control the motor control module, and further control the movement of the drilling mechanism 2, the storage mechanism 10, the clamping mechanism 101, the quick-connect mechanism 5, the storage mechanism 10 and the operating mechanism, so as to realize the smooth progress of the drilling operation.

[0073] Specifically, if Figure 10 As shown, the motor control module includes a motion controller 11, several motor drivers 12 and an encoder. The main control computer communicates with the motion controller 11 through a network switch 13. The motion controller 11 is connected to the motor driver 12. The motor driver 12 is connected to each mechanism through a connecting seat 17 and is communicated with the encoder; the encoder feeds back the status information of the drilling mechanism 2, quick-connect mechanism 5, operating mechanism, clamping mechanism 101, and storage mechanism 10 collected by the sensing parameter acquisition module to the motor driver 12, the motion controller 11 reads the status information received by the motor driver 12 and transmits it to the main control computer, the main control computer communicates with the motion controller 11, and the motor driver 12 controls the movement of the drilling mechanism 2, quick-connect mechanism 5, operating mechanism, clamping mechanism 101, and storage mechanism 10 according to the instructions sent by the motion controller 11.

[0074] like Figure 10 As shown, the sensor parameter acquisition module includes a data acquisition card 14, an accelerometer, a Modbus gateway 15, a displacement sensor, a torque sensor, a transmitter 16, and a force sensor. These sensors are used to collect state parameters of the drill tool 6 during drilling, such as cutting vibration, feed displacement, cutting torque, and drilling pressure. A network switch 13 is used to agree on data transmission protocols and integrate the control system's internal bus. The force sensor, torque sensor, and displacement sensor utilize the serial Modbus RTU protocol, communicating over an RS485 bus. The Modbus RTU protocol is then converted to the TCP / IP-based Modbus TCP protocol via the Modbus gateway 15. These sensors are then connected to the main control computer via the network switch 13, along with the data acquisition card 14 in the motor control module and sensor parameter acquisition module.

[0075] Example 5

[0076] This embodiment is the first embodiment of a multi-rod butt-joint drilling control method. This embodiment uses any of the multi-rod butt-joint drilling devices of the first to third embodiments to perform operations. Figure 11 As shown, the following steps are included:

[0077] S1: Initialization preparation, making each mechanism in its corresponding initial position;

[0078] S2: Install double female drill pipe on quick connector 4;

[0079] S3: Control double drill pipe drilling;

[0080] S4: Determine whether the target drilling depth has been reached. If so, stop drilling the double-mother drill pipe, control the clamping mechanism 101 to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism 5 to reset, control the drilling mechanism 2 to reset, and proceed to step S5. If not, determine whether the double-mother drill pipe has been fully drilled. If so, stop drilling the double-mother drill pipe, control the clamping mechanism 101 to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism 5 to reset, control the drilling mechanism 2 to reset, and proceed to step S7. If not, return to step S3.

[0081] S5: lifting double drill pipes;

[0082] S6: putting the double mother drill pipe back into the storage mechanism 10 to complete the drilling operation;

[0083] S7: Install the single female drill pipe on the quick connector 4;

[0084] S8: Control single drill pipe drilling;

[0085] S9: Determine whether the target drilling depth has been reached. If so, stop drilling the single-core drill pipe, control the clamping mechanism 101 to clamp the drilled single-core drill pipe, control the quick-connect mechanism 5 to reset, control the drilling mechanism 2 to reset, and proceed to step S10. If not, determine whether the single-core drill pipe has been fully drilled. If so, stop drilling the single-core drill pipe, control the clamping mechanism 101 to clamp the drilled single-core drill pipe, control the quick-connect mechanism 5 to reset, control the drilling mechanism 2 to reset, and return to step S7. If not, return to step S8.

[0086] S10: lifting single drill pipe;

[0087] S11: putting the single mother drill pipe back into the storage mechanism 10;

[0088] S12: Determine whether all single mother drill pipes have been placed. If not, return to step S10; if so, return to step S5.

[0089] The multi-rod docking drilling control method described above achieves rapid and stable installation of the drilling tool 6 by controlling the operating mechanism, drilling mechanism 2, and quick-connect mechanism 5. Furthermore, the drilling mechanism 2 is controlled to achieve reliable drilling operations. After the drilling operation is completed, the quick-connect mechanism 5, drilling mechanism 2, and operating mechanism are controlled to quickly disassemble the drilling tool 6 and transfer it to the storage mechanism 10 for storage. This embodiment allows for rapid and stable installation of the drilling tool 6, improves drilling efficiency and drilling device reliability, and ensures smooth drilling operations.

[0090] In step S1, the initial positions of each mechanism are: the initial position of the drilling mechanism 2 is that the feed box 21 is at its top dead center, the initial position of the storage mechanism 10 is that the double mother drill pipe is in the grabbing position, the initial position of the operating mechanism is that the structure for grabbing drilling is facing the quick-connect connector 4, the initial position of the clamping mechanism 101 is the maximum open position without clamping the drill tool 6, and the initial position of the quick-connect mechanism 5 is that the first push rod 56 and the second push rod 57 are in the maximum open state.

[0091] In step S2, the specific process of installing the double mother drill pipe is as follows:

[0092] S201: Control the rotating mechanism 7 to rotate the grabbing claw 95 to a position facing the storage mechanism 10;

[0093] S202: Control the telescopic mechanism 8 to extend the grab claw 95 to the grabbing position of the double mother drill pipe;

[0094] S203: Control the grabbing mechanism 9 to make the grabbing claws 95 grab the double mother drill pipe;

[0095] S204: Control the telescopic mechanism 8 to retract the grabbing claw 95 grabbing the double mother drill pipe to the grabbing position;

[0096] S205: Control the rotating mechanism 7 to rotate the grabbing claw 95 to an initial position facing the quick connector 4;

[0097] S206: Control the telescopic mechanism 8 to extend the grab claw 95 until the double female drill pipe is directly below the quick connector 4;

[0098] S207: Control the quick-connect mechanism 5 to retract the first push rod 56 and the second push rod 57 into the quick-connect connector 4; control the feeding mechanism 22 and the rotating mechanism 23 to lower the quick-connect connector 4 and connect the quick-connect connector 4 to the double drill pipe in place;

[0099] S208: Control the quick-connect mechanism 5 to push out the first push rod 56 and the second push rod 57 to engage with the double female drill pipes;

[0100] S209: Control the grabbing mechanism 9 to release the double mother drill pipes;

[0101] S210: Control the telescopic mechanism 8 to retract and reset the grabbing mechanism 9.

[0102] In step S3, the process of controlling the double-mother drill pipe drilling is as follows: controlling the feeding mechanism 22 and the rotary mechanism 23 to drive the double-mother drill pipe to rotate and feed for drilling.

[0103] In step S5, the process of lifting the double mother drill pipe is as follows:

[0104] S501: Control the quick-connect mechanism 5 to retract the first push rod 56 and the second push rod 57 into the quick-connect connector 4; control the feeding mechanism 22 and the rotating mechanism 23 to lower the quick-connect connector 4 and connect the quick-connect connector 4 to the double female drill pipe in place;

[0105] S502: Control the quick-connect mechanism 5 to push out the first push rod 56 and the second push rod 57 to engage with the double mother drill pipes;

[0106] S503: Control the clamping mechanism 101 to release the double mother drill pipe;

[0107] S504: Control the feeding mechanism 22 to drive the double drill pipe to rise.

[0108] In step S6, the process of putting the double mother drill pipe back into the storage mechanism 10 is as follows:

[0109] S601: Control the telescopic mechanism 8 to extend the grab claw 95;

[0110] S602: Control the grabbing mechanism 9 to make the grabbing claws 95 grab the double mother drill pipes;

[0111] S603: Controlling the quick-connect mechanism 5 to disengage the quick-connect mechanism 5 from the double-mother drill pipe;

[0112] S604: Control the feeding mechanism 22 and the rotating mechanism 23 to disconnect the quick-connect connector 4 from the double drill pipe and return the feeding box 21 to the initial position;

[0113] S605: Control the telescopic mechanism 8 to retract the grabbing claw 95 grabbing the double mother drill pipe;

[0114] S606: Control the rotating mechanism 7 to rotate the grabbing claw 95 to a position facing the storage mechanism 10;

[0115] S607: Control the telescopic mechanism 8 to extend the grab claw 95 until the double drill pipe is placed in the storage mechanism 10;

[0116] S608: Control the grabbing mechanism 9 to make the grabbing claws 95 release the double mother drill pipes;

[0117] S609: Control the telescopic mechanism 8 to retract the grabbing claw 95;

[0118] S610 : Control the rotating mechanism 7 to rotate the grabbing claw 95 to an initial position facing the quick connector 4 .

[0119] In step S7, the process of installing a single mother drill pipe is as follows:

[0120] S701: Control the storage mechanism 10 to place the single mother drill pipe in the grabbing position; control the rotating mechanism 7 to rotate the grabbing claw 95 to a position facing the storage mechanism 10;

[0121] S702: Control the telescopic mechanism 8 to extend the grabbing claw 95 to a grabbing position of a single mother drill pipe;

[0122] S703: Control the grabbing mechanism 9 to make the grabbing claw 95 grab the single female drill pipe;

[0123] S704: Control the telescopic mechanism 8 to retract the gripping claw 95 gripping the single drill pipe to the gripping position;

[0124] S705: Control the rotating mechanism 7 to rotate the grabbing claw 95 to an initial position facing the quick connector 4;

[0125] S706: Control the telescopic mechanism 8 to extend the grab claw 95 until the single female drill pipe is located directly below the quick connector 4;

[0126] S707: Control the quick-connect mechanism 5 to retract the first push rod 56 and the second push rod 57 into the quick-connect connector 4; control the feeding mechanism 22 and the rotating mechanism 23 to lower the quick-connect connector 4 and connect the quick-connect connector 4 to the single female drill pipe in place;

[0127] S708: Control the quick-connect mechanism 5 to push out the first push rod 56 and the second push rod 57 to engage with the single female drill pipe;

[0128] S709: Control the grabbing mechanism 9 to release the single drill pipe;

[0129] S710: Control the telescopic mechanism 8 to retract the grasping mechanism 9;

[0130] S711: Control the feeding mechanism 22 and the rotating mechanism 23 to lower the single mother drill pipe and screw it to the double mother drill pipe or single mother drill pipe below.

[0131] In step S8, the process of controlling the drilling of the single drill pipe is as follows: controlling the feeding mechanism 22 and the rotating mechanism 23 to drive the single drill pipe to rotate and feed and continue drilling.

[0132] In step S10, the process of lifting the single mother drill pipe is as follows:

[0133] S1001: Control the quick-connect mechanism 5 to retract the first push rod 56 and the second push rod 57 into the quick-connect connector 4; control the feeding mechanism 22 and the rotating mechanism 23 to lower the quick-connect connector 4 and connect the quick-connect connector 4 to the single female drill pipe in place;

[0134] S1002: Control the quick-connect mechanism 5 to push out the first push rod 56 and the second push rod 57 to engage with the single female drill pipe;

[0135] S1003: Control the clamping mechanism 101 to release the single female drill pipe;

[0136] S1004: Control the feeding mechanism 22 to drive the single drill pipe to lift;

[0137] S1005 : Control the clamping mechanism 101 to clamp the single female drill pipe or the double female drill pipe adjacent to the single female drill pipe connected to the quick connector 4 .

[0138] In step S11, the process of putting the single mother drill pipe back into the storage mechanism 10 is as follows:

[0139] S1101: Control the feeding mechanism 22 and the rotating mechanism 23 to separate the single female drill pipe connected to the quick connector 4 from the single female drill pipe or double female drill pipe clamped by the clamping mechanism 101;

[0140] S1102: Control the telescopic mechanism 8 to extend the grabbing claw 95;

[0141] S1103: Control the grabbing mechanism 9 to enable the grabbing claw 95 to grab the single female drill pipe;

[0142] S1104: Controlling the quick-connect mechanism 5 to disengage the quick-connect mechanism 5 from the single female drill pipe;

[0143] S1105: Control the feeding mechanism 22 and the rotating mechanism 23 to disconnect the quick-connect connector 4 from the single drill pipe and return the feeding box 21 to the initial position;

[0144] S1106: Control the telescopic mechanism 8 to retract the grabbing claw 95 grabbing the double mother drill pipe;

[0145] S1107: Control the rotating mechanism 7 to rotate the grabbing claw 95 to a position facing the storage mechanism 10;

[0146] S1108: Control the telescopic mechanism 8 to extend the grab claw 95 until the single mother drill pipe is placed in the storage mechanism 10;

[0147] S1109: Control the grabbing mechanism 9 to make the grabbing claw 95 release the single female drill pipe;

[0148] S1110: Control the telescopic mechanism 8 to retract the grabbing claw 95; control the storage mechanism 10 to return to the initial position;

[0149] S1111 : Control the rotating mechanism 7 to rotate the grabbing claw 95 to an initial position facing the quick connector 4 .

[0150] In this embodiment, during the drilling process, the motion controller 11 dynamically adjusts the feed speed and feed pressure of the feed motor through the drilling pressure and rotary torque signal feedback from the force sensor and torque sensor. According to the range of the tension F feedback from the force sensor and the rotary torque T feedback from the torque sensor, the feed mechanism 22 and the rotary mechanism 23 are divided into five speed levels.

[0151] When 0N≤F<10N, the first-level feed speed is the idle speed; when 10N≤F<50N, the second-level feed speed is the default speed; when 50N≤F<200N, it is the third-level feed speed; when 200N≤F<400N, it is the fourth-level feed speed; when 400N≤F<600N, it is the fifth-level feed speed; when F>600N, the feed motor stops moving, but the position remains unchanged.

[0152] When 0Nm≤T<1Nm, the first-level rotation speed is the idle speed; when 1Nm≤T<4Nm, the first-level rotation speed is the default speed; when 4Nm≤T<8Nm, it is the third-level rotation speed; when 8Nm≤T<12Nm, it is the fourth-level rotation speed; when 12Nm≤T<16Nm, it is the fifth-level rotation speed; when T>16Nm, the rotary motor stops moving, but the position remains unchanged.

[0153] Among them, when T>18Nm, the impact mechanism 24 is turned on; if T>20Nm, the movement of the feeding mechanism 22, the rotating mechanism 23 and the impact mechanism 24 is stopped; if T≤20Nm, the drilling depth is judged according to the accumulated value of the displacement sensor. When the drilling depth reaches the specified depth, the rotating mechanism 23 maintains operation for 1 minute, and then the movement of the feeding mechanism 22, the rotating mechanism 23 and the impact mechanism 24 is stopped.

[0154] like Figure 12 As shown, this embodiment also includes a drilling rig abnormal state recovery process:

[0155] (1) The main control computer uses a fixed 100-point sliding window to process the drilling parameters obtained from the control system and uses the 100-point data as the drilling parameters for subsequent calculations;

[0156] (2) The main control computer calculates the drilling pressure change rate dWOB / dt, torque change rate dT / dt, drilling speed change rate dROP / dt, moving average value MA(WOB, 10), moving average value MA(T, 10), standard deviation of drilling pressure std(WOB), standard deviation of torque std(T) through the drilling parameters obtained by the control system, performs vibration spectrum analysis FFT (vibration), drilling pressure-torque ratio R = (dWOB / dt) / (dT / dt) and energy efficiency index EEI = ROP / (WOB×T);

[0157] (3) Analyze the drilling rig status according to the following steps:

[0158] (a) Determine whether the drill is stuck: when dT / dt is greater than the upper limit of the torque change rate, ROP is less than the lower limit of the rotation speed threshold, and R is less than the lower limit of the drilling pressure-torque ratio, stop drilling and activate the impact mechanism 24 to try to release the jam;

[0159] (b) Determine whether there is abnormal vibration: When the maximum value of FFT (vibration) is greater than the upper limit of the maximum amplitude of the vibration spectrum, adjust the drilling speed and drilling pressure, reducing the rotary drilling speed by 10% and the feed speed by 10% each time;

[0160] (c) Determine whether the drill tool 6 is worn: When the 10-point average value of EEI continues to decrease and the decrease is greater than the upper limit of the EEI decrease, stop drilling, recycle the drill, and replace the drill bit;

[0161] (d) Determining whether a hard layer is encountered: when dWOB / dt is greater than the upper limit of the drilling pressure change rate and ROP is less than the lower limit of the drilling speed, reduce the feed speed by 10%, increase the rotary drilling speed by 10% and activate the impact mechanism (24);

[0162] (e) Determining whether the drilling is in a normal state: when std(WOB) is less than the upper limit of the drilling pressure standard deviation, std(T) is less than the upper limit of the torque standard deviation, and the EEI is between the upper and lower limits of the energy efficiency index, the impact mechanism 24 is stopped and drilling continues; otherwise, drilling is stopped and manual judgment is awaited;

[0163] (f) Determine whether to enter an infinite loop: If the special status of the current drilling rig cannot be changed after repeating the respective solution steps of conditions (a) to (d) three times, then stop drilling and wait for manual judgment. Otherwise, re-enter the judgment condition (a) and continue the loop;

[0164] (4) Stop drilling and wait for manual judgment to end the drilling rig status judgment process.

[0165] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A multi-rod docking drilling device, comprising a frame (1) and a drilling mechanism (2) and a clamping mechanism (101) arranged on the frame (1), wherein the drilling mechanism (2) comprises a feed box (21), a feed mechanism (22), a rotary mechanism (23) and an impact mechanism (24), wherein the feed mechanism (22) is arranged on the frame (1), an output end of the feed mechanism (22) is connected to the feed box (21) to drive the feed box (21) to move up and down along the frame (1), the rotary mechanism (23) and the impact mechanism (24) are installed on the feed box (21), an output end of the rotary mechanism (23) is connected to a drill tool (6) through a drill pipe connector (3) to drive the drill tool (6) to rotate, and an output end of the impact mechanism (24) can contact the drill pipe connector (3); characterized in that It also includes a quick-connect connector (4) and a quick-connect mechanism (5), wherein the top of the quick-connect connector (4) is fixedly connected to the drill pipe connector (3), and the bottom of the quick-connect connector (4) is detachably connected to the drilling tool (6), and the quick-connect mechanism (5) is installed in the quick-connect connector (4), and the quick-connect mechanism (5) is clamped to the drilling tool (6); The quick-connect mechanism (5) comprises a linear telescopic motor (51), a fixed seat (52), a push plate (53), a connecting shaft (54), a torsion spring (55), a first push rod (56) and a second push rod (57); the linear telescopic motor (51) is installed in the quick-connect connector (4) through the fixed seat (52); the output shaft of the linear telescopic motor (51) is connected to the push plate (53); both ends of the connecting shaft (54) are respectively fixed to the quick-connect connector (4); one end of the first push rod (56) is rotatably connected to one end of the connecting shaft (54); one end of the second push rod (57) is rotatably connected to one end of the connecting shaft (54); The other end is rotatably connected, and notches (42) for accommodating the other end of the first push rod (56) and the other end of the second push rod (57) are respectively provided on both sides of the lower part of the quick-connect connector (4), and both sides of the bottom of the push plate (53) can respectively abut against the first push rod (56) and the second push rod (57), and the torsion spring (55) is wound around the connecting shaft (54), and the two ends of the torsion spring (55) are respectively connected to the first push rod (56) and the second push rod (57), and the top of the drilling tool (6) is provided with grooves (62) respectively matching with the other end of the first push rod (56) and the other end of the second push rod (57).

2. The multi-rod docking drilling device according to claim 1, characterized in that: The bottom of the quick-connect connector (4) is provided with a first external thread (41), the drilling tool (6) includes a double-mother drill pipe and a drill bit, the two ends of the double-mother drill pipe are respectively provided with a first internal thread (61), the first internal thread (61) at the top of the double-mother drill pipe can be matched with the first external thread (41) at the bottom of the quick-connect connector (4), the top of the double-mother drill pipe is provided with a groove (62) that can be matched with the other end of the first push rod (56) and the other end of the second push rod (57), the top of the drill bit is provided with a second external thread, the first internal thread (61) at the bottom of the double-mother drill pipe is matched with the second external thread, and the bottom of the drill bit is provided with a cutting edge.

3. The multi-rod docking drilling device according to claim 2, characterized in that: The drilling tool (6) further comprises a plurality of single-mother drill pipes, wherein the top of the single-mother drill pipe is provided with the first internal thread (61), the top of the single-mother drill pipe is provided with the groove (62) which can respectively cooperate with the other end of the first push rod (56) and the other end of the second push rod (57), and the bottom of the single-mother drill pipe is provided with a third external thread (63). The first internal thread (61) at the top of the single-mother drill pipe cooperates with the first external thread (41) or cooperates with the third external thread (63) at the bottom of the adjacent single-mother drill pipe, and the third external thread (63) can cooperate with the first internal thread (61) at the top of the adjacent double-mother drill pipe.

4. The multi-rod docking drilling device according to claim 3, characterized in that: The invention also includes a storage mechanism (10) and an operating mechanism provided on the frame (1), wherein the storage mechanism (10) is used to store the drilling tool (6), and the operating mechanism is used to clamp the drilling tool (6) and transfer the drilling tool (6) between the quick-connect mechanism (5) and the storage mechanism (10); the operating mechanism includes a rotating mechanism (7), a telescopic mechanism (8) and a grasping mechanism (9), wherein the rotating mechanism (7) is installed on the frame (1), the telescopic mechanism (8) is installed at the output end of the rotating mechanism (7), and the grasping mechanism (9) is installed at the output end of the telescopic mechanism (8).

5. The multi-rod docking drilling device according to claim 4, characterized in that: The grabbing mechanism (9) comprises a motion base (91), a grabbing motor (92), a screw rod (93), a nut (94) and a grabbing claw (95) for clamping a drilling tool (6); the output end of the telescopic mechanism (8) is connected to the motion base (91); the grabbing motor (92) is mounted on the motion base (91); the screw rod (93) is rotatably mounted on the motion base (91); the output shaft of the grabbing motor (92) is coaxially connected to one end of the screw rod (93); the nut (94) is slidably connected to the other end of the screw rod (93); one end of the grabbing claw (95) is hinged to the nut (94); the grabbing claw (95) is hinged to the motion base (91); when the grabbing motor (92) is running, the other end of the grabbing claw (95) opens or contracts.

6. The multi-rod docking drilling device according to claim 4, characterized in that: The telescopic mechanism (8) includes a fixed plate (81), a telescopic motor (82), a driving cylinder (83), a rope (84), a sliding wheel assembly and a rope rack (86). The output end of the operating mechanism is connected to the fixed plate (81). The telescopic motor (82) is installed on the fixed plate (81). The output shaft of the telescopic motor (82) is transmission-connected to the driving cylinder (83). The sliding wheel assembly includes at least two fixed pulleys (85). The fixed pulleys (85) are rotatably installed on the fixed plate (81). The rope (84) is wound around the fixed pulleys (85). Both ends of the rope (84) are respectively fixed to the rope rack (86). The driving cylinder (83) contacts the rope (84). The grabbing mechanism (9) is installed on the rope rack (86). When the telescopic motor (82) is running, the rope (84) pulls the rope rack (86), and the grabbing mechanism (9) moves along with the rope rack (86).

7. The multi-rod docking drilling device according to claim 4, characterized in that: The rotating mechanism (7) includes a rotating motor (71), a first intermediate shaft (72), a rotating frame (73) and a second intermediate shaft (74); the rotating motor (71) is mounted on the frame (1); the output shaft of the rotating motor (71) is connected to one end of the first intermediate shaft (72); the other end of the first intermediate shaft (72) is fixedly connected to the top of the rotating frame (73); one end of the second intermediate shaft (74) is fixedly connected to the bottom of the rotating frame (73); the other end of the second intermediate shaft (74) is rotatably connected to the frame (1); the telescopic mechanism (8) is mounted on the rotating frame (73); when the rotating motor (71) is running, the rotating frame (73) rotates, and the telescopic mechanism (8) rotates along with the rotating frame (73).

8. A multi-rod docking drilling control system, characterized in that: Used to control the multi-rod docking drilling and production device according to any one of claims 4 to 7 to perform operations, comprising a main control computer, a network switch (13), a motor control module and a sensor parameter acquisition module; the motor control module and the sensor parameter acquisition module are respectively connected to the main control computer for communication via the network switch (13); the sensor parameter acquisition module is used to collect and feed back status information of the drilling mechanism (2), the clamping mechanism (101), the quick-connect mechanism (5), the storage mechanism (10) and the operating mechanism to the main control computer; and the motor control module is used to control the movement of the drilling mechanism (2), the clamping mechanism (101), the quick-connect mechanism (5), the storage mechanism (10) and the operating mechanism.

9. A multi-rod docking drilling control method, characterized in that: The operation using the multi-rod docking drilling and production device according to any one of claims 4 to 7 comprises the following steps: S1: Initialization preparation, making each mechanism in its corresponding initial position; S2: Install the double female drill pipe on the quick connector (4); S3: Control double drill pipe drilling; S4: Determine whether the target drilling depth has been reached. If so, stop the double-mother drill pipe drilling, control the clamping mechanism (101) to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism (5) to reset, control the drilling mechanism (2) to reset, and enter step S5; if not, determine whether the double-mother drill pipe has been completely drilled. If so, stop the double-mother drill pipe drilling, control the clamping mechanism (101) to clamp the double-mother drill pipe that has been drilled, control the quick-connect mechanism (5) to reset, control the drilling mechanism (2) to reset, and enter step S7. If not, return to step S3; S5: lifting double drill pipes; S6: putting the double mother drill pipe back into the storage mechanism (10) to complete the drilling operation; S7: Install the single female drill pipe on the quick connector (4); S8: Control single drill pipe drilling; S9: Determine whether the target drilling depth has been reached. If so, stop drilling the single drill pipe, control the clamping mechanism (101) to clamp the drilled single drill pipe, control the quick-connect mechanism (5) to reset, control the drilling mechanism (2) to reset, and enter step S10; if not, determine whether the single drill pipe has been fully drilled. If so, stop drilling the single drill pipe, control the clamping mechanism (101) to clamp the drilled single drill pipe, control the quick-connect mechanism (5) to reset, control the drilling mechanism (2) to reset, and return to step S7; if not, return to step S8; S10: lifting single drill pipe; S11: putting the single mother drill pipe back into the storage mechanism (10); S12: Determine whether all single mother drill pipes have been placed. If not, return to step S10; if so, return to step S5.

Images