Integrated automatic directional drilling rig and its control method for downhole directional drilling

Abstract

This invention discloses an integrated automatic directional drilling rig and its control method suitable for underground directional drilling. The rig includes a traveling mechanism and a drilling host, a rod loading / unloading robotic arm, a rod replenishment device, a boom, and a power pump station mounted on the traveling mechanism. During rod loading / unloading, the robotic arm can perform rod loading / unloading functions at different drilling angles. Its movement combines linear and rotary motion, enabling rod loading / unloading actions within a 0-90° range. A combination of mechanical limiters and angle sensors ensures precise positioning at multiple angles, improving the efficiency and reliability of rod loading / unloading. During rod replenishment, the drilling rig has a rod magazine capacity sufficient to meet the average single-shift drilling footage in actual construction, allowing for rod replenishment once per shift with minimal need for auxiliary personnel to wait for replenishment. This invention is applicable to automatic directional drilling in coal mines. The drilling rig features an integrated layout, compact structure, and self-contained power system, eliminating the need for a dedicated power pump truck.

Description

Technical Field

[0001] This invention belongs to the technical field of gas extraction drilling equipment, and relates to an integrated automatic directional drilling rig suitable for downhole directional construction and its control method. Background Technology

[0002] Measurement-while-drilling (MWD) technology and equipment are widely used in my country's coal mining enterprises, playing a vital role in efficient gas extraction, advanced water hazard prevention and control, overall roof fracturing and pressure relief, and precise exploration of hidden geological factors causing disasters. To improve borehole utilization, the depth of directional drilling holes is gradually increasing to the kilometer level, resulting in a large demand for drill rods per hole. Simultaneously, trajectory control is required during directional drilling, and drill rods are generally long and large in diameter. Typically, at least one person is needed to operate the drilling rig, while two others are needed to assist in transporting and loading / unloading the drill rods. This construction method not only involves high labor intensity for workers and requires a large number of auxiliary personnel, but also has poor safety, failing to meet the actual needs of intelligent drilling in coal mines.

[0003] Currently, there are three main types of directional drilling rigs equipped with automatic drill pipe loading and unloading systems. The first type is an upgrade from conventional rotary drilling rigs. Its structural feature is that the drilling main unit is horizontally positioned at the front of the rig, and the rod magazine is located inside the vehicle body. The loading and unloading of drill pipes is completed through the mutual transfer between a rod replenishment manipulator and a rod addition manipulator. Because the main unit is horizontally positioned at the front, the rig length cannot be too long, thus only suitable for loading and unloading shorter drill pipes less than 1 meter in length. However, directional drilling processes generally require drill pipes longer than 1.5 meters, making this method not entirely applicable. Furthermore, this method results in a longer drill pipe transfer path and relatively lower loading and unloading efficiency. The second type is an upgrade from traditional directional drilling rigs. Its structural feature is the addition of a rod loading and unloading manipulator to the rig body. The rig body itself does not have a rod storage function; instead, a drill pipe tray is externally mounted on the side of the main unit. Each time, manual or auxiliary lifting equipment is used to load and unload the drill pipes. The first method involves placing 5-7 drill rods in a tray. The drill rod loading and unloading robot arm grabs and places the drill rods from the tray, then transports them to the main unit's drill rod loading and unloading position. This method, with the drill rod tray mounted externally on the side of the main unit, not only increases the width of the drilling rig and occupies space, but also requires the tray to move synchronously with the main unit as the drilling angle changes, leading to inconsistent rod placement and increasing the difficulty of rod loading. Furthermore, the limited drill rod capacity in the tray necessitates personnel to continuously load and unload rods, resulting in low efficiency, high labor intensity, and safety hazards. The third method involves an automatic directional drilling rig with a large-capacity rod magazine. The drilling main unit and drill rod magazine are placed side-by-side inside the drilling platform. Drill rods are arranged in two magazines along the length of the drilling rig. The rod loading robot arm slides along the length to grab the drill rods from the magazines and places them in a fixed drill rod tray. The loading and unloading robot arm then grabs the rods and transfers them to the main unit's rotation center, completing the drill rod loading and unloading process. This type of automatic directional drilling rig structure, with multiple drill rod chambers placed side-by-side with the main unit, occupies most of the drilling platform space. Therefore, the rig itself lacks a power system and requires a dedicated power pump truck for movement, limiting its applicability. Furthermore, since directional drilling rigs are primarily designed for medium-to-deep hole drilling, with depths typically in the hundreds or thousands of meters, the limited space of the drilling platform means that the drill rod chamber capacity can never fully meet the drilling depth requirements for a single hole. During drilling, manual replenishment or removal of drill rods is necessary. Since the drill rod chamber is located on the platform at a relatively high height relative to the operator, and the drill bits are long and heavy, moving drill rods up and down is extremely inconvenient, resulting in minimal reduction in manpower and efficiency.

[0004] The three types of robotic arms for loading and unloading drill pipes described above mainly employ coordinate-based linear trajectories and rotational + linear motion trajectories. Linear trajectories offer the advantage of fixed travel distances for easy mechanical positioning and relatively high positional accuracy. However, their linear motion is typically driven by hydraulic cylinders, resulting in long paths and a large workspace requirement. The high roadway space in directional drilling sites reduces the adaptability of automatic drilling rigs. Rotational + linear motion trajectories, on the other hand, have a compact structure and relatively short paths. However, the maximum working rotation angle of existing robotic arms for loading and unloading drill pipes is generally within the range of 180–270°. Excessive rotational paths not only increase errors but also hinder drill pipe loading and unloading efficiency. Furthermore, they occupy significant rotational space, necessitating the placement of other components in other areas, leading to inefficient space utilization and an overall larger drilling rig size. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an integrated automatic directional drilling rig and its control method suitable for downhole directional drilling, solving problems such as the split layout and low adaptability of automatic directional drilling rigs, and addressing issues such as low control accuracy and efficiency of the automatic directional drilling rig's drill rod loading and unloading robotic arm, large space occupation, poor roadway adaptability, and the need for personnel to constantly wait for drill rod replenishment during single-shift, single-hole drilling, with the replenishment position being high and unpredictable, resulting in high labor intensity and poor safety.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] An integrated automatic directional drilling rig suitable for downhole directional construction includes a traveling mechanism and a drilling host, a rod loading and unloading robotic arm, a rod replenishment device, a boom, and a power pump station mounted on the traveling mechanism. The drilling host and the rod replenishment device are arranged in parallel and staggered along the length of the traveling mechanism, and the rod loading and unloading robotic arm is arranged in the upper middle position between the two. Through the coordinated transmission of actions among the three, automatic rod replenishment, rod loading, and rod unloading are realized.

[0008] The drilling host includes a feed device, a center angle adjustment device located at the rear and lower part of the feed device, a front angle adjustment device located at the front part of the feed device, a support plate device on the feed device, a rotary head mounted on the support plate device and the active drill rod assembly inside it, and a clamping and uncoupling device on the feed device; the support plate device can drive the rotary head to move on the guide rail of the feed device, and the rotary head and the active drill rod assembly are coaxial with the clamping and uncoupling device;

[0009] The loading / unloading robotic arm comprises, in sequence, an angle-adjusting cylinder, a primary rotating arm, a secondary rotating arm, a rotating support beam, a translational support beam, a primary telescopic cylinder, a telescopic arm, a drill pipe gripper, and a secondary telescopic cylinder. The angle-adjusting cylinder adjusts the angle of the primary rotating arm, and the secondary rotating arm drives the rotating support beam, translational support beam, primary telescopic cylinder, and telescopic arm to rotate around their rotation center from 0 to 90 degrees. The translational support beam is clamped to the outside of the guide rail of the telescopic arm so that the entire telescopic arm slides axially under the extension / retraction of the primary telescopic cylinder. The extension / retraction of the secondary telescopic cylinder inside the telescopic arm allows the entire drill pipe gripper to slide axially.

[0010] The rod replenishment device includes a drill rod magazine, a rod replenishment robot, a horizontal position sensor, a rack and pinion guide, a sliding guide, a transfer tray, a top-aligning device, and a transfer cylinder. The drill rod magazine is fixed to the sliding guide and the rack and pinion guide on its side and front, respectively. The rod replenishment robot is clamped on the rack and pinion guide and can slide along it. One end of the horizontal position sensor is fixed to the rod replenishment robot, and the other end is fixed to the drill rod magazine, enabling the robot to position itself horizontally. The transfer tray is clamped on the sliding guide, and one end of the transfer cylinder is fixed to the sliding guide and the other end is fixed to the drill rod magazine. Under the action of the transfer cylinder, the transfer tray slides along the sliding guide. The top-aligning device is symmetrically arranged at both ends of the transfer tray to ensure that the drill rod is placed in a relatively fixed position each time, thus improving control accuracy.

[0011] The power pump station includes a motor pump set, an oil tank assembly, and a controller assembly.

[0012] The present invention also includes the following technical features:

[0013] Specifically, the feeding device includes an upper guide rail, a machine body, a feeding cylinder, a lower guide rail, an tilt sensor assembly, and a limiting device. The upper and lower guide rails are riveted and fixed to the machine body. The feeding cylinder is fixed between the upper and lower guide rails. The cylinder rod of the feeding cylinder is fixed to both ends of the machine body. The cylinder barrel of the feeding cylinder can slide along the machine body. The tilt sensor assembly and the limiting device are riveted and fixed to the side of the machine body. The pallet device is clamped on the guide rail of the feeding device and can slide with the feeding cylinder.

[0014] Specifically, the tilt adjustment device includes a base, a depression angle limiting block, an elevation angle limiting block, a rear tilt adjustment cylinder, a rotating shaft, and a sensor assembly; the elevation angle limiting block is fixed to the rear of the base, the depression angle limiting block is fixed to the front of the base, one end of the rear tilt adjustment cylinder is hinged to the base, the other end is hinged to the feeding device, the rotating shaft is hinged to the base, and the tilt angle sensor assembly is riveted and fixed to the side of the base.

[0015] Specifically, the front angle adjustment device includes a front angle adjustment cylinder, a column assembly, a crossbeam I, and a crossbeam II; the middle part of the crossbeam I is hinged to the feeding device, and both ends are hinged to the column assembly, and can slide along the axial direction of the column assembly; one end of the front angle adjustment cylinder is hinged to the crossbeam II, and the other end is hinged to the traveling mechanism, and both ends of the crossbeam II are hinged to the column assembly.

[0016] Specifically, the rotary head is riveted and fixed to the support plate device, the active drill rod assembly is installed through the through hole in the rotary head, and the active drill rod assembly is clamped at the front and rear ends of the rotary head; the active drill rod assembly includes an active drill rod, a front chuck, and a rear chuck, the front chuck is clamped in the shoulder of the active drill rod and is axially fixed, and the rear chuck is clamped in the groove of the active drill rod and is axially fixed.

[0017] Specifically, the clamping and unhooking device is riveted and fixed to the front end of the feeding device. The clamping and unhooking device includes a clamping bracket, a clamping cylinder, a pin, a cover plate, an unhooking device bracket, a support plate assembly, an unhooking cylinder, and an unhooking cylinder connecting plate. Two sets of clamping cylinders are respectively hinged to the clamping bracket and the unhooking device bracket via pins. The cover plates are respectively located on the top of the clamping bracket and the unhooking device bracket. The unhooking device bracket is respectively hinged to the clamping bracket and the support plate assembly. One end of the unhooking cylinder is hinged to the side of the unhooking device bracket, and the other end is hinged to the unhooking cylinder connecting plate. When the unhooking cylinder is fully retracted to the initial position, the unhooking device bracket and the clamping bracket are angularly deviated. When the unhooking cylinder extends, it can make the unhooking device bracket rotate along the axis, increasing the entire unhooking stroke.

[0018] Specifically, the first-stage rotary arm is hinged to the angle-adjusting cylinder, the second-stage rotary arm is riveted to the first-stage rotary arm, one end of the rotary support beam is riveted to the second-stage rotary arm and the other end is riveted to the translation support beam, one end of the first-stage telescopic cylinder is hinged to the translation support beam and the other end is hinged to the telescopic arm; the front end of the inner cylinder of the telescopic arm is riveted to the drill rod gripper, the outer cylinder is riveted to the probe sensor assembly, and a telescopic arm limiting assembly is riveted to the side of the telescopic arm.

[0019] Specifically, the drill pipe chamber includes a chamber body, drill pipe baffles, and drill pipe pads; the drill pipe baffles are riveted to the inner sides of both ends of the chamber body, and the drill pipe pads are riveted to the bottom of the chamber body; the drill pipe baffles divide the drill pipe chamber into multiple rows, the number of drill pipe baffles is N, and the number of drill pipe rows is arranged in N+1, where 1 indicates that only one drill pipe is placed at the outermost bottom supplementary position of the drill pipe chamber.

[0020] Specifically, the rod replenishment robot includes a drive motor, a drive gear, a primary lifting cylinder, a primary lifting guide cylinder, a lifting position sensor, a crossbeam, a secondary lifting cylinder, a secondary lifting guide cylinder, a robot gripper, and a probe sensor assembly. The drive motor is riveted to the primary lifting guide cylinder, and the drive gear is hinged to the drive motor. The primary lifting cylinder is installed inside the primary lifting guide cylinder. One end of the primary lifting cylinder is riveted to the outer cylinder of the primary lifting guide cylinder, and the other end is hinged to the crossbeam. The inner cylinder of the primary lifting guide cylinder is riveted to one end of the crossbeam, and the other end of the crossbeam is riveted to the side of the outer cylinder of the secondary lifting guide cylinder. One end of the secondary lifting cylinder is riveted to the upper surface of the outer cylinder of the secondary lifting guide cylinder, and the other end is hinged to the robot gripper. The robot gripper is also riveted to the inner cylinder of the secondary lifting guide cylinder. The probe sensor assembly is riveted to the side of the robot gripper. The rod replenishment robot achieves the vertical gripping / placement of drill rods in the drill rod chamber by extending and retracting the vertically lifting primary and secondary lifting cylinders.

[0021] The aforementioned control method for automatic rod replenishment on an integrated automatic directional drilling rig suitable for downhole directional drilling involves the following steps: Before drilling begins, a single drill rod is manually placed in the rod replenishment position within the drill rod chamber. Upon receiving a command, the rod replenishment robot moves horizontally to the outermost rod replenishment row within the drill rod chamber. The primary and secondary lifting cylinders work together to raise and lower the rod replenishment robot. Once the probe sensor assembly contacts the drill rod, a stop command is sent for the robot arm to stop raising and lowering. At this point, the robot arm's gripping center coincides with the drill rod's center. After gripping the drill rod, the robot arm lifts to its highest point and then moves horizontally to the innermost first row of drill rods. The entire rod replenishment robot then lowers to place the drill rod, with the lowering position determined manually. The initial position coordinates (x, y) are determined, where x represents the drill pipe column coordinates and y represents the drill pipe row height. After the initial position coordinates are determined, each time a drill pipe is manually loaded, the drill pipe replenishment robot receives a trigger command and executes the automatic drill pipe replenishment program, placing the drill pipe to be loaded at the (x, y+A) coordinate position, where A represents the drill pipe diameter. When the number and height of drill pipes that can be accommodated in a single column are reached, the drill pipe replenishment robot automatically changes the drill pipe lowering coordinates to (x+1, y). Similarly, when the horizontal column coordinates are full, a prompt is made that the automatic drill pipe replenishment program can no longer be executed, the drill pipe replenishment robot fully retracts its height and stops at the replenishment column, maintaining a minimum waiting posture.

[0022] The control method for automatic rod replenishment of an integrated automatic directional drilling rig suitable for downhole directional construction includes a crawler vehicle body, a drilling host, a rod replenishment device, and a power pump station, all riveted and fixed to the crawler vehicle body, and a crawler assembly at the lower end of the crawler vehicle body.

[0023] The aforementioned control method for automatically loading and unloading drill pipes on an integrated automatic directional drilling rig suitable for downhole directional drilling involves the following steps: In automatic pipe loading mode, the pipe loading robot switches to pipe loading control mode. The robot moves to the top of the outermost drill pipe row and sequentially grabs drill pipes from top to bottom. After grabbing the drill pipes, it moves horizontally and vertically to the top of the transfer tray. The relative position of the transfer tray and the drill pipe chamber is fixed. The drill pipe is lowered into the concave groove of the transfer tray, and the lowering position is fixed relative to the position of the drill pipe chamber. When the drill pipe detection device on the side of the transfer tray detects that a drill pipe is in the groove, the pipe loading robot stops its descent, opens its gripper, and completes the pipe delivery. The aligning device on the transfer tray moves in opposite directions along the drill rod axis, clamping both ends of the drill rod and fixing it axially. Then, the transfer cylinder extends, pushing the transfer tray to move along the sliding guide rail to the rod-to-be-added position. The aligning device opens, completing the rod delivery. At this time, the entire rod-adding and unloading robotic arm is in an initial vertical state before each drill rod loading and unloading. The secondary rotating arm is in an initial 0° position, and the telescopic arm is in a fully retracted vertical state. The drilling host rotary head can drill normally along the machine axis without affecting the rod-adding and unloading robotic arm. When a drill hole on the drilling host is fed into the hole, the rotary head retracts to the rear end of the feed device. At this time, the rod-adding and hooking procedure can be executed.

[0024] Specifically, the rod-addition process for horizontal or vertical drilling operations is as follows: First, the telescopic boom extends vertically, aligning the center axis of the drill rod gripper with the center axis of the drill rod to be added. After the drill rod gripper grabs the drill rod, the telescopic boom retracts to its initial position. For vertical drilling, the primary rotating boom rotates under the action of the angle-adjusting cylinder until the rod-adding / unloading manipulator and the feed device are at the same angle. The secondary rotating boom is then controlled to rotate 90° clockwise around its rotation center. At this point, the telescopic boom is horizontal. Simultaneously, the primary telescopic cylinder is fully retracted, and the secondary telescopic cylinder is fully extended, bringing the telescopic boom to its maximum horizontal extension. The secondary rotating boom... The arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise. The drill rod inside the drill rod gripper rotates to the center of the rotary unit, coaxial with the active drill rod assembly. At this time, the mounting procedure is executed. The gripper clamps the drill rod to be added. The rotary unit rotates and feeds simultaneously. The drill rod gripper of the rod adding / unloading robot arm always holds the drill rod. Once the active drill rod assembly and the drill rod to be added are successfully mounted, the drill rod gripper releases the drill rod. The first-stage telescopic cylinder extends fully, the second-stage telescopic cylinder retracts fully, and the telescopic arm retracts completely along a straight line. The second-stage rotary arm continues to rotate counterclockwise to return to the initial rod-adding position. The first-stage rotary arm also rotates back to the initial position. At this point, the single drill rod adding process is complete.

[0025] Specifically, the rod-adding process during drilling at a downward angle is as follows: the telescopic boom extends vertically, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added, the drill rod gripper grabs the drill rod to be added, and the telescopic boom retracts to its initial position; during downward angle drilling, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center, and then the primary rotating arm rotates under the action of the angle-adjusting cylinder until the rod-adding / unloading manipulator and the feeding device are parallel; the subsequent process is the same as the rod-adding process during horizontal or upward angle drilling.

[0026] The aforementioned control method for automatically loading and unloading drill pipes on an integrated automatic directional drilling rig suitable for downhole directional drilling, in automatic unloading mode, involves switching both the rod replenishment device and the rod loading / unloading robotic arm to unloading control mode. First, the primary rotating arm of the rod loading / unloading robotic arm rotates to the same angle as the feed device. The drill pipe gripper moves to the center of the rotary head, clamping the drill pipe to be unloaded in the middle, and returns to the initial position along the original path. At this time, the transfer tray of the rod replenishment device extends, and the telescopic arm of the rod loading / unloading robotic arm partially extends under the action of the secondary telescopic cylinder, placing the drill pipe to be unloaded into the transfer tray. After the top-mounting device clamps the drill pipe in the tray, the drill pipe gripper releases the drill pipe, and the transfer tray... After retracting to the initial position, the top-mounting device is released; the rod replenishment robot arm begins to work. At this time, the automatic rod unloading is divided into two modes. One mode is to place the drill rod to be unloaded back into the empty position in the rod chamber. The placement order is determined according to the last position coordinate of the drill rod added, until the rod chamber is full of drill rods. Then, the drill rods are unloaded. The rod replenishment robot arm delivers the drill rods point-to-point from the transfer tray to the manual rod placement / retrieval position in the rod chamber. Each time a drill rod is placed, the operator takes one drill rod from the fixed low position and places it on the drill rod rack. The other mode is to directly place the drill rod to be unloaded in the manual rod placement / retrieval position each time, regardless of how many drill rods are left in the rod chamber or whether there are any drill rods left. Then, the drill rod is taken away manually.

[0027] Compared with the prior art, the present invention has the following technical effects:

[0028] This invention relates to an integrated automated directional drilling rig with a high-efficiency drill rod loading and unloading system and control method. It is applicable to underground directional drilling operations in coal mines. The rig features an integrated layout, compact structure, and self-contained power system, eliminating the need for a dedicated power pump truck. It can be used with existing conventional mud pump trucks for directional drilling, offering wider compatibility. During drill rod loading and unloading, the robotic arm can handle different drilling angles, employing a combination of linear and rotary motion to achieve loading and unloading within a small angle range (0-90°). A combination of mechanical limiters and angle sensors ensures precise positioning at multiple angles, improving the efficiency and reliability of drill rod loading and unloading. For rod replenishment, the rig has a rod magazine capacity sufficient to meet the average single-shift advance in actual construction, allowing for one-time rod replenishment per shift, minimizing the need for auxiliary personnel to wait for replenishment, thus reducing manpower and increasing efficiency. Meanwhile, the rod holder is designed with an N+1 structure, which enables multiple modes of operation, including manual low-position and fixed-position rod loading / removal, and automatic loading / removal of drill rods by the robotic arm. This significantly reduces the labor intensity of workers and greatly improves the safety of drill rod loading and unloading operations.

[0029] The rod replenishment device of this invention adopts a novel integrated structure design of transfer tray and drill rod chamber, and a manual rod placement design and automatic rod replenishment control program design. It can not only make full use of the effective space of the directional drilling machine to achieve an overall layout, but also significantly reduce the labor intensity of rod replenishment in directional drilling construction, and solve the problems of uncertain position of manual drill rod installation and inconvenience of high-level rod retrieval and placement.

[0030] The present invention relates to a robotic arm for loading and unloading rods. It employs a combination of linear and rotary trajectory motion, which not only enables the loading and unloading of rods within the confined space of the drilling host and the rod replenishment device, but also features low working height, small rotation angle, and high efficiency. Furthermore, its ingenious two-stage telescopic structure allows for repeated mechanical positioning of the rod loading and unloading within a small angle range, thereby improving the control accuracy and reliability of the rod loading and unloading system. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the machine.

[0032] Figure 2 This is a schematic diagram of the drilling machine structure.

[0033] Figure 3 This is a schematic diagram of the active drill pipe structure.

[0034] Figure 4 This is a schematic diagram of the shackle clamping assembly.

[0035] Figure 5 This is a schematic diagram of the center angle adjustment device.

[0036] Figure 6 This is a schematic diagram of the feeding device.

[0037] Figure 7 This is a schematic diagram of the front angle adjustment device.

[0038] Figure 8 This is a schematic diagram of the robotic arm with added levers.

[0039] Figure 9 This is a schematic diagram of the rod-repairing device.

[0040] Figure 10 This is a schematic diagram of the robotic arm structure for repairing rods.

[0041] Figure 11 This is a schematic diagram of the main structure of the lever storage unit.

[0042] Figure 12 This is a schematic diagram of the power pump station structure.

[0043] Figure 13 This describes the lever replacement mode and control method.

[0044] Figure 14 This refers to the rod-adding / unloading mode and working path.

[0045] Figure 15 This is a schematic diagram for tilt angle detection.

[0046] Figure 16 This is a schematic diagram of the limit position of the robotic arm with added levers.

[0047] The meanings of the labels in the diagram are as follows:

[0048] 1. Drilling main unit; 2. Rod loading and unloading robotic arm; 3. Rod replenishment device; 4. Traveling mechanism; 5. Power pump station; 6. Crane boom;

[0049] 1-1. Center angle adjustment device; 1-2. Feeding device; 1-3. Slide plate device; 1-4. Rotary head; 1-5. Active drill pipe assembly; 1-6. Clamping and shackle device; 1-7. Front angle adjustment device.

[0050] 2-1. Rear chuck; 2-2. Drive drill pipe; 2-3. Front chuck.

[0051] 3-1. Clamping bracket; 3-2. Clamping cylinder; 3-3. Unscrew bracket; 3-4. Unscrew cylinder; 3-5. Unscrew cylinder connecting plate; 3-6. Support plate assembly; 3-7. Cover plate; 3-8. Pin.

[0052] 4-1. Base; 4-2. Rear angle adjustment cylinder; 4-3. Rotary shaft; 4-4. Deflection limit block; 4-5. Elevation limit block; 4-6. Tilt sensor assembly;

[0053] 5-1. Upper guide rail; 5-2. Machine body; 5-3. Feed cylinder; 5-4. Displacement sensor assembly; 5-5. Lower guide rail; 5-6. Limiting device;

[0054] 6-1. Front adjustment cylinder; 6-2. Column assembly; 6-3. Crossbeam I; 6-4. Crossbeam II;

[0055] 7-1. Angle-adjusting cylinder; 7-2. Primary rotating arm; 7-3. Secondary rotating arm; 7-4. Rotating support beam; 7-5. Drill pipe gripper; 7-6. Telescopic arm; 7-7. Telescopic arm limit assembly; 7-8. Secondary telescopic cylinder; 7-9. Primary telescopic cylinder; 7-10. Translation support beam.

[0056] 8-1. Drill pipe chamber; 8-2. Pipe replenishment robot; 8-3. Sliding guide rail; 8-4. Transfer pallet; 8-5. Transfer cylinder; 8-6. Alignment device; 8-7. Rack and pinion guide rail; 8-8. Horizontal position sensor.

[0057] 9-1. Drive motor; 9-2. First-stage lifting cylinder; 9-3. First-stage lifting guide cylinder; 9-4. Lifting position sensor; 9-5. Drive gear; 9-6. Crossbeam; 9-7. Second-stage lifting cylinder; 9-8. Second-stage lifting guide cylinder; 9-9. Robotic gripper;

[0058] 10-1. Drill pipe baffle; 10-2. Drill pipe chamber body; 10-3. Drill pipe pad block;

[0059] 11-1. Controller assembly, 11-2. Motor pump assembly, 11-3. Oil tank assembly. Detailed Implementation

[0060] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0061] Example:

[0062] like Figures 1 to 12 As shown, this embodiment provides an integrated automatic directional drilling rig suitable for downhole directional construction, including a traveling mechanism 4 and a drilling host 1, a rod loading / unloading robotic arm 2, a rod replenishing device 3, a boom 6, and a power pump station 5 mounted on the traveling mechanism 4; the traveling mechanism 4 includes a tracked vehicle body, and the rod loading / unloading robotic arm 2 is hinged to the drilling host 1; the drilling host 1, the rod replenishing device 3, the power pump station 5, and the control system are all riveted and fixed to the tracked vehicle body, and a track assembly is provided at the lower end of the tracked vehicle body; the drilling host 1 and the rod replenishing device 3 are arranged parallel and staggered along the length direction of the drilling rig tracked vehicle body of the traveling mechanism 4, and the rod loading / unloading robotic arm 2 is arranged in the upper middle position between the two, and through the coordinated transmission of actions among the three, multiple working modes of automatic rod replenishment, rod loading, and rod unloading are realized.

[0063] The drilling host 1 includes a feeding device 1-2, a center angle adjustment device 1-1 located below the rear of the feeding device 1-2, a front angle adjustment device 1-7 located at the front of the feeding device 1-2, a slide device 1-3 located on the feeding device 1-2, a rotary head 1-4 mounted on the slide device 1-3 and an active drill rod assembly 1-5 therein, and a clamping and uncoupling device 1-6 located on the feeding device 1-2; the slide device 1-3 can drive the rotary head 1-4 to move on the guide rail of the feeding device 1-2, and the rotary head 1-4 and the active drill rod assembly 1-5 are coaxial with the clamping and uncoupling device 1-6.

[0064] The loading / unloading robotic arm 2 includes, in sequence, an angle-adjusting cylinder 7-1, a primary rotating arm 7-2, a secondary rotating arm 7-3, a rotating support beam 7-4, a translational support beam 7-10, a primary telescopic cylinder 7-9, a telescopic arm 7-6, a drill pipe gripper 7-5, and a secondary telescopic cylinder 7-8. The angle-adjusting cylinder 7-1 can adjust the angle of the primary rotating arm 7-2. The secondary rotating arm 7-3 can drive the rotating support beam 7-4, the translational support beam 7-10, the primary telescopic cylinder 7-9, and the telescopic arm 7-6 to rotate as a whole around its rotation center from 0 to 90°. The translational support beam 7-10 is clamped on the outside of the guide rail of the telescopic arm 7-6 so that the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the primary telescopic cylinder 7-9. The extension / retraction of the secondary telescopic cylinder 7-8 inside the telescopic arm 7-6 can cause the drill pipe gripper 7-5 to slide axially as a whole.

[0065] The rod replenishment device 3 includes a drill pipe chamber 8-1, a rod replenishment robot 8-2, a horizontal position sensor 8-8, a rack and pinion guide rail 8-7, a sliding guide rail 8-3, a transfer tray 8-4, a top-aligning device 8-6, and a transfer cylinder 8-5. The drill pipe chamber 8-1 is riveted and fixed to the sliding guide rail 8-3 and the rack and pinion guide rail 8-7 on its side and front, respectively. The rod replenishment robot 8-2 is clamped on the rack and pinion guide rail 8-7. Driven by a hydraulic motor, the rod replenishment robot 8-2 can slide along the rack and pinion guide rail 8-7 by means of gear meshing transmission. One end of the horizontal position sensor 8-8 is connected to the rod replenishment robot 8-2. One end is riveted and fixed, and the other end is riveted and fixed to the drill pipe chamber 8-1 to achieve the positioning of the horizontal movement of the rod replenishment robot 8-2; the transfer tray 8-4 is clamped on the sliding guide rail 8-3, one end of the transfer cylinder 8-5 is hinged and fixed to the sliding guide rail 8-3, and the other end is hinged and fixed to the drill pipe chamber 8-1. Under the action of the transfer cylinder 8-5, the transfer tray 8-4 slides along the sliding guide rail 8-3. The jacking device 8-6 is symmetrically arranged at both ends of the transfer tray 8-4 and riveted and fixed to it. The jacking devices 8-6 work together in pairs to ensure that the position of the drill pipe is relatively fixed each time, thereby improving the control accuracy.

[0066] The power pump station 5 includes a motor pump set 11-2, an oil tank assembly 11-3, and a controller assembly 11-1. The motor pump set 11-2 adopts a three-pump + inner shaft connection structure, which shortens the overall length and places the pump part inside the gap below the oil tank assembly 11-3. The controller assembly 11-1 is fixed to the side of the motor, and the controller is placed above the motor. The three components make full use of the local space to achieve an integrated and compact layout of the entire drilling rig.

[0067] The feeding device 1-2 includes an upper guide rail 5-1, a machine body 5-2, a feeding cylinder 5-3, a lower guide rail 5-5, a displacement sensor assembly 5-4, and a limiting device 5-6. The upper guide rail 5-1 and the lower guide rail 5-5 are riveted and fixed to the machine body 5-2. The feeding cylinder 5-3 is fixed between the upper guide rail 5-1 and the lower guide rail 5-5. The cylinder rod of the feeding cylinder 5-3 is fixed to both ends of the machine body 5-2. The cylinder barrel of the feeding cylinder 5-3 can slide along the machine body 5-2. The displacement sensor assembly 5-4 and the limiting device 5-6 are riveted and fixed to the side of the machine body 5-2. The slide plate device 1-3 is clamped on the guide rail of the feeding device 1-2 and can slide with the feeding cylinder 5-3.

[0068] The mid-angle adjustment device 1-1 includes a base 4-1, a tilt angle limit block 4-4, an elevation angle limit block 4-5, a rear-angle adjustment cylinder 4-2, a rotating shaft 4-3, and an tilt angle sensor assembly 4-6. The elevation angle limit block 4-5 is riveted and fixed to the rear of the base 4-1, the tilt angle limit block 4-4 is riveted and fixed to the front of the base 4-1, one end of the rear-angle adjustment cylinder 4-2 is hinged to the base 4-1, and the other end is hinged to the feeding device 1-2. The rotating shaft 4-3 is hinged to the base 4-1, and the tilt angle sensor assembly 4-6 is riveted and fixed to the side of the base 4-1 to detect the initial horizontal position of the loading and unloading robot arm 2. The tilt angle limit block 4-4 and the elevation angle limit block 4-5 strictly limit the movement of the feeding device 1-2 within the tilt angle range of -10° to 20°, and there will be no angle overshoot.

[0069] The front angle adjustment device 1-7 includes a front angle adjustment cylinder 6-1, a column assembly 6-2, a crossbeam I 6-3, and a crossbeam II 6-4; the middle part of the crossbeam I 6-3 is hinged to the feed device 1-2, and both ends are hinged to the column assembly 6-2, and can slide along the axial direction of the column assembly 6-2; one end of the front angle adjustment cylinder 6-1 is hinged to the crossbeam II 6-4, and the other end is hinged to the track body of the traveling mechanism 4; both ends of the crossbeam II 6-4 are hinged to the column assembly 6-2.

[0070] Rotary head 1-4 is riveted and fixed to slide plate device 1-3. Active drill rod assembly 1-5 is installed through the inner through hole of rotary head 1-4. Active drill rod assembly 1-5 is clamped at the front and rear ends of rotary head 1-4. Active drill rod assembly 1-5 includes active drill rod 2-2, front chuck 2-3, and rear chuck 2-1. Front chuck 2-3 is clamped to the shoulder of active drill rod 2-2 and axially fixed. Rear chuck 2-1 is clamped to the groove of active drill rod 2-2 and axially fixed.

[0071] The clamping and unhooking device 1-6 is riveted and fixed to the front end of the feeding device 1-2. The clamping and unhooking device 1-6 includes a clamping bracket 3-1, a clamping cylinder 3-2, a pin 3-8, a cover plate 3-7, an unhooking device bracket 3-3, a support plate assembly 3-6, an unhooking cylinder 3-4, and an unhooking cylinder connecting plate 3-5. The two sets of clamping cylinders 3-2 are respectively hinged to the clamping bracket 3-1 and the unhooking device bracket 3-3 through the pin 3-8. The cover plate 3-7 is respectively provided on the top of the clamping bracket 3-1 and the unhooking device bracket 3-3. The shackler bracket 3-3 is hinged to the clamp bracket 3-1 and the support plate assembly 3-6 respectively. One end of the shackler cylinder 3-4 is hinged to the side of the shackler bracket 3-3, and the other end is hinged to the shackler cylinder connecting plate 3-5. When the shackler cylinder 3-4 is fully retracted to the initial position, the shackler bracket 3-3 and the clamp bracket 3-1 are angularly deviated. When the shackler cylinder 3-4 extends, it can make the shackler bracket 3-3 rotate along the axis and relative to the clamp bracket 3-1 and the support plate assembly 3-6, thereby increasing the entire shackle stroke.

[0072] The clamping cylinder 3-2 is a counter-rotating cylinder, and a slip is installed at the front end of the lever of the counter-rotating cylinder.

[0073] Both the clamping bracket 3-1 and the uncoupling bracket 3-3 are U-shaped structures and are arranged adjacent to each other; the two sets of slips corresponding to the two sets of clamping cylinders 3-2 are located at the slots of the clamping bracket 3-1 and the uncoupling bracket 3-3 respectively, and the two sets of slips can coaxially clamp the drill pipe.

[0074] The bottom of the clamp bracket 3-1 is provided with bolt holes for fixing it to the base by bolts.

[0075] The support plate assembly 3-6 is a semi-circular structure with the opening facing upwards; the bottom of the support plate assembly 3-6 is provided with bolt holes for fixing to the base by bolts.

[0076] The shackle cylinder connecting plate 3-5 is provided with mounting holes for fixed installation on the drilling rig.

[0077] Cover plates 3-7 are removable.

[0078] The clamp bracket 3-1, the uncoupling bracket 3-3, and the support plate assembly 3-6 are arranged sequentially along the length of the drill pipe.

[0079] The working process of the clamping and uncoupling device is as follows: First, centering initialization is performed: the rotary clamps the drill rod, and the drill rod enters the uncoupling cylinder in the clamping bracket and the uncoupling bracket in turn; the clamping cylinder of the uncoupling bracket extends, and the extension amount at the moment of pressure stabilization, the extension amount at the moment of pressure change, and the extension amount at the moment of pressure change stabilization are recorded; the clamping cylinder of the clamping bracket extends, and the extension amount at the moment of pressure stabilization, the extension amount at the moment of pressure change, and the extension amount at the moment of pressure stabilization are recorded. After initial alignment, the operation begins: the rotary head rotates to perform drilling, and the maximum torque of the power head during drilling is collected as a reference value for the uncoupling torque; during the upward drilling, the uncoupling device bracket clamping cylinder extends simultaneously to complete the drill pipe alignment and clamping; the rotary head reverses, and after the active drill pipe is removed, the new drill pipe is placed into the clamping device bracket, and the clamping device bracket clamping cylinder extends simultaneously to complete the clamping; after the rotary head completes the connection between the active drill pipe and the new drill pipe tail, the clamping device bracket clamping cylinder releases, and the connection between the new drill pipe head and the drill pipe tail is completed. The uncoupling device bracket clamping cylinder is then released, and drilling continues; during uncoupling, the two drill pipes are... The connector is positioned between the chuck bracket and the uncoupling bracket. The uncoupling bracket extends to clamp the hydraulic cylinder, completing the clamping. Then, the chuck bracket extends to clamp the hydraulic cylinder, completing the clamping. After clamping, the uncoupling cylinder extends to uncouple. When relative sliding occurs at the connection point of the two drill pipes, the chuck bracket clamping cylinder opens. The drill pipe moves backward a certain distance under the reverse drive of the power head, and then the chuck bracket clamping cylinder closes, clamping the next drill pipe. The rotary head continues to reverse, completing the uncoupling at the connection point between the active drill pipe and the next drill pipe. The chuck bracket clamping cylinder releases, the drill pipe is removed, and one uncoupling cycle is completed.

[0080] The primary rotating arm is hinged to the angle-adjusting cylinder 7-1; the secondary rotating arm 7-3 is riveted to the primary rotating arm 7-2; one end of the rotating support beam 7-4 is riveted to the secondary rotating arm 7-3, and the other end is riveted to the translation support beam 7-10; one end of the primary telescopic cylinder 7-9 is hinged to the translation support beam 7-10, and the other end is hinged to the telescopic arm 7-6; the front end of the inner cylinder of the telescopic arm 7-6 is riveted to the drill rod gripper 7-5, and the outer cylinder is riveted to the probe sensor assembly; a telescopic arm limiting assembly 7-7 is riveted to the side of the telescopic arm 7-6. The secondary rotating arm 7-3 allows the rotating and translation support beam 7-10 and the telescopic arm 7-6 to reciprocate within an angle of 0 to 90°. This reciprocating motion is achieved using a hydraulically driven swing cylinder, which also provides a certain load-bearing capacity. The rotating mechanism is designed with an adjustable mechanical limit device 5-6, which limits the rotation by means of the protruding part of the irregularly shaped limit plate. The protruding part is equipped with an adjusting screw. Rotating the screw finely adjusts the initial and final angles of the turntable, which not only meets the limit requirements but also allows for flexible adjustment to compensate for accumulated errors.

[0081] The lower end of the adjusting cylinder 7-1 is hinged to the mounting lug, and the upper end is hinged to the lower part of the first-stage rotating arm 7-2.

[0082] The upper end of the first-stage rotating arm 7-2 is riveted to one end of the horizontal second-stage rotating arm 7-3. The other end of the second-stage rotating arm 7-3 is the slewing end, which is riveted to one end of the rotating support beam 7-4. The other end of the rotating support beam 7-4 is riveted to the translation support beam 7-10.

[0083] The telescopic arm 7-6 is perpendicular to the secondary rotating arm 7-3. A guide rail is provided on the outer wall of the telescopic arm 7-6 along its length. The translation support beam 7-10 is clamped on the guide rail. Under the telescopic action of the primary telescopic cylinder 7-9, the telescopic arm 7-6 can move relative to the translation support beam 7-10.

[0084] The cylinder barrel of the secondary telescopic cylinder 7-8 is fixed to one end of the outer cylinder of the telescopic arm 7-6, and the cylinder rod of the secondary telescopic cylinder 7-8 is fixedly connected to the inner cylinder of the telescopic arm 7-6.

[0085] The probe sensor assembly is positioned close to the drill pipe gripper 7-5.

[0086] The drill pipe chamber 8-1 includes a chamber body 10-2, a drill pipe baffle 10-1, and a drill pipe pad 10-3. The drill pipe baffle 10-1 is riveted to the inner sides of both ends of the chamber body 10-2, and the drill pipe pad 10-3 is riveted to the bottom of the chamber body 10-2. The drill pipe baffle 10-1 divides the interior of the drill pipe chamber 8-1 into multiple rows. The number of drill pipe baffles 10-1 is N, and the number of drill pipe rows is arranged in N+1. 1 indicates that only one drill pipe is placed in the outermost bottom supplementary position of the drill pipe chamber 8-1. This position is for manual placement / retrieval of drill pipes, which facilitates manual placement and retrieval of drill pipes in a fixed and low position, reducing the intensity of manual labor.

[0087] The drill pipe baffle 10-1 is perpendicular to both the end face and the bottom face of the drill pipe chamber 8-1; the drill pipe baffles 10-1 on the two end faces of the drill pipe chamber 8-1 are opposite each other.

[0088] The probe-mounting robot 8-2 includes a drive motor 9-1, a drive gear 9-5, a primary lifting cylinder 9-2, a primary lifting guide cylinder 9-3, a lifting position sensor 9-4, a crossbeam 9-6, a secondary lifting cylinder 9-7, a secondary lifting guide cylinder 9-8, a robot gripper 9-9, and a probe sensor assembly. The drive motor 9-1 is riveted to the primary lifting guide cylinder 9-3, and the drive gear 9-5 is hinged to the drive motor 9-1. The primary lifting cylinder 9-2 is installed inside the primary lifting guide cylinder 9-3, with one end riveted to the outer cylinder of the primary lifting guide cylinder 9-3 and the other end hinged to the crossbeam 9-6. Next, the inner cylinder of the first-stage lifting guide cylinder 9-3 is riveted to one end of the crossbeam 9-6, and the other end of the crossbeam 9-6 is riveted to the side of the outer cylinder of the second-stage lifting guide cylinder 9-8. One end of the second-stage lifting cylinder 9-7 is riveted to the upper surface of the outer cylinder of the second-stage lifting guide cylinder 9-8, and the other end is hinged to the robotic gripper 9-9. The robotic gripper 9-9 is also riveted to the inner cylinder of the second-stage lifting guide cylinder 9-8. The probe sensor assembly is riveted to the side of the robotic gripper 9-9. The rod replenishing robotic arm 8-2 extends and retracts through the vertically lifting first-stage lifting cylinder 9-2 and the second-stage lifting cylinder 9-7 to achieve the vertical gripping / placement of the drill rod in the drill rod chamber 8-1.

[0089] The drive gear 9-5 is fitted with the rack and pinion guide rail 8-7. The gripper arm 9-9 grips in the same direction as the drill rod inside the drill rod chamber 8-1. The sliding guide rail 8-3 is parallel to the direction in which the drill rod is placed inside the drill rod chamber 8-1. The sliding guide rail 8-3 and the rack and pinion guide rail 8-7 are perpendicular to each other. The side walls and bottom of the drill rod chamber 8-1 are openwork.

[0090] like Figure 13-16 As shown, in other embodiments of the present invention, a control method for automatic rod replenishment and automatic rod loading / unloading of an integral automatic directional drilling rig suitable for downhole directional drilling is also provided.

[0091] This control method for automatic rod replenishment on an integrated automatic directional drilling rig suitable for downhole directional drilling is as follows: Before drilling begins, a single drill rod is manually placed in the rod replenishment position of the drill rod chamber. Upon receiving a command, the rod replenishment robot moves horizontally to the outermost rod replenishment row in the drill rod chamber. The primary and secondary lifting cylinders work together to raise and lower the rod replenishment robot. When the probe sensor assembly touches the drill rod, a stop command is sent to the robot arm. At this point, the robot arm's gripping center coincides with the drill rod's center. After gripping the drill rod, the robot arm is raised to its highest point and then moves horizontally to the innermost first row of drill rods. The rod replenishment robot arm then... The drill pipe is lowered and placed at a manually set initial position coordinate (x, y), where x represents the drill pipe column coordinate and y represents the drill pipe row height. Once the initial position coordinates are determined, each time one drill pipe is manually loaded, the drill pipe replenishment robot receives a trigger command and executes the automatic replenishment program, placing the drill pipe to be loaded at the coordinate position (x, y + A), where A represents the drill pipe diameter. Since the replenishment control system knows the initial position coordinates (x, y) and the number and height of drill pipes that a single row of the drill pipe bin can hold, when the replenishment control system determines that coordinates (x, y + A) ≥ (x, y + A), the drill pipe replenishment robot will replenish the drill pipe at the coordinate position (x, y + A). max y max When the drill rod reaches the maximum number and height that a single column can accommodate, the drill rod replenishment robot automatically changes its coordinates to (x+1, y). Similarly, when the horizontal column coordinates are full, the system prompts that the automatic replenishment program can no longer be executed, the replenishment robot fully retracts, and stops at the replenishment position, maintaining a minimum waiting posture. This automatic replenishment mode can be used during shift changes on directional drilling rigs in coal mines. Workers only need a short time to fill a single rod chamber, meeting the progress requirements of the next shift. Replenishment personnel do not need to intervene in construction, achieving reduced manpower and increased efficiency per shift. Simultaneously, the replenishment positions designed outside the rod chamber are low in horizontal height and fixed in position. The robot automatically fills and drills according to the program, significantly reducing labor intensity, improving construction safety, and preventing errors in the drill rod replenishment program caused by manual rod placement, thus improving system reliability.

[0092] This invention relates to a control method for automatically loading and unloading drill pipes on an integrated automatic directional drilling rig suitable for downhole directional drilling. In automatic pipe loading mode, the pipe loading robot switches to pipe loading control mode and moves to the top of the outermost drill pipe row. It then sequentially grabs drill pipes from top to bottom. After grabbing the drill pipes, it moves horizontally and vertically to the top of the transfer tray. The transfer tray and drill pipe chamber are fixed in relative position. The drill pipe is lowered into the concave groove of the transfer tray, with the lowering position fixed relative to the drill pipe chamber position. A drill pipe detection device on the side of the transfer tray detects a drill pipe in the groove, and the pipe loading robot stops its descent, opens its gripper, and completes the pipe delivery. A counter-rotating device fixed on the transfer tray moves axially along the drill pipe, clamping both ends of the drill pipe and fixing it axially. Then, the transfer cylinder extends, pushing the transfer tray along the sliding guide rail to the pipe loading position. The counter-rotating device opens, completing the pipe delivery. At this point, the entire pipe loading and unloading robot arm is in an initial vertical state before each drill pipe loading and unloading operation. Figure 13 As shown, the secondary rotating arm is at the initial 0°, the telescopic arm is in the fully retracted vertical state, the drilling host rotary head can drill normally along the machine body axis, and does not affect the rod loading and unloading mechanical arm. When a hole on the drilling host is sent into the hole, the rotary head retracts to the last end of the feeding device, at which time the rod loading and unloading procedure can be executed.

[0093] During construction, the drilling rig may encounter different working conditions such as horizontal, elevation, and depression angles, requiring different rod loading and unloading procedures. When the drilling rig is operating horizontally or at an elevation angle, the elevation rod loading procedure must be selected in the drilling rig control program, while the depression rod loading procedure must be executed when operating at a depression angle.

[0094] The process of adding rods when drilling rigs are operating horizontally or at an elevation angle, such as... Figure 14 As shown: First, the telescopic boom extends vertically, its extension length entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper picks up the drill rod to be added from point a, the telescopic boom retracts to its initial position at point b. At this point, the drilling is at an elevation angle. The primary rotating arm rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt angle position is determined by the tilt angle sensor assembly fixed on the feed device. When the sensor scans the upper calibration plate on the primary rotating arm, the angle-adjusting cylinder stops operating. At this point, the rod-adding / unloading arm and the feed device are at the same tilt angle. The tilt angle detection is as follows: Figure 15As shown; at this time, control the secondary rotating arm to rotate 90° clockwise around its rotation center, and the drill rod to be added is sent to point c. The end face of the secondary rotating arm is equipped with an angle limit block, which can realize the mechanical positioning of the rotating arm from the initial 0° to 90°. At this time, the telescopic arm is in a horizontal state. At the same time, control the primary telescopic cylinder to fully retract and the secondary telescopic cylinder to fully extend. The telescopic arm is fully extended horizontally to its longest state. Its position is mechanically positioned by the sum of the strokes of the primary and secondary telescopic cylinders. The drill rod to be added is sent to point d. At this time, the secondary rotating arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise by a certain angle. Since the telescopic arm is fully extended, it drives the telescopic arm limit component fixed on its side to extend. When rotating counterclockwise, the telescopic arm limit component collides with the limit device fixed on the side of the feed device, limiting the telescopic arm to continue to rotate counterclockwise. At this time, the drill rod in the drill rod gripper just rotates to the center of the rotary device, coaxial with the active drill rod assembly, and reaches the rod addition position point e. The limit is as follows. Figure 16 As shown; at this time, the clamping procedure is executed, the gripper clamps the drill rod to be added, the rotary head rotates and feeds simultaneously, and the drill rod gripper of the rod adding / unloading robot arm always holds the drill rod. After the active drill rod assembly and the drill rod to be added are successfully clamped, the drill rod gripper releases the drill rod, the first-stage telescopic cylinder extends fully, the second-stage telescopic cylinder retracts fully, the telescopic arm moves in a straight line and retracts completely, the second-stage rotary arm is now indefinitely locked and can continue to rotate counterclockwise to return to the initial rod adding position; the first-stage rotary arm also rotates a certain angle to return to the initial position. The initial position is determined by the sensor assembly of the middle adjustment device scanned and fixed by the lower calibration plate on the first-stage rotary arm. At this point, the single drill rod adding process is completed.

[0095] The process for adding a rod during drilling at a downward angle: The telescopic boom extends vertically, its extension length entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper picks up the drill rod, the telescopic boom retracts to its initial position. For downward angle drilling, first, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. An angle limit block is installed on the end face of the secondary rotating arm, enabling mechanical positioning from 0° to 90°. Then, the primary rotating arm rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt position is determined by the tilt sensor assembly fixed on the feed device. When the sensor scans the upper calibration plate on the primary rotating arm, the angle-adjusting cylinder stops. At this point, the rod-adding / unloading arm is parallel to the feed device. Subsequent processes are the same as for adding a rod during horizontal or upward angle drilling.

[0096] This invention relates to a control method for automatically loading and unloading drill pipes on an integrated automatic directional drilling rig suitable for downhole directional drilling. In automatic unloading mode, both the rod replenishment device and the rod loading / unloading robotic arm switch to unloading control mode. First, the primary rotating arm of the rod loading / unloading robotic arm rotates to the same angle as the feed device. The drill pipe gripper moves to the center of the rotary head, clamps the drill pipe to be unloaded, and returns to the initial position along the original path. At this time, the transfer tray of the rod replenishment device extends, and the telescopic arm of the rod loading / unloading robotic arm partially extends under the action of the secondary telescopic cylinder, placing the drill pipe to be unloaded into the transfer tray. After the top-mounting device clamps the drill pipe in the tray, the drill pipe gripper releases the drill pipe, and the transfer tray retracts. Once in the initial position, the top-mounting device is released; the rod replenishment robot arm begins to work. At this time, the automatic rod unloading has two modes. One mode is to place the drill rod to be unloaded back into the empty position in the rod chamber. The placement order is determined according to the last position coordinate of the drill rod that was installed, until the rod chamber is full of drill rods. Then, the drill rods are unloaded. The rod replenishment robot arm delivers the drill rods point-to-point from the transfer tray to the manual rod placement / retrieval position in the rod chamber. Each time a drill rod is placed, the operator takes one drill rod from the fixed low position and places it on the drill rod holder. The other mode is to directly place the drill rod to be unloaded in the manual rod placement / retrieval position each time, regardless of how many drill rods are left in the rod chamber or whether there are any drill rods left. Then, the drill rod is taken away manually.

[0097] Rapid manual rod unloading mode: Since the automatic drilling machine uses intermediate rod unloading, when the previous drill rod is unloaded and the next drill rod needs to be unloaded from the hole, the active drill rod assembly must be used to engage with the previous drill rod to be unloaded and drag it to the intermediate rod unloading position. Compared with manual rod unloading, this is less efficient. Therefore, in some special working conditions, when it is necessary to remove drill rods that are nearly 100 meters or 1,000 meters long from the hole, the rear end of the rotary head is often used for unloading. In this case, the connecting bolts of the front and rear chucks of the active drill rod assembly can be quickly opened to pull out the active drill rod. Using the through-hole structure of the rotary head chuck, in conjunction with the action of the clamping and uncoupling assembly, the drill rod can be quickly unloaded from the rear end of the rotary head.

[0098] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0099] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0100] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. An integrated automatic directional drilling rig suitable for downhole directional drilling, characterized in that, It includes a traveling mechanism (4) and a drilling host (1), a rod loading and unloading robot arm (2), a rod replenishing device (3), a boom (6), and a power pump station (5) mounted on the traveling mechanism (4); the drilling host (1) and the rod replenishing device (3) are arranged in parallel and staggered along the length of the traveling mechanism (4), and the rod loading and unloading robot arm (2) is arranged in the upper middle position between the two. Through the cooperation and transmission of actions among the three, automatic rod replenishment, rod loading and rod unloading are realized. The drilling host (1) includes a feeding device (1-2), a center angle adjustment device (1-1) located below the rear of the feeding device (1-2), a front angle adjustment device (1-7) located at the front of the feeding device (1-2), a slide device (1-3) located on the feeding device (1-2), a rotary head (1-4) mounted on the slide device (1-3) and its active drill rod assembly (1-5), and a clamping and uncoupling device (1-6) located on the feeding device (1-2); the slide device (1-3) can drive the rotary head (1-4) to move on the guide rail of the feeding device (1-2), and the rotary head (1-4) and the active drill rod assembly (1-5) are coaxial with the clamping and uncoupling device (1-6); The loading and unloading manipulator (2) includes, in sequence, an angle-adjusting cylinder (7-1), a primary rotating arm (7-2), a secondary rotating arm (7-3), a rotating support beam (7-4), a translational support beam (7-10), a primary telescopic cylinder (7-9), a telescopic arm (7-6), a drill pipe gripper (7-5), and a secondary telescopic cylinder (7-8); the angle-adjusting cylinder (7-1) can adjust the angle of the primary rotating arm (7-2), and the secondary rotating arm (7-3) can drive the rotating support beam (7-4)... The translation support beam (7-10), the first-stage telescopic cylinder (7-9), and the telescopic arm (7-6) rotate as a whole around their rotation center from 0 to 90°; the translation support beam (7-10) is clamped on the outside of the guide rail of the telescopic arm (7-6) so that the telescopic arm (7-6) can slide as a whole along the axis under the action of the extension / retraction of the first-stage telescopic cylinder (7-9); the second-stage telescopic cylinder (7-8) inside the telescopic arm (7-6) can make the drill pipe gripper (7-5) slide as a whole along the axis under the action of the extension / retraction; The rod replenishment device (3) includes a drill rod chamber (8-1), a rod replenishment manipulator (8-2), a horizontal position sensor (8-8), a rack guide rail (8-7), a sliding guide rail (8-3), a transfer tray (8-4), a top-aligning device (8-6), and a transfer cylinder (8-5). The drill rod chamber (8-1) is fixed to the sliding guide rail (8-3) and the rack guide rail (8-7) on its side and front, respectively. The rod replenishment manipulator (8-2) is clamped on the rack guide rail (8-7) and can slide along the rack guide rail (8-7). One end of the horizontal position sensor (8-8) is connected to the rod replenishment manipulator. The hand (8-2) is fixed at one end and the other end is fixed to the drill pipe chamber (8-1) to achieve the horizontal positioning of the drill pipe replenishing robot (8-2); the transfer tray (8-4) is clamped on the sliding guide rail (8-3), one end of the transfer cylinder (8-5) is fixed to the sliding guide rail (8-3), and the other end is fixed to the drill pipe chamber (8-1). Under the action of the transfer cylinder (8-5), the transfer tray (8-4) slides along the sliding guide rail (8-3). The top-aligning device (8-6) is symmetrically arranged at both ends of the transfer tray (8-4) to ensure that the position of the drill pipe is relatively fixed each time, thereby improving the control accuracy. The power pump station (5) includes a motor pump unit (11-2), an oil tank assembly (11-3), and a controller assembly (11-1).

2. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The feeding device (1-2) includes an upper guide rail (5-1), a machine body (5-2), a feeding cylinder (5-3), a lower guide rail (5-5), a displacement sensor assembly (5-4), and a limiting device (5-6). The upper guide rail (5-1) and the lower guide rail (5-5) are riveted and fixed to the machine body (5-2). The feeding cylinder (5-3) is fixed between the upper guide rail (5-1) and the lower guide rail (5-5). The cylinder rod of the feeding cylinder (5-3) is fixed to both ends of the machine body (5-2). The cylinder barrel of the feeding cylinder (5-3) can slide along the machine body (5-2). The displacement sensor assembly (5-4) and the limiting device (5-6) are riveted and fixed to the side of the machine body (5-2). The slide plate device (1-3) is clamped on the guide rail of the feeding device (1-2) and can slide with the feeding cylinder (5-3).

3. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The mid-angle adjustment device (1-1) includes a base (4-1), a depression angle limiting block (4-4), an elevation angle limiting block (4-5), a rear angle adjustment cylinder (4-2), a rotating shaft (4-3), and an tilt angle sensor assembly (4-6). The elevation angle limiting block (4-5) is fixed behind the base (4-1), the depression angle limiting block (4-4) is fixed in front of the base (4-1), one end of the rear angle adjustment cylinder (4-2) is hinged to the base (4-1), and the other end is hinged to the feeding device (1-2). The rotating shaft (4-3) is hinged to the base (4-1), and the tilt angle sensor assembly (4-6) is riveted and fixed to the side of the base (4-1).

4. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The front angle adjustment device (1-7) includes a front angle adjustment cylinder (6-1), a column assembly (6-2), a crossbeam I (6-3), and a crossbeam II (6-4); the middle part of the crossbeam I (6-3) is hinged to the feeding device (1-2), and both ends are hinged to the column assembly (6-2), and can slide along the axial direction of the column assembly (6-2); one end of the front angle adjustment cylinder (6-1) is hinged to the crossbeam II (6-4), and the other end is hinged to the traveling mechanism (4), and both ends of the crossbeam II (6-4) are hinged to the column assembly (6-2).

5. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The rotary device (1-4) is riveted and fixed to the slide plate device (1-3). The active drill rod assembly (1-5) is installed through the through hole in the rotary device (1-4). The active drill rod assembly (1-5) is clamped at the front and rear ends of the rotary device (1-4). The active drill rod assembly (1-5) includes an active drill rod (2-2), a front chuck (2-3), and a rear chuck (2-1). The front chuck (2-3) is clamped on the shoulder of the active drill rod (2-2) and is axially fixed. The rear chuck (2-1) is clamped in the groove of the active drill rod (2-2) and is axially fixed.

6. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The clamping and unhooking device (1-6) is riveted and fixed to the front end of the feeding device (1-2). The clamping and unhooking device (1-6) includes a clamping bracket (3-1), a clamping cylinder (3-2), a pin (3-8), a cover plate (3-7), an unhooking device bracket (3-3), a support plate assembly (3-6), an unhooking cylinder (3-4), and an unhooking cylinder connecting plate (3-5). Two sets of clamping cylinders (3-2) are respectively hinged to the clamping bracket (3-1) and the unhooking device bracket (3-3) through pins (3-8). The cover plate (3-7) is respectively provided on the clamping bracket. The top of the frame (3-1) and the shackler bracket (3-3) is hinged to the clamp bracket (3-1) and the support plate assembly (3-6) respectively. One end of the shackler cylinder (3-4) is hinged to the side of the shackler bracket (3-3), and the other end is hinged to the shackler cylinder connecting plate (3-5). When the shackler cylinder (3-4) is fully retracted to the initial position, the shackler bracket (3-3) and the clamp bracket (3-1) are angularly deviated. When the shackler cylinder (3-4) extends, it can make the shackler bracket (3-3) rotate along the axis, increasing the entire shackle stroke.

7. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The first-stage rotating arm (7-2) is hinged to the angle-adjusting cylinder (7-1), the second-stage rotating arm (7-3) is riveted to the first-stage rotating arm (7-2), one end of the rotating support beam (7-4) is riveted to the second-stage rotating arm (7-3), and the other end is riveted to the translation support beam (7-10). One end of the first-stage telescopic cylinder (7-9) is hinged to the translation support beam (7-10), and the other end is hinged to the telescopic arm (7-6). The front end of the inner cylinder of the telescopic arm (7-6) is riveted to the drill rod gripper (7-5), and the outer cylinder is riveted to the probe sensor assembly. The telescopic arm limiting assembly (7-7) is riveted to the side of the telescopic arm (7-6).

8. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The drill pipe chamber (8-1) includes a chamber body (10-2), a drill pipe baffle (10-1), and a drill pipe pad (10-3). The drill pipe baffle (10-1) is riveted to the inner sides of both ends of the chamber body (10-2), and the drill pipe pad (10-3) is riveted to the bottom of the chamber body (10-2). The drill pipe baffle (10-1) divides the drill pipe chamber (8-1) into multiple rows. The number of drill pipe baffles (10-1) is N, and the number of drill pipe rows is arranged in N+1. 1 indicates that only one drill pipe is placed in the outermost bottom supplementary position of the drill pipe chamber (8-1).

9. The integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 8, characterized in that, The rod-repairing manipulator (8-2) includes a drive motor (9-1), a drive gear (9-5), a primary lifting cylinder (9-2), a primary lifting guide cylinder (9-3), a lifting position sensor (9-4), a crossbeam (9-6), a secondary lifting cylinder (9-7), a secondary lifting guide cylinder (9-8), a manipulator gripper (9-9), and a probe sensor assembly. The drive motor (9-1) is riveted to the primary lifting guide cylinder (9-3), the drive gear (9-5) is hinged to the drive motor (9-1), the primary lifting cylinder (9-2) is installed inside the primary lifting guide cylinder (9-3), one end of the primary lifting cylinder (9-2) is riveted to the outer cylinder of the primary lifting guide cylinder (9-3), and the other end is riveted to the crossbeam (9-6). -6) Hinged connection: the inner cylinder of the first-stage lifting guide cylinder (9-3) is riveted to one end of the crossbeam (9-6), and the other end of the crossbeam (9-6) is riveted to the side of the outer cylinder of the second-stage lifting guide cylinder (9-8). One end of the second-stage lifting cylinder (9-7) is riveted to the upper surface of the outer cylinder of the second-stage lifting guide cylinder (9-8), and the other end is hinged to the manipulator gripper (9-9). The manipulator gripper (9-9) is also riveted to the inner cylinder of the second-stage lifting guide cylinder (9-8). The probe sensor assembly is riveted to the side of the manipulator gripper (9-9). The rod replenishment manipulator (8-2) extends and retracts through the vertically lifting first-stage lifting cylinder (9-2) and second-stage lifting cylinder (9-7) to realize the vertical gripping / placement of the drill rod in the drill rod chamber (8-1).

10. The control method for automatic rod replenishment of an integral automatic directional drilling rig suitable for downhole directional construction as described in claim 9, characterized in that, Before drilling begins, a single drill rod is manually placed in the drill rod chamber's replenishment position. Upon receiving a command, the replenishment robot moves horizontally to the outermost replenishment row in the drill rod chamber. The primary and secondary lifting cylinders work together to raise and lower the replenishment robot. Once the probe sensor assembly touches the drill rod, a stop command is sent to the robot arm. At this point, the robot arm's gripping center aligns with the drill rod's center. After gripping the drill rod, the robot arm lifts to its highest point and then moves horizontally to the innermost first drill rod row. The replenishment robot then lowers the entire drill rod, with the lowering position determined by the manually set initial position coordinates (x, y). Let x represent the drill pipe column coordinates and y represent the drill pipe row height. After determining the initial position coordinates, each time a drill pipe is manually loaded, the drill pipe replenishment robot receives a trigger command and executes the automatic drill pipe replenishment program, placing the drill pipe to be loaded at the coordinate position (x, y+A), where A represents the drill pipe diameter. When the number and height of drill pipes that can be accommodated in a single column are reached, the drill pipe replenishment robot automatically changes the drill pipe lowering coordinates to (x+1, y). Similarly, when the horizontal column coordinates are full, a prompt is made that the automatic drill pipe replenishment program can no longer be executed, the drill pipe replenishment robot fully retracts its height and stops at the replenishment column, maintaining the lowest waiting posture.

11. The control method for automatic rod replenishment of an integrated automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, The walking mechanism (4) includes a tracked vehicle body, and the drilling host (1), the rod repair device (3), and the power pump station (5) are all riveted and fixed on the tracked vehicle body. The tracked vehicle body has a track assembly at the lower end.

12. The control method for automatically loading and unloading drill pipes in an integral automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, In automatic rod feeding mode, the rod feeding robot switches to rod feeding control mode. The rod feeding robot moves to the top of the outermost drill rod row and grabs drill rods from top to bottom. After grabbing the drill rod, it moves horizontally and vertically to the top of the transfer tray. The transfer tray and the drill rod chamber are fixed in relative position. The drill rod is lowered into the concave groove of the transfer tray. The lowering position is fixed relative to the position of the drill rod chamber. The drill rod detection device on the side of the transfer tray detects that there is a drill rod in the groove. The rod feeding robot stops its descent and opens its gripper to complete the rod feeding. The top-aligning device fixed on the transfer tray moves in opposite directions along the drill rod axis to clamp both ends of the drill rod, fixing the drill rod along the axis. Then the transfer cylinder extends and pushes the transfer tray to the rod-to-be-added position along the sliding guide rail. The top-aligning device opens to complete the rod feeding. At this time, the entire robotic arm for loading and unloading drill rods is in an initial vertical state before each loading and unloading of drill rods. The secondary rotating arm is in an initial 0° position, and the telescopic arm is in a fully retracted vertical state. The rotary head of the drilling host can drill normally along the axis of the machine body without affecting the robotic arm for loading and unloading drill rods. When a drill hole on the drilling host is sent into the hole, the rotary head retracts to the last end of the feed device. At this time, the rod loading and unloading procedure can be executed.

13. The control method for automatically loading and unloading drill pipes in an integral automatic directional drilling rig suitable for downhole directional construction as described in claim 12, characterized in that, The process of adding a drill rod during horizontal or vertical drilling operations: First, extend the telescopic boom to its vertical position, align the center axis of the drill rod gripper with the center axis of the drill rod to be added, and after the drill rod gripper grabs the drill rod to be added, retract the telescopic boom to its initial position. For vertical drilling, the primary rotating boom rotates under the action of the angle-adjusting cylinder until the rod-adding / unloading manipulator and the feed device are at the same angle. Control the secondary rotating boom to rotate 90° clockwise around its rotation center. At this point, the telescopic boom is in a horizontal position. Simultaneously, control the primary telescopic cylinder to fully retract and the secondary telescopic cylinder to fully extend, so that the telescopic boom is fully extended horizontally to its maximum length. The secondary rotating boom... The drill rod to be added and the telescopic arm rotate counterclockwise. The drill rod inside the drill rod gripper rotates to the center of the rotary unit, coaxial with the active drill rod assembly. At this time, the mounting procedure is executed. The gripper clamps the drill rod to be added. The rotary unit rotates and feeds simultaneously. The drill rod gripper of the rod loading and unloading robot arm always holds the drill rod. Once the active drill rod assembly and the drill rod to be added are successfully mounted, the drill rod gripper releases the drill rod. The first-stage telescopic cylinder extends fully, the second-stage telescopic cylinder retracts fully, and the telescopic arm retracts completely along a straight line. The second-stage rotary arm continues to rotate counterclockwise to return to the initial rod-adding position. The first-stage rotary arm also rotates to return to the initial position. At this point, the single drill rod adding process is complete.

14. The control method for automatically loading and unloading drill pipes in an integral automatic directional drilling rig suitable for downhole directional construction as described in claim 13, characterized in that, The procedure for adding a drill rod during drilling at a downward angle is as follows: The telescopic boom extends vertically, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added, the drill rod gripper grabs the drill rod to be added, and the telescopic boom retracts to its initial position. During downward angle drilling, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. Then, the primary rotating arm rotates under the action of the angle-adjusting cylinder until the rod-adding / unloading robotic arm and the feeding device are parallel. Subsequent procedures are the same as those for horizontal or upward angle drilling.

15. The control method for automatically loading and unloading drill pipes in an integral automatic directional drilling rig suitable for downhole directional construction as described in claim 1, characterized in that, In automatic rod unloading mode, both the rod replenishment device and the rod loading / unloading robotic arm switch to rod unloading control mode. First, the primary rotating arm of the rod loading / unloading robotic arm rotates to the same angle as the feeding device. The drill rod gripper moves to the center of the rotary head, clamps the drill rod to be unloaded, and returns to the initial position along the original path. At this time, the transfer tray of the rod replenishment device extends, and the telescopic arm of the rod loading / unloading robotic arm partially extends under the action of the secondary telescopic cylinder, placing the drill rod to be unloaded into the transfer tray. After the jacking device clamps the drill rod in the tray, the drill rod gripper releases the drill rod, and the transfer tray retracts to the initial position before the jacking device releases. The rod replenishment device... The arm begins working, and the automatic rod unloading has two modes. One mode is to place the drill rods to be unloaded back into the empty positions in the rod magazine. The placement order is determined by the last position coordinate of the drill rod that was installed, until the rod magazine is full. Then, the drill rods are unloaded, and the rod replenishment robot arm delivers them point-to-point from the transfer tray to the manual rod placement / retrieval position in the rod magazine. Each time a drill rod is placed, the operator retrieves it from the fixed low position and places it on the drill rod holder. The other mode is to place the drill rods to be unloaded directly in the manual rod placement / retrieval position each time, regardless of how many drill rods are left in the rod magazine or whether there are any drill rods left, and then the drill rods are taken away manually.

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