Automatic drilling equipment and control method thereof

Abstract

The invention provides automatic drilling equipment and a control method thereof. A drilling system comprises a rack, a first storage device and a second storage device. A drill tower is arranged on the machine frame, a mechanical arm, a first power head, a second power head and a drilling opening platform are arranged on the drill tower, the second power head is located between the first power head and the drilling opening platform, an iron roughneck is arranged on the drilling opening platform, the first storage device is used for storing a first drilling tool, and the second storage device is used for storing the first drilling tool and the second drilling tool. The first drilling tool on the second storage device is preassembled in the second drilling tool; and the second power head is detachably connected with the drill tower. According to the drilling system, flexible selection can be conducted according to the characteristics of different stratums and different engineering projects, the application range is widened, the drilling success rate is increased, and the equipment utilization rate and economic benefits are increased.

Description

Technical Field

[0001] The present application relates to the technical field of engineering drilling, and in particular to an automated drilling device and a control method thereof. Background Art

[0002] With the continuous development of drilling rig technology, the speed of drilling rig replacement is accelerating, and the entire drilling rig is developing towards serialization, standardization and diversification. At the same time, the performance of drilling rigs has also been greatly improved. With the continuous advancement of drilling rig technology, companies pay more and more attention to on-site operation processes, the complexity of operation procedures, and the safety and efficiency of operations. The requirements for automation in drilling operations are getting higher and higher.

[0003] Although current drilling rigs are widely used in the field of geological exploration, the problem of their single function is becoming increasingly prominent. Traditional drilling rig designs often focus on specific drilling tasks and lack flexibility and versatility. This limitation not only limits the adaptability of drilling rigs in complex geological conditions, but also makes exploration work seem incapable of meeting diverse needs. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present application provides an automated drilling equipment and a control method thereof.

[0005] The specific technical solutions are as follows:

[0006] An automated drilling device comprises a frame, a first storage device and a second storage device;

[0007] The frame is provided with a drilling tower, the drilling tower is provided with a manipulator, a first power head, a second power head and a drilling platform, the second power head is located between the first power head and the drilling platform, an iron roughneck is provided on the drilling platform, the first storage device is used to store a first drilling tool, the second storage device is used to store a first drilling tool and a second drilling tool, and the first drilling tool located on the second storage device is pre-installed in the second drilling tool; wherein the second power head is detachably connected to the drilling tower;

[0008] Wherein, the automated drilling equipment is configured to perform the following steps: drive the manipulator to grab the first drilling tool on the first storage device, so that the upper end of the first drilling tool contacts the first power head; drive the first power head to rotate, so that the first drilling tool is locked relative to the first power head; drive the first power head to drive the first drilling tool to move, so that the lower end of the first drilling tool contacts the first previous drilling tool in the drilling platform; drive the iron roughneck to rotate, so that the first drilling tool is locked relative to the first previous drilling tool; drive the first power head to drive the first drilling tool to perform drilling operations;

[0009] Wherein, the automated drilling equipment is also configured to perform the following steps: drive the second storage device to drive the second drilling tool pre-installed with the first drilling tool to move, so that the upper ends of the first drilling tool and the second drilling tool are respectively in contact with the first power head; drive the first power head to rotate, so that the first drilling tool is locked relative to the first power head, and connect the first power head with the second drilling tool, so that the second drilling tool is locked relative to the first power head; drive the first power head to drive the first drilling tool and the second drilling tool to move, so that the lower ends of the first drilling tool and the second drilling tool extend into the second power head, and the first drilling tool is in contact with the previous first drilling tool in the drilling platform; drive the iron driller to rotate, so that the first drilling tool is locked relative to the previous first drilling tool; drive the first power head to move, so that the second drilling tool is in contact with the previous second drilling tool in the drilling platform, and drive the second power head to rotate, so that the second drilling tool is locked relative to the previous second drilling tool; the first power head drives the first drilling tool, and the second power head drives the second drilling tool to perform drilling operations.

[0010] In one embodiment, the iron roughneck includes a bracket, a first clamping portion and a second clamping portion, the bracket is rotatably disposed on the frame, the first clamping portion and the second clamping portion are both disposed on the bracket, and the second clamping portion is located above the first clamping portion, the first clamping portion is used to clamp the previous first drilling tool, and the second clamping portion is used to clamp the first drilling tool and drive the first drilling tool to rotate so that the first drilling tool is locked relative to the previous first drilling tool.

[0011] In one embodiment, the iron roughneck further comprises a correction part, the correction part is disposed on the support, and the correction part is used to correct the first drilling tool so that the lower end of the first drilling tool contacts the previous first drilling tool in the drilling platform;

[0012] Wherein, the correction part is located above the second clamping part, and the correction part includes a second correction arm and a third correction arm, and an angle formed between the second correction arm and the third correction arm is between 70° and 110°.

[0013] In one embodiment, a rolling element is provided on a side of the correction arm 2 close to the correction arm 3;

[0014] And / or, a rolling element is provided on a side of the correction arm 3 close to the correction arm 2;

[0015] And / or, the angle formed between the correction arm 2 and the correction arm 3 is 90°.

[0016] In one embodiment, the first power head includes a first base and a first acting part, the first base is arranged on the drilling tower, the first base is used to drive the first acting part to move in a direction perpendicular to the drilling plane, the first acting part is rotatably arranged on the first base, and the first acting part is provided with a first connecting part for contacting the first drilling tool and a second connecting part for contacting the second drilling tool, and the first connecting part is located in the middle of the second connecting part.

[0017] In one embodiment, the second power head includes a driving part, a second base and a second acting part, the driving part is arranged on the drilling tower, the second base is arranged on the driving part, the second base is configured to be driven by the driving part to move in a direction perpendicular to the drilling plane, a channel is arranged on the second base, the channel runs through the second base, the second acting part is arranged in the channel, and the second acting part is used to drive the second drilling tool to rotate so that the second drilling tool is locked relative to the previous second drilling tool.

[0018] In one embodiment, the first storage device includes a first container, a first grabbing device and a first conveying device, the first container is used to store a first drilling tool, the first conveying device is located between the first container and the manipulator, the first grabbing device is used to grab the first drilling tool in the first container and place the first drilling tool on the first conveying device, and the first conveying device is used to drive the first drilling tool to move in a direction parallel to the drilling plane so that the first drilling tool is close to the manipulator;

[0019] And / or, the second storage device includes a second container, a second grasping device and a second conveying device, the second container is used to store the first drilling tool and the second drilling tool, and the first drilling tool located on the second storage device is pre-installed in the second drilling tool, the second conveying device is located between the second container and the first power head, the second grasping device is used to grasp the second drilling tool pre-installed with the first drilling tool and place the second drilling tool pre-installed with the first drilling tool on the second conveying device, and the second conveying device is used to drive the second drilling tool pre-installed with the first drilling tool to move in a direction perpendicular to the drilling plane so that the second drilling tool pre-installed with the first drilling tool is close to the first power head.

[0020] In one embodiment, the manipulator comprises a moving part and a clamping claw, wherein the clamping claw is arranged on the moving part, the moving part is movably arranged on the drilling tower, and the moving part is used to drive the clamping claw to move in a direction perpendicular to the drilling plane;

[0021] Wherein, the clamping jaw is arranged on the moving part through a rotating part, and the rotating part is used to make the clamping jaw rotate relative to the moving part on a plane perpendicular to the drilling plane.

[0022] In one embodiment, the automated drilling equipment further comprises a power device and a moving device, wherein the power device and the moving device are both arranged on the frame, the drilling tower is rotatably arranged on the frame, and the moving device is configured to be driven by the power device to drive the frame and the drilling tower to move;

[0023] And / or, the frame is provided with a first telescopic device, the first telescopic device is used to contact with the drilling plane and move the frame away from the drilling plane in a stretched state, and move the frame closer to the drilling plane in a contracted state;

[0024] And / or, the first storage device is provided with a second telescopic device, the second telescopic device is used to contact the drilling plane and move the first storage device away from the drilling plane in a stretched state, and move the first storage device close to the drilling plane in a contracted state;

[0025] And / or, a third telescopic device is provided on the second storage device, and the third telescopic device is used to contact the drilling plane and move the second storage device away from the drilling plane in a stretched state, and move the second storage device close to the drilling plane in a contracted state.

[0026] A control method for automated drilling equipment, applied to any of the automated drilling equipment described above, the control method for automated drilling equipment comprising: driving a manipulator to grab a first drilling tool on a first storage device, so that the upper end of the first drilling tool contacts with a first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool to move, so that the lower end of the first drilling tool contacts with a first drilling tool in a drilling platform; driving the iron roughneck to rotate, so that the first drilling tool is locked relative to the first drilling tool; driving the first power head to drive the first drilling tool to perform drilling operations;

[0027] The control method of the automated drilling equipment also includes: driving the second storage device to drive the second drilling tool pre-installed with the first drilling tool to move, so that the upper ends of the first drilling tool and the second drilling tool are respectively in contact with the first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head, and connecting the first power head with the second drilling tool, so that the second drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool and the second drilling tool to move, so that the lower ends of the first drilling tool and the second drilling tool extend into the second power head, and the first drilling tool is in contact with the previous first drilling tool in the drilling platform; driving the iron drill to rotate, so that the first drilling tool is locked relative to the previous first drilling tool; driving the first power head to move, so that the second drilling tool is in contact with the previous second drilling tool in the drilling platform, and driving the second power head to rotate, so that the second drilling tool is locked relative to the previous second drilling tool; the first power head drives the first drilling tool, and the second power head drives the second drilling tool to perform drilling operations.

[0028] This application has at least the following beneficial effects:

[0029] The present application provides an automated drilling equipment, including a frame, a first storage device and a second storage device; a drilling tower is arranged on the frame, a manipulator, a first power head, a second power head and a drill platform are arranged on the drilling tower, the second power head is located between the first power head and the drill platform, an iron drill is arranged on the drill platform, the first storage device is used to store a first drilling tool, the second storage device is used to store the first drilling tool and the second drilling tool, and the first drilling tool located on the second storage device is pre-installed in the second drilling tool; wherein the second power head is detachably connected to the drilling tower.

[0030] The automated drilling equipment provided in the present application can meet the exploration needs of drilling in conventional formations through the cooperation of a first storage device, a manipulator, a first power head, an iron driller and a drill head platform; and the automated drilling equipment provided in the present application can meet the exploration needs of drilling in complex formations (a large number of goaf areas, burnt areas, coal gangue filling areas, etc. in coal mines) through the cooperation of a second storage device, a first power head, a second power head, an iron driller and a drill head platform.

[0031] This application enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, thus expanding the scope of application, ensuring the safety of drilling, improving the success rate of drilling, and improving the utilization rate and economic benefits of the equipment. Moreover, the second power head of this application is detachably arranged on the drilling tower, so that the automated drilling equipment can switch from the conventional drilling mode to the complex drilling mode in a short time, and has strong flexibility, so that the system can quickly adapt to different stratum conditions, reduce the downtime caused by stratum changes, and thus improve the construction efficiency. And when the automated drilling equipment is in the conventional drilling mode, the second power head can be removed from the drilling tower, which helps to reduce operating costs and improve resource utilization efficiency. At the same time, it reduces the complexity of the automated drilling equipment, avoids the influence of the second power head on the drilling process, and improves the safety of the automated drilling equipment.

[0032] The present application also provides a control method for an automated drilling device, which is applied to the automated drilling device described above. The control method for the automated drilling device includes: driving a manipulator to grab a first drilling tool on a first storage device, so that the upper end of the first drilling tool contacts with a first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool to move, so that the lower end of the first drilling tool contacts with a first drilling tool in a drilling platform; driving the iron roughneck to rotate, so that the first drilling tool is locked relative to the first drilling tool; driving the first power head to drive the first drilling tool to perform drilling operations;

[0033] The control method of the automated drilling equipment also includes: driving the second storage device to drive the second drilling tool pre-installed with the first drilling tool to move, so that the upper ends of the first drilling tool and the second drilling tool are respectively in contact with the first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head, and connecting the first power head with the second drilling tool, so that the second drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool and the second drilling tool to move, so that the lower end of the first drilling tool is in contact with the previous first drilling tool in the drilling platform; driving the iron drill to rotate, so that the first drilling tool is locked relative to the previous first drilling tool; driving the first power head to move, so that the lower end of the second drilling tool is in contact with the previous second drilling tool in the drilling platform, and driving the second power head to rotate, so that the second drilling tool is locked relative to the previous second drilling tool; the first power head drives the first drilling tool, and the second power head drives the second drilling tool to perform drilling operations.

[0034] The present application enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, thereby expanding the scope of application, ensuring the safety of drilling, improving the success rate of drilling, and improving the utilization rate and economic benefits of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 The overall structure of the automated drilling equipment provided in this embodiment is shown in FIG. Figure 1 ;

[0037] Figure 2 The overall structure of the automated drilling equipment provided in this embodiment is shown in FIG. Figure 2 ;

[0038] Figure 3 A schematic diagram of the structure of the manipulator provided in this embodiment;

[0039] Figure 4 A schematic diagram of the structure of the first power head provided in this embodiment;

[0040] Figure 5 A schematic diagram of the structure of the second power head provided in this embodiment;

[0041] Figure 6 A schematic structural diagram of the iron roughneck provided in this embodiment.

[0042] Reference numerals:

[0043] 1-frame; 2-first storage device; 3-second storage device; 4-first drilling tool; 5-second drilling tool; 11-drilling tower; 12-manipulator; 13-first power head; 14-second power head; 15-drilling platform; 16-iron roughneck; 17-power device; 18-moving device; 19-first telescopic device; 21-first container; 22-first grabbing device; 23-first conveying device; 24-second telescopic device; 31-second container; 32-second grabbing device; 33-second conveying device ;34-third telescopic device;121-moving part;122-clamping claw;123-rotating part;131-first base;132-first action part;141-driving part;142-second base;161-bracket;162-first clamping part;163-second clamping part;164-correction part;1321-first connecting part;1322-second connecting part;1421-channel;1641-correction arm two;1642-correction arm three;1643-rolling element;1644-correction arm one. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In the description of the present application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] like Figures 1 to 6 As shown, this embodiment provides an automated drilling device, including a frame 1, a first storage device 2 and a second storage device 3;

[0048] A drilling tower 11 is arranged on the frame 1, and a manipulator 12, a first power head 13, a second power head 14 and a drilling platform 15 are arranged on the drilling tower 11. The second power head 14 is located between the first power head 13 and the drilling platform 15. An iron drill 16 is arranged on the drilling platform 15. The first storage device 2 is used to store the first drilling tool 4, and the second storage device 3 is used to store the first drilling tool 4 and the second drilling tool 5. The first drilling tool 4 located on the second storage device 3 is pre-installed in the second drilling tool 5; wherein, the second power head 14 is detachably connected to the drilling tower 11.

[0049] Specifically, the first drilling tool 4 includes a drill rod, and the second drilling tool 5 includes a drill pipe.

[0050] Among them, Figure 1As shown, the automated drilling equipment is configured to perform the following steps: drive the manipulator 12 to grab the first drilling tool 4 on the first storage device 2, so that the upper end of the first drilling tool 4 contacts the first power head 13; drive the first power head 13 to rotate, so that the first drilling tool 4 is locked relative to the first power head 13; drive the first power head 13 to drive the first drilling tool 4 to move, so that the lower end of the first drilling tool 4 contacts the previous first drilling tool in the drilling platform 15; drive the iron roughneck 16 to rotate, so that the first drilling tool 4 is locked relative to the previous first drilling tool; drive the first power head 13 to drive the first drilling tool 4 to perform drilling operations.

[0051] Among them, Figure 2 As shown, the automated drilling equipment is further configured to perform the following steps: drive the second storage device 3 to drive the second drilling tool 5 pre-installed with the first drilling tool 4 to move, so that the upper ends of the first drilling tool 4 and the second drilling tool 5 are in contact with the first power head 13 respectively; drive the first power head 13 to rotate, so that the first drilling tool 4 is locked relative to the first power head 13, and connect the first power head 13 with the second drilling tool 5, so that the second drilling tool 5 is locked relative to the first power head 13; drive the first power head 13 to drive the first drilling tool 4 and the second drilling tool 5 to move, so that the first drilling tool 4 and the second drilling tool 5 are in contact with the first power head 13 respectively. The lower ends of the first drilling tool 4 and the second drilling tool 5 extend into the second power head 14, and the first drilling tool 4 contacts the previous first drilling tool in the drilling platform 15; the iron roughneck 16 is driven to rotate, so that the first drilling tool 4 is locked relative to the previous first drilling tool; the first power head 13 is driven to move, so that the second drilling tool 5 contacts the previous second drilling tool in the drilling platform 15, and the second power head 14 is driven to rotate, so that the second drilling tool 5 is locked relative to the previous second drilling tool; the first power head 13 drives the first drilling tool 4, and the second power head 14 drives the second drilling tool 5 to perform drilling operations.

[0052] The automated drilling equipment provided in this embodiment can meet the exploration needs of drilling in conventional formations through the cooperation of the first storage device 2, the manipulator 12, the first power head 13, the iron roughneck 16 and the drill head platform 15; and the automated drilling equipment provided in this application can meet the exploration needs of drilling in complex formations (a large number of goaf areas, burnt areas, coal gangue filling areas, etc. in coal mines) through the cooperation of the second storage device 3, the first power head 13, the second power head 14, the iron roughneck 16 and the drill head platform 15.

[0053] This embodiment enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, thereby expanding the scope of application, ensuring the safety of drilling, improving the success rate of drilling, and improving the utilization rate and economic benefits of the equipment.

[0054] Moreover, the second power head 14 of this embodiment is detachably arranged on the drilling tower 11, so that the automated drilling equipment can switch from the conventional drilling mode to the complex drilling mode in a short time, and has strong flexibility, so that the system can quickly adapt to different formation conditions, reduce the downtime caused by formation changes, and thus improve the construction efficiency. And when the automated drilling equipment is in the conventional drilling mode, the second power head 14 can be disassembled from the drilling tower 11, which helps to reduce operating costs and improve resource utilization efficiency, while reducing the complexity of the automated drilling equipment, avoiding the second power head 14 from affecting the drilling process, and improving the safety of the automated drilling equipment.

[0055] like Figure 1-2 As shown, in one embodiment of the present invention, the automated drilling equipment further includes a power device 17 and a moving device 18, both of which are arranged on the frame 1, the drilling tower 11 is rotatably arranged on the frame 1, and the moving device 18 is configured to be driven by the power device 17 to drive the frame 1 and the drilling tower 11 to move.

[0056] Specifically, the moving device 18 includes tracks, but is not limited thereto.

[0057] Specifically, the power device 17 includes an engine, but is not limited thereto.

[0058] In this embodiment, the drilling tower 11 is rotatably arranged on the frame 1, so that the drilling tower 11 has a vertical state perpendicular to the drilling plane, a parallel state parallel to the drilling plane, and an inclined state inclined to the drilling plane. Specifically, when the drilling tower 11 is in the vertical state, it is located at the side of the frame 1, and when the drilling tower 11 is in the parallel state, it is located at the upper part of the frame 1.

[0059] This embodiment enables the automated drilling equipment to maintain a vertical state during drilling operations; when a special drilling angle is required, it can be switched to an inclined state to achieve directional drilling or inclined hole drilling, achieve a more accurate drilling path, and optimize the drilling effect; when moving or adjusting the position, it can be switched to a parallel state, which is convenient for storage and transportation, and also convenient for maintenance and repair of the drilling tower 11. This embodiment improves the flexibility of the automated drilling equipment, optimizes the construction process, makes the construction process smoother and more efficient, and improves the construction efficiency.

[0060] In this embodiment, a power device 17 and a moving device 18 are arranged on the frame 1, so that the automated drilling equipment has the function of rapid transfer, without the need for additional transportation tools, reducing the number of loading and unloading and transshipment, greatly saving transportation time and transportation costs, and at the same time enabling the automated drilling equipment to have continuous operation capabilities, ensuring the continuity and efficiency of construction.

[0061] like Figure 1-2As shown, in one embodiment of the present invention, a first telescopic device 19 is provided on the frame 1, and the first telescopic device 19 is used to contact the drilling plane and move the frame 1 away from the drilling plane in a stretched state, and move the frame 1 close to the drilling plane in a contracted state.

[0062] In this embodiment, the frame 1 has the function of autonomous loading and unloading through the first telescopic device 19. When the frame 1 needs to be loaded onto a vehicle, the first telescopic device 19 extends to contact the drilling plane and moves the frame 1 away from the drilling plane, so that the transport vehicle can contact the frame 1; when the frame 1 is in stable contact with the transport vehicle, the first telescopic device 19 contracts to separate from the drilling plane, so that the frame 1 can be loaded onto the transport vehicle.

[0063] When the rack 1 needs to be unloaded from the vehicle, the first telescopic device 19 extends to contact the drilling plane and supports the rack 1 so that the transport vehicle can evacuate; when the rack 1 is separated from the transport vehicle, the first telescopic device 19 contracts to make the rack 1 close to the drilling plane until the rack 1 is in stable contact with the drilling plane.

[0064] This embodiment realizes autonomous loading and unloading of the rack 1, reduces the time of manual operation, and thus improves the overall production efficiency.

[0065] Specifically, the first telescopic device 19 is a hydraulic telescopic device, but is not limited thereto.

[0066] Specifically, at least two opposite sides of the frame 1 are each provided with a first telescopic device 19 .

[0067] like Figure 1 As shown, in one embodiment of the present invention, a second telescopic device 24 is provided on the first storage device 2, and the second telescopic device 24 is used to contact the drilling plane and move the first storage device 2 away from the drilling plane in a stretched state, and move the first storage device 2 close to the drilling plane in a contracted state.

[0068] The function of the second telescopic device 24 of this embodiment is consistent with that of the first telescopic device 19, which will not be described in detail. This embodiment realizes the autonomous loading and unloading of the first storage device 2, reduces the time of manual operation, and thus improves the overall production efficiency.

[0069] Specifically, the second telescopic device 24 is a hydraulic telescopic device, but is not limited thereto.

[0070] Specifically, at least two opposite sides of the first storage device 2 are each provided with a second telescopic device 24 .

[0071] like Figure 2As shown, in one embodiment of the present invention, a third telescopic device 34 is provided on the second storage device 3, and the third telescopic device 34 is used to contact the drilling plane and move the second storage device 3 away from the drilling plane in a stretched state, and move the second storage device 3 close to the drilling plane in a contracted state.

[0072] The function of the third telescopic device 34 of this embodiment is consistent with that of the first telescopic device 19, which will not be described in detail. This embodiment realizes the autonomous loading and unloading of the second storage device 3, reduces the time of manual operation, and thus improves the overall production efficiency.

[0073] Specifically, the third telescopic device 34 is a hydraulic telescopic device, but is not limited thereto.

[0074] Specifically, at least two opposite sides of the second storage device 3 are each provided with a third telescopic device 34 .

[0075] like Figure 1 As shown, in one embodiment of the present invention, the first storage device 2 includes a first container 21, a first grasping device 22 and a first conveying device 23. The first container 21 is used to store the first drilling tool 4. The first conveying device 23 is located between the first container 21 and the manipulator 12. The first grasping device 22 is used to grasp the first drilling tool 4 in the first container 21 and place the first drilling tool 4 on the first conveying device 23. The first conveying device 23 is used to drive the first drilling tool 4 to move in a direction parallel to the drilling plane so that the first drilling tool 4 is close to the manipulator 12.

[0076] Specifically, the first conveying device 23 is located at a side of the first container 21 , and the robot 12 is located at an end of the first conveying device 23 away from the first container 21 .

[0077] Specifically, the first conveying device 23 includes a belt transmission device.

[0078] Specifically, the number of first drilling tools 4 that can be loaded in the first container 21 is greater than or equal to 50, meeting the demand for drilling at a great depth.

[0079] The first grasping device 22 of this embodiment is configured to realize fully automatic grasping of the first drilling tool 4, which helps to improve the automation level of the automated drilling equipment, reduces labor costs, and improves grasping efficiency.

[0080] like Figure 2As shown, in one embodiment of the present invention, the second storage device 3 includes a second container 31, a second gripping device 32 and a second conveying device 33, the second container 31 is used to store the first drilling tool 4 and the second drilling tool 5, and the first drilling tool 4 located on the second storage device 3 is pre-installed in the second drilling tool 5; the second conveying device 33 is located between the second container 31 and the first power head 13, the second gripping device 32 is used to grip the second drilling tool 5 pre-installed with the first drilling tool 4, and place the second drilling tool 5 pre-installed with the first drilling tool 4 on the second conveying device 33, and the second conveying device 33 is used to drive the second drilling tool 5 pre-installed with the first drilling tool 4 to move in a direction perpendicular to the drilling plane so that the second drilling tool 5 pre-installed with the first drilling tool 4 is close to the first power head 13.

[0081] Specifically, the second gripping device 32 is located between the second container 31 and the second conveying device 33 .

[0082] Specifically, the number of second drilling tools 5 pre-installed with first drilling tools 4 that can be loaded in the second container 31 is greater than or equal to 50, meeting the demand for drilling at a great depth.

[0083] The second grasping device 32 of this embodiment is configured to realize the fully automatic grasping of the second drilling tool 5 pre-installed with the first drilling tool 4, which helps to improve the automation level of the automated drilling equipment, reduce labor costs, and improve grasping efficiency.

[0084] In this embodiment, a first conveying device 23 for conveying in a direction parallel to the drilling plane is configured for the first drilling tool 4, and a manipulator 12 cooperating with the first conveying device 23 is configured on the frame 1 to grab the horizontal first drilling tool 4 on the first conveying device 23 and switch the first drilling tool 4 to a vertical state, so that the first drilling tool 4 is in contact with the first power head 13. At the same time, in this embodiment, a second conveying device 33 for conveying in a direction perpendicular to the drilling plane is configured for the second drilling tool 5 pre-installed with the first drilling tool 4. The height of the second drilling tool 5 pre-installed with the first drilling tool 4 is adjusted by the second conveying device 33, so that the second drilling tool 5 pre-installed with the first drilling tool 4 is in contact with the first power head 13, thereby preventing the first drilling tool 4 from falling off from the second drilling tool 5.

[0085] This embodiment configures corresponding conveying devices according to the stored objects in the container, thereby ensuring a perfect match between the stored objects and the conveying devices, ensuring stable conveying of the stored objects, avoiding damage to the stored objects during conveying, and improving conveying efficiency; at the same time, the moving path of the first drill tool 4 between the first container 21 and the manipulator 12 of the automated drilling equipment during conventional drilling and the moving path of the second drill tool 5 pre-installed with the first drill tool 4 between the second container 31 and the first power head 13 during complex drilling do not overlap, so that the two will not interfere with each other during cross-operation, reducing waiting time and improving overall operation efficiency; at the same time, it reduces the risk of accidents that may be caused by cross-operation, such as collisions, misoperation, etc., thereby improving operation safety.

[0086] like Figure 3 As shown, in one embodiment of the present invention, the manipulator 12 includes a moving part 121 and a clamping jaw 122, the clamping jaw 122 is arranged on the moving part 121, the moving part 121 is movably arranged on the drilling tower 11, and the moving part 121 is used to drive the clamping jaw 122 to move in a direction perpendicular to the drilling plane; wherein the clamping jaw 122 is arranged on the moving part 121 through a rotating part 123, and the rotating part 123 is used to make the clamping jaw 122 rotate relative to the moving part 121 on a plane perpendicular to the drilling plane.

[0087] In this embodiment, the moving part 121 enables the clamping jaw 122 to move in a direction perpendicular to the drilling plane, and the rotating part 123 enables the clamping jaw 122 to rotate in a plane perpendicular to the drilling plane, which greatly enhances the flexibility of the manipulator 12, enabling it to quickly grasp the first drilling tool 4 and adjust the state of the first drilling tool 4 so that it contacts the first power head 13.

[0088] Specifically, the first power head 13 and the second power head 14 are arranged on the first side of the drilling tower 11, and the manipulator 12 is arranged on the second side of the drilling tower 11, and the first side and the second side are adjacent surfaces. This embodiment improves space utilization by rationally planning the arrangement positions of the first power head 13, the second power head 14 and the manipulator 12, and ensures that when performing complex drilling, the manipulator 12 will not affect the second drilling tool 5 pre-installed with the first drilling tool 4, so that when performing complex drilling, the manipulator 12 does not need to be removed, simplifying the process of switching the automated drilling equipment between conventional drilling and complex drilling.

[0089] Specifically, the maximum grasping weight of the robot 12 is 220 kg.

[0090] Specifically, the manipulator 12 may be suitable for grabbing the first drilling tool 4 with a length between 3m and 6m.

[0091] like Figure 4As shown, in one embodiment of the present invention, the first power head 13 includes a first base 131 and a first acting part 132. The first base 131 is arranged on the drilling tower 11. The first base 131 is used to drive the first acting part 132 to move in a direction perpendicular to the drilling plane. The first acting part 132 is rotatably arranged on the first base 131. The first acting part 132 is provided with a first connecting part 1321 for contacting the first drilling tool 4 and a second connecting part 1322 for contacting the second drilling tool 5. The first connecting part 1321 is located in the middle of the second connecting part 1322.

[0092] In this embodiment, the first connection part 1321 and the second connection part 1322 are reasonably arranged according to the first drilling tool 4 and the second drilling tool 5, so that the first connection part 1321 is adapted to the first drilling tool 4, and the second connection part 1322 is adapted to the second drilling tool 5, which facilitates the connection of the first connection part 1321 to the first drilling tool 4, and the second connection part 1322 to the second drilling tool 5.

[0093] In one embodiment of the present invention, the second connecting portion 1322 is detachably disposed on the first acting portion 132. When the automated drilling equipment performs conventional drilling, the second connecting portion 1322 can be removed from the first acting portion 132, thereby reducing the difficulty of the first drilling tool 4 contacting the first connecting portion 1321 and facilitating the contact between the first drilling tool 4 and the first connecting portion 1321.

[0094] In one embodiment of the present invention, a first threaded structure is provided on the first connection portion 1321, a second threaded structure is provided on the upper end of the first drilling tool 4, and the first threaded structure and the second threaded structure are adapted to each other. Among them, "driving the first power head 13 to rotate and locking the first drilling tool 4 relative to the first power head 13" includes: driving the first power head 13 to rotate, so that the first threaded structure and the second threaded structure are threadedly connected, so that the first drilling tool 4 is locked relative to the first power head 13; driving the manipulator 12 away from the first drilling tool 4. This embodiment makes the locking structure between the first drilling tool 4 and the first power head 13 simple, and has the beneficial effects of low difficulty in the locking process and stable locking effect.

[0095] In one embodiment of the present invention, the second connecting portion 1322 is formed with a receiving groove, and the upper end of the second drilling tool 5 is located in the receiving groove when it contacts the second connecting portion 1322, and "connecting the first power head 13 with the second drilling tool 5 and locking the second drilling tool 5 relative to the first power head 13" includes: detachably connecting the second connecting portion 1322 and the second drilling tool 5 through a fastener, and locking the second drilling tool 5 relative to the first power head 13.

[0096] In one embodiment of the present invention, “driving the first power head 13 to drive the first drilling tool 4 and the second drilling tool 5 to move” includes: driving the second conveying device 33 to reset, driving the first acting part 132 to rotate relative to the first base 131, so as to drive the first drilling tool 4 and the second drilling tool 5 to rotate to a vertical state relative to the drilling plane.

[0097] like Figure 5 As shown, in one embodiment of the present invention, the second power head 14 includes a driving part 141, a second base 142 and a second acting part (not shown in the figure), the driving part 141 is arranged on the drilling tower 11, the second base 142 is arranged on the driving part 141, the second base 142 is configured to be driven by the driving part 141 to move in a direction perpendicular to the drilling plane, the second base 142 is provided with a channel 1421, the channel 1421 runs through the second base 142, the second acting part is arranged in the channel 1421, and the second acting part is used to drive the second drilling tool 5 to rotate so that the second drilling tool 5 is locked relative to the previous second drilling tool.

[0098] In this embodiment, a second acting part is arranged in the channel 1421, and the second acting part is used to lock the second drill tool 5 relative to the previous second drill tool, so that the locking between the second drill tool 5 and the previous second drill tool is automated, which helps to improve the automation level of the automated drilling equipment and reduce labor costs.

[0099] In one embodiment of the present invention, “making the lower end of the first drilling tool 4 contact with the previous first drilling tool in the drilling platform 15” includes: driving the driving part 141 to drive the second base 142 to move so that the second base 142 is close to the drilling platform 15; driving the first power head 13 to drive the first drilling tool 4 and the second drilling tool 5 to move, so that the first drilling tool 4 and the second drilling tool 5 are in a vertical state perpendicular to the drilling plane, and the lower ends of the first drilling tool 4 and the second drilling tool 5 are toward the second power head 14; driving the driving part 141 to drive the second base 142 to move so that the second base 142 is away from the drilling platform 15, so that the lower ends of the first drilling tool 4 and the second drilling tool 5 extend into the channel 1421 of the second power head 14, and the lower end of the first drilling tool 4 contacts with the previous first drilling tool in the drilling platform 15.

[0100] In one embodiment of the present invention, “driving the first power head 13 to move so that the second drill tool 5 contacts the preceding second drill tool in the drilling platform 15, and driving the second power head 14 to rotate so that the second drill tool 5 is locked relative to the preceding second drill tool” includes: driving the first power head 13 to drive the second connecting portion 1322 and the second drill tool 5 to move so that the second drill tool 5 contacts the preceding second drill tool in the drilling platform 15; driving the second acting portion to drive the second drill tool 5 to rotate so that the second drill tool 5 is locked relative to the preceding second drill tool.

[0101] In one embodiment of the present invention, the second acting portion is used to clamp the second drilling tool 5 and drive the second drilling tool 5 to rotate after clamping the second drilling tool 5 .

[0102] like Figure 6 As shown, in one embodiment of the present invention, the iron roughneck 16 includes a bracket 161, a first clamping portion 162 and a second clamping portion 163. The bracket 161 is rotatably arranged on the frame 1, the first clamping portion 162 and the second clamping portion 163 are both arranged on the bracket 161, and the second clamping portion 163 is located above the first clamping portion 162. The first clamping portion 162 is used to clamp the first drilling tool, and the second clamping portion 163 is used to clamp the first drilling tool 4 and drive the first drilling tool 4 to rotate so that the first drilling tool 4 is locked relative to the first drilling tool.

[0103] In this embodiment, the first clamping portion 162 and the second clamping portion 163 respectively clamp the previous first drill tool and the first drill tool 4, and the second clamping portion 163 is used to lock the first drill tool 4 relative to the previous first drill tool, so that the locking between the first drill tool 4 and the previous first drill tool is automated, which helps to improve the degree of automation of the automated drilling equipment and reduce labor costs.

[0104] In one embodiment of the present invention, the maximum breakaway torque of the second clamping portion 163 is 85 kN.m.

[0105] In one embodiment of the present invention, the maximum shackle angle of the second clamping portion 163 is 30°.

[0106] In one embodiment of the present invention, the second clamping portion 163 is movably disposed on the bracket 161 , and the displacement distance of the second clamping portion 163 can reach 500 mm.

[0107] like Figure 6 As shown, in one embodiment of the present invention, the iron roughneck 16 also includes a correction part 164, which is arranged on the bracket 161, and the correction part 164 is used to correct the first drilling tool 4 so that the lower end of the first drilling tool 4 contacts the previous first drilling tool in the drilling platform 15; wherein the correction part 164 is located above the second clamping part 163, and the correction part 164 includes a correction arm 1 1644, a correction arm 2 1641 and a correction arm 3 1642, and the correction arm 1 1644 is used to perform preliminary correction on the first drilling tool 4, and the correction arm 2 1641 and the correction arm 3 1642 cooperate to perform fine correction on the first drilling tool 4, and the angle formed between the correction arm 2 1641 and the correction arm 3 1642 is between 70° and 110°.

[0108] Specifically, the correction arm 1644 is horizontally arranged relative to the first drilling tool 4, and the bracket 161 drives the correction arm 1644 to rotate relative to the frame 1, so that the correction arm 1644 contacts the first drilling tool 4 so that the first drilling tool 4 is vertically arranged relative to the drilling plane.

[0109] In one embodiment of the present invention, the angle formed between the correction arm 2 1641 and the correction arm 3 1642 is 90°, so that the first drilling tool 4 is adjusted from a vertical setting relative to the drilling plane to a vertical setting relative to the drilling plane.

[0110] In this embodiment, a correction part 164 is provided on the iron roughneck 16, so that the iron roughneck 16 has the function of loading and unloading buckles and also has the function of straightening the first drill rod 4, which helps to quickly stabilize the first drill rod 4 in a vertical state perpendicular to the drilling plane, so that the automated drilling equipment does not need to be manually straightened during the drilling process, thereby reducing labor costs and helping to improve the degree of automation of the automated drilling equipment.

[0111] like Figure 6 As shown, in one embodiment of the present invention, a rolling member 1643 is provided on one side of the correction arm 2 1641 close to the correction arm 3 1642. In one embodiment of the present invention, a rolling member 1643 is provided on one side of the correction arm 3 1642 close to the correction arm 2 1641. In this embodiment, by providing the rolling member 1643, it is helpful to reduce the friction generated between the correction part 164 and the first drilling tool 4, and reduce the wear of the first drilling tool 4.

[0112] like Figure 1-6 As shown, this embodiment further provides a control method for an automated drilling device, which is applied to the automated drilling device of any of the above embodiments, and the control method for the automated drilling device includes: driving the manipulator 12 to grab the first drilling tool 4 on the first storage device 2, so that the upper end of the first drilling tool 4 contacts the first power head 13; driving the first power head 13 to rotate, so that the first drilling tool 4 is locked relative to the first power head 13; driving the first power head 13 to drive the first drilling tool 4 to move, so that the lower end of the first drilling tool 4 contacts the first drilling tool in the drilling platform 15; driving the iron roughneck 16 to rotate, so that the first drilling tool 4 is locked relative to the first drilling tool; driving the first power head 13 to drive the first drilling tool 4 to perform drilling operations;

[0113] The control method of the automated drilling equipment also includes: driving the second storage device 3 to drive the second drilling tool 5 pre-installed with the first drilling tool 4 to move, so that the upper ends of the first drilling tool 4 and the second drilling tool 5 are respectively in contact with the first power head 13; driving the first power head 13 to rotate, so that the first drilling tool 4 is locked relative to the first power head 13, and connecting the first power head 13 with the second drilling tool 5, so that the second drilling tool 5 is locked relative to the first power head 13; driving the first power head 13 to drive the first drilling tool 4 and the second drilling tool 5 to move, so that the first drilling tool 4 and The lower end of the second drilling tool 5 extends into the second power head 14, and the first drilling tool 4 contacts the previous first drilling tool in the drilling platform 15; the iron roughneck 16 is driven to rotate, so that the first drilling tool 4 is locked relative to the previous first drilling tool; the first power head 13 is driven to move, so that the second drilling tool 5 contacts the previous second drilling tool in the drilling platform 15, and the second power head 14 is driven to rotate, so that the second drilling tool 5 is locked relative to the previous second drilling tool; the first power head 13 drives the first drilling tool 4, and the second power head 14 drives the second drilling tool 5 to perform drilling operations.

[0114] This embodiment enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, thereby expanding the scope of application, ensuring the safety of drilling, improving the success rate of drilling, and improving the utilization rate and economic benefits of the equipment.

[0115] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automated drilling equipment, characterized in that: It includes a rack, a first storage device and a second storage device; The frame is provided with a drilling tower, the drilling tower is provided with a manipulator, a first power head, a second power head and a drilling platform, the second power head is located between the first power head and the drilling platform, an iron roughneck is provided on the drilling platform, the first storage device is used to store a first drilling tool, the second storage device is used to store a first drilling tool and a second drilling tool, and the first drilling tool located on the second storage device is pre-installed in the second drilling tool; wherein the second power head is detachably connected to the drilling tower; Wherein, the automated drilling equipment is configured to perform the following steps: drive the manipulator to grab the first drilling tool on the first storage device, so that the upper end of the first drilling tool contacts the first power head; drive the first power head to rotate, so that the first drilling tool is locked relative to the first power head; drive the first power head to drive the first drilling tool to move, so that the lower end of the first drilling tool contacts the first previous drilling tool in the drilling platform; drive the iron roughneck to rotate, so that the first drilling tool is locked relative to the first previous drilling tool; drive the first power head to drive the first drilling tool to perform drilling operations; Wherein, the automated drilling equipment is also configured to perform the following steps: drive the second storage device to drive the second drilling tool pre-installed with the first drilling tool to move, so that the upper ends of the first drilling tool and the second drilling tool are respectively in contact with the first power head; drive the first power head to rotate, so that the first drilling tool is locked relative to the first power head, and connect the first power head with the second drilling tool, so that the second drilling tool is locked relative to the first power head; drive the first power head to drive the first drilling tool and the second drilling tool to move, so that the lower ends of the first drilling tool and the second drilling tool extend into the second power head, and the first drilling tool is in contact with the previous first drilling tool in the drilling platform; drive the iron driller to rotate, so that the first drilling tool is locked relative to the previous first drilling tool; drive the first power head to move, so that the second drilling tool is in contact with the previous second drilling tool in the drilling platform, and drive the second power head to rotate, so that the second drilling tool is locked relative to the previous second drilling tool; the first power head drives the first drilling tool, and the second power head drives the second drilling tool to perform drilling operations.

2. The automated drilling equipment according to claim 1, characterized in that: The iron roughneck includes a bracket, a first clamping part and a second clamping part. The bracket is rotatably arranged on the frame. The first clamping part and the second clamping part are both arranged on the bracket, and the second clamping part is located above the first clamping part. The first clamping part is used to clamp the previous first drilling tool, and the second clamping part is used to clamp the first drilling tool and drive the first drilling tool to rotate so that the first drilling tool is locked relative to the previous first drilling tool.

3. The automated drilling equipment according to claim 2, characterized in that: The iron roughneck further includes a correction part, the correction part is disposed on the support, and the correction part is used to correct the first drilling tool so that the lower end of the first drilling tool contacts the previous first drilling tool in the drilling platform; Among them, the correction part is located above the second clamping part, and the correction part includes correction arm one, correction arm two and correction arm three. The correction arm one is used to perform preliminary correction on the first drilling tool, and the correction arm two and the correction arm three cooperate to perform fine correction on the first drilling tool. The angle formed between the correction arm two and the correction arm three is between 70° and 110°.

4. The automated drilling equipment according to claim 3, characterized in that: A rolling element is provided on one side of the correction arm 2 close to the correction arm 3; And / or, a rolling element is provided on a side of the correction arm 3 close to the correction arm 2; And / or, the angle formed between the correction arm 2 and the correction arm 3 is 90°.

5. The automated drilling equipment according to claim 1, characterized in that: The first power head includes a first base and a first acting part, the first base is arranged on the drilling tower, the first base is used to drive the first acting part to move in a direction perpendicular to the drilling plane, the first acting part is rotatably arranged on the first base, and the first acting part is provided with a first connecting part for contacting the first drilling tool and a second connecting part for contacting the second drilling tool, and the first connecting part is located in the middle of the second connecting part.

6. The automated drilling equipment according to claim 1, characterized in that: The second power head includes a driving part, a second base and a second acting part, the driving part is arranged on the drilling tower, the second base is arranged on the driving part, the second base is configured to be driven by the driving part to move in a direction perpendicular to the drilling plane, a channel is arranged on the second base, the channel runs through the second base, the second acting part is arranged in the channel, and the second acting part is used to drive the second drilling tool to rotate so that the second drilling tool is locked relative to the previous second drilling tool.

7. The automated drilling equipment according to claim 1, characterized in that: The first storage device includes a first container, a first grabbing device and a first conveying device, the first container is used to store a first drilling tool, the first conveying device is located between the first container and the manipulator, the first grabbing device is used to grab the first drilling tool in the first container and place the first drilling tool on the first conveying device, and the first conveying device is used to drive the first drilling tool to move in a direction parallel to the drilling plane so that the first drilling tool is close to the manipulator; And / or, the second storage device includes a second container, a second grasping device and a second conveying device, the second container is used to store the first drilling tool and the second drilling tool, and the first drilling tool located on the second storage device is pre-installed in the second drilling tool, the second conveying device is located between the second container and the first power head, the second grasping device is used to grasp the second drilling tool pre-installed with the first drilling tool and place the second drilling tool pre-installed with the first drilling tool on the second conveying device, and the second conveying device is used to drive the second drilling tool pre-installed with the first drilling tool to move in a direction perpendicular to the drilling plane so that the second drilling tool pre-installed with the first drilling tool is close to the first power head.

8. The automated drilling equipment according to claim 1, characterized in that: The manipulator comprises a moving part and a clamping claw, wherein the clamping claw is arranged on the moving part, the moving part is movably arranged on the drilling tower, and the moving part is used to drive the clamping claw to move in a direction perpendicular to the drilling plane; Wherein, the clamping jaw is arranged on the moving part through a rotating part, and the rotating part is used to make the clamping jaw rotate relative to the moving part on a plane perpendicular to the drilling plane.

9. The automated drilling equipment according to claim 1, characterized in that: The automated drilling equipment further includes a power device and a moving device, both of which are arranged on the frame, the drilling tower is rotatably arranged on the frame, and the moving device is configured to be driven by the power device to drive the frame and the drilling tower to move; And / or, the frame is provided with a first telescopic device, the first telescopic device is used to contact with the drilling plane and move the frame away from the drilling plane in a stretched state, and move the frame closer to the drilling plane in a contracted state; And / or, the first storage device is provided with a second telescopic device, the second telescopic device is used to contact the drilling plane and move the first storage device away from the drilling plane in a stretched state, and move the first storage device close to the drilling plane in a contracted state; And / or, a third telescopic device is provided on the second storage device, and the third telescopic device is used to contact the drilling plane and move the second storage device away from the drilling plane in a stretched state, and move the second storage device close to the drilling plane in a contracted state.

10. A control method for automated drilling equipment, applied to the automated drilling equipment according to any one of claims 1 to 9, characterized in that: The control method of the automated drilling equipment comprises: driving the manipulator to grab the first drilling tool on the first storage device, so that the upper end of the first drilling tool contacts the first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool to move, so that the lower end of the first drilling tool contacts the first previous drilling tool in the drilling platform; driving the iron roughneck to rotate, so that the first drilling tool is locked relative to the first previous drilling tool; driving the first power head to drive the first drilling tool to perform drilling operations; The control method of the automated drilling equipment also includes: driving the second storage device to drive the second drilling tool pre-installed with the first drilling tool to move, so that the upper ends of the first drilling tool and the second drilling tool are respectively in contact with the first power head; driving the first power head to rotate, so that the first drilling tool is locked relative to the first power head, and connecting the first power head with the second drilling tool, so that the second drilling tool is locked relative to the first power head; driving the first power head to drive the first drilling tool and the second drilling tool to move, so that the lower ends of the first drilling tool and the second drilling tool extend into the second power head, and the first drilling tool is in contact with the previous first drilling tool in the drilling platform; driving the iron roughneck to rotate, so that the first drilling tool is locked relative to the previous first drilling tool; driving the first power head to move, so that the second drilling tool is in contact with the previous second drilling tool in the drilling platform, and driving the second power head to rotate, so that the second drilling tool is locked relative to the previous second drilling tool; the first power head drives the first drilling tool, and the second power head drives the second drilling tool to perform drilling operations.

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