An automated drilling device and its control method

Abstract

The present application provides an automated drilling device and its control method. The drilling system includes a frame, a first storage device, and a second storage device. A drill tower is provided on the frame, and a manipulator, a first power head, a second power head, and a drill port platform are provided on the drill tower. The second power head is located between the first power head and the drill port platform, and an iron roughneck is provided on the drill port platform. The first storage device is used to store the first drill tool, and the second storage device is used to store the first drill tool and the second drill tool, and the first drill tool located on the second storage device is pre-installed in the second drill tool. Among them, the second power head is detachably connected to the drill tower. The drilling system provided by the present application can be flexibly selected according to the characteristics of different strata and different engineering projects, expanding the scope of application, improving the success rate of drilling, and increasing the utilization rate of the equipment and economic benefits.

Description

Technical Field

[0001] This application relates to the technical field of engineering drilling, and particularly relates to an automated drilling device and its control method. Background Art

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

[0003] Although the 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 restricts the adaptability of the drilling rig under complex geological conditions but also makes the exploration work seem inadequate when faced with diverse requirements. Summary of the Invention

[0004] In order to overcome the defects of the above-mentioned prior art, this application provides an automated drilling device and its control method.

[0005] The specific technical solutions are as follows:

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

[0007] A drill tower is provided on the frame. A manipulator, a first power head, a second power head, and a drill port platform are provided on the drill tower. The second power head is located between the first power head and the drill port platform. An iron roughneck is provided on the drill port platform. The first storage device is used to store a first drill string, and the second storage device is used to store the first drill string and a second drill string, and the first drill string on the second storage device is pre-installed in the second drill string; wherein, the second power head is detachably connected to the drill tower;

[0008] Wherein, the automated drilling device is configured to perform the following steps: drive the manipulator to grab the first drill string on the first storage device and make the upper end of the first drill string contact with the first power head; drive the first power head to rotate and lock the first drill string relative to the first power head; drive the first power head to drive the first drill string to move so that the lower end of the first drill string contacts the first drill string already in the drill port platform; drive the iron roughneck to rotate and lock the first drill string relative to the first drill string already in the drill port platform; drive the first power head to drive the first drill string to perform a drilling operation;

[0009] Wherein, the automated drilling device is further configured to perform the following steps: driving the second storage device to drive the second drill tool pre-loaded with the first drill tool to move, and bringing the upper ends of the first drill tool and the second drill tool into contact with the first power head respectively; driving the first power head to rotate, locking the first drill tool relative to the first power head, and connecting the first power head with the second drill tool and locking the second drill tool relative to the first power head; driving the first power head to drive the first drill tool and the second drill tool to move, so that the lower ends of the first drill tool and the second drill tool extend into the second power head and the first drill tool contacts the prior first drill tool in the drill port platform; driving the iron roughneck to rotate to lock the first drill tool relative to the prior first drill tool; driving the first power head to move to bring the second drill tool into contact with the prior second drill tool in the drill port platform, and driving the second power head to rotate to lock the second drill tool relative to the prior second drill tool; the first power head drives the first drill tool and the second power head drives the second drill tool to perform a drilling operation.

[0010] In one embodiment, the iron roughneck includes a bracket, a first clamping portion, and a second clamping portion. The bracket is rotatably provided on the frame. The first clamping portion and the second clamping portion are both provided on the bracket, and the second clamping portion is located above the first clamping portion. The first clamping portion is used for clamping the prior first drill tool, and the second clamping portion is used for clamping the first drill tool and driving the first drill tool to rotate so as to lock the first drill tool relative to the prior first drill tool.

[0011] In one embodiment, the iron roughneck further includes a correction portion. The correction portion is provided on the bracket and is used for correcting the first drill tool so that the lower end of the first drill tool contacts the prior first drill tool in the drill port platform;

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

[0013] In one embodiment, a rolling member is provided on a side of the second correction arm close to the third correction arm;

[0014] And / or, a rolling member is provided on a side of the third correction arm close to the second correction arm;

[0015] And / or, the included angle formed between the second correction arm and the third correction arm is 90°.

[0016] In one embodiment, the first power head includes a first base and a first acting part. The first base is disposed on the derrick. The first base is configured to drive the first acting part to move in a direction perpendicular to the drilling plane. The first acting part is rotatably disposed on the first base. The first acting part is provided with a first connecting part for contacting the first drill tool and a second connecting part for contacting the second drill tool. 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 disposed on the derrick. The second base is disposed 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. The second base is provided with a channel that penetrates the second base. The second acting part is disposed in the channel. The second acting part is configured to drive the second drill tool to rotate so that the second drill tool is locked relative to the prior second drill tool.

[0018] In one embodiment, the first storage device includes a first container, a first grasping device and a first conveying device. The first container is configured to store the first drill tool. The first conveying device is located between the first container and the manipulator. The first grasping device is configured to grasp the first drill tool in the first container and place the first drill tool on the first conveying device. The first conveying device is configured to drive the first drill tool to move in a direction parallel to the drilling plane so that the first drill tool approaches 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 configured to store the first drill tool and the second drill tool, and the first drill tool located on the second storage device is pre-installed in the second drill tool. The second conveying device is located between the second container and the first power head. The second grasping device is configured to grasp the second drill tool pre-installed with the first drill tool and place the second drill tool pre-installed with the first drill tool on the second conveying device. The second conveying device is configured to drive the second drill tool pre-installed with the first drill tool to move in a direction perpendicular to the drilling plane so that the second drill tool pre-installed with the first drill tool approaches the first power head.

[0020] In one embodiment, the manipulator includes a moving part and a jaw. The jaw is disposed on the moving part. The moving part is movably disposed on the derrick. The moving part is configured to drive the jaw to move in a direction perpendicular to the drilling plane.

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

[0022] In one embodiment, the automated drilling device further includes a power device and a moving device. The power device and the moving device are both arranged on the frame. The derrick 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 derrick to move.

[0023] And / or, a first telescopic device is arranged on the frame. The first telescopic device is used to contact the drilling plane, and in the stretched state, it makes the frame move away from the drilling plane, and in the contracted state, it makes the frame approach the drilling plane.

[0024] And / or, a second telescopic device is arranged on the first storage device. The second telescopic device is used to contact the drilling plane, and in the stretched state, it makes the first storage device move away from the drilling plane, and in the contracted state, it makes the first storage device approach the drilling plane.

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

[0026] A control method for an automated drilling device, which is applied to the automated drilling device described in any one of the above. The control method of the automated drilling device includes: driving the manipulator to grab the first drill on the first storage device and making the upper end of the first drill contact the first power head; driving the first power head to rotate and locking the first drill relative to the first power head; driving the first power head to drive the first drill to move so that the lower end of the first drill contacts the prior first drill in the drill port platform; driving the iron roughneck to rotate and locking the first drill relative to the prior first drill; driving the first power head to drive the first drill to perform a drilling operation.

[0027] The control method of the automated drilling equipment further includes: driving the second storage device to drive the second drill tool pre-loaded with the first drill tool to move, and making the upper ends of the first drill tool and the second drill tool contact the first power head respectively; driving the first power head to rotate, locking the first drill tool relative to the first power head, and connecting the first power head with the second drill tool, locking the second drill tool relative to the first power head; driving the first power head to drive the first drill tool and the second drill tool to move, making the lower ends of the first drill tool and the second drill tool extend into the second power head, and the first drill tool contact the prior first drill tool in the drill port platform; driving the iron roughneck to rotate, locking the first drill tool relative to the prior first drill tool; driving the first power head to move, making the second drill tool contact the prior second drill tool in the drill port platform, and driving the second power head to rotate, locking the second drill tool relative to the prior second drill tool; the first power head drives the first drill tool, and the second power head drives the second drill tool to perform the drilling operation.

[0028] The present 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 derrick is arranged on the frame, a manipulator, a first power head, a second power head and a drill port platform are arranged on the derrick, the second power head is located between the first power head and the drill port platform, an iron roughneck is arranged on the drill port platform, the first storage device is used for storing the first drill tool, the second storage device is used for storing the first drill tool and the second drill tool, and the first drill tool located on the second storage device is pre-loaded in the second drill tool; wherein, the second power head is detachably connected with the derrick.

[0030] The automated drilling equipment provided by the present application can meet the exploration requirements for drilling in conventional formations through the cooperation of the first storage device, the manipulator, the first power head, the iron roughneck and the drill port platform; and the automated drilling equipment provided by the present application can meet the exploration requirements for drilling in complex formations (a large number of goafs, burned areas, coal gangue filling areas, etc. existing in coal mines) through the cooperation of the second storage device, the first power head, the second power head, the iron roughneck and the drill port platform.

[0031] The present application enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, expands the applicable scope, ensures the safety of drilling, improves the success rate of drilling, and increases the utilization rate of the equipment and economic benefits. Moreover, the second power head of the present application is detachably arranged on the drill tower, enabling the automated drilling equipment to switch from the conventional drilling mode to the complex drilling mode in a short time, with strong flexibility, enabling the system to quickly adapt to different formation conditions, reducing the downtime caused by formation changes, and thus improving the construction efficiency. And when the automated drilling equipment is in the conventional drilling mode, the second power head can be detached from the drill tower, which helps to reduce the operation cost, improves the resource utilization efficiency, reduces the complexity of the automated drilling equipment at the same time, 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 equipment, which is applied to the automated drilling equipment described above. The control method of the automated drilling equipment includes: driving the manipulator to grab the first drill tool on the first storage device and making the upper end of the first drill tool contact with the first power head; driving the first power head to rotate and locking the first drill tool relative to the first power head; driving the first power head to drive the first drill tool to move and making the lower end of the first drill tool contact with the prior first drill tool in the drill port platform; driving the iron roughneck to rotate and locking the first drill tool relative to the prior first drill tool; driving the first power head to drive the first drill tool to perform the drilling operation.

[0033] The control method of the automated drilling equipment further includes: driving the second storage device to drive the second drill tool pre-loaded with the first drill tool to move and making the upper ends of the first drill tool and the second drill tool contact with the first power head respectively; driving the first power head to rotate and locking the first drill tool relative to the first power head, and connecting the first power head with the second drill tool and locking the second drill tool relative to the first power head; driving the first power head to drive the first drill tool and the second drill tool to move and making the lower end of the first drill tool contact with the prior first drill tool in the drill port platform; driving the iron roughneck to rotate and locking the first drill tool relative to the prior first drill tool; driving the first power head to move and making the lower end of the second drill tool contact with the prior second drill tool in the drill port platform, and driving the second power head to rotate and locking the second drill tool relative to the prior second drill tool; the first power head drives the first drill tool and the second power head drives the second drill tool to perform the drilling operation.

[0034] The present application enables the automated drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, expands the applicable scope, ensures the safety of drilling, improves the success rate of drilling, and increases the utilization rate of the equipment and economic benefits. Description of the Drawings

[0035] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0036] Figure 1 Schematic diagram of the overall structure of the automated drilling equipment provided in this embodiment Figure 1 ;

[0037] Figure 2 Schematic diagram of the overall structure of the automated drilling equipment provided in this embodiment Figure 2 ;

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

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

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

[0041] Figure 6 Schematic diagram of the structure of the iron roughneck provided in this embodiment.

[0042] Reference numerals:

[0043] 1 - Frame; 2 - First storage device; 3 - Second storage device; 4 - First drill string; 5 - Second drill string; 11 - Derrick; 12 - Manipulator; 13 - First power head; 14 - Second power head; 15 - Drilling platform; 16 - Iron roughneck; 17 - Power device; 18 - Mobile device; 19 - First telescopic device; 21 - First container; 22 - First grasping device; 23 - First conveying device; 24 - Second telescopic device; 31 - Second container; 32 - Second grasping device; 33 - Second conveying device; 34 - Third telescopic device; 121 - Moving part; 122 - Jaw; 123 - Rotating part; 131 - First base; 132 - First acting part; 141 - Driving part; 142 - Second base; 161 - Bracket; 162 - First clamping part; 163 - Second clamping part; 164 - Calibration part; 1321 - First connecting part; 1322 - Second connecting part; 1421 - Channel; 1641 - Calibration arm two; 1642 - Calibration arm three; 1643 - Rolling element; 1644 - Calibration arm one. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0045] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 construed as a limitation to the present application.

[0046] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "coupled" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0047] As Figures 1 to 6 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 derrick 11 is provided on the frame 1. A manipulator 12, a first power head 13, a second power head 14, and a drill port platform 15 are provided on the derrick 11. The second power head 14 is located between the first power head 13 and the drill port platform 15. An iron roughneck 16 is provided on the drill port platform 15. The first storage device 2 is used to store the first drill tool 4, and the second storage device 3 is used to store the first drill tool 4 and the second drill tool 5, and the first drill tool 4 located on the second storage device 3 is pre-installed in the second drill tool 5; wherein, the second power head 14 is detachably connected to the derrick 11.

[0049] Specifically, the first drill tool 4 includes drill pipes, and the second drill tool 5 includes drill tubes.

[0050] Among them, as Figure 1As shown in the figure, the automated drilling equipment is configured to perform the following steps: drive the manipulator 12 to grasp the first drill tool 4 on the first storage device 2, and bring the upper end of the first drill tool 4 into contact with the first power head 13; drive the first power head 13 to rotate and lock the first drill tool 4 relative to the first power head 13; drive the first power head 13 to drive the first drill tool 4 to move so that the lower end of the first drill tool 4 contacts the prior first drill tool in the drill port platform 15; drive the iron roughneck 16 to rotate and lock the first drill tool 4 relative to the prior first drill tool; drive the first power head 13 to drive the first drill tool 4 to perform a drilling operation.

[0051] Wherein, as Figure 2 shown in the figure, the automated drilling equipment is further configured to perform the following steps: drive the second storage device 3 to drive the second drill tool 5 pre-loaded with the first drill tool 4 to move, and bring the upper ends of the first drill tool 4 and the second drill tool 5 into contact with the first power head 13 respectively; drive the first power head 13 to rotate, lock the first drill tool 4 relative to the first power head 13, and connect the first power head 13 to the second drill tool 5 to lock the second drill tool 5 relative to the first power head 13; drive the first power head 13 to drive the first drill tool 4 and the second drill tool 5 to move so that the lower ends of the first drill tool 4 and the second drill tool 5 extend into the second power head 14, and the first drill tool 4 contacts the prior first drill tool in the drill port platform 15; drive the iron roughneck 16 to rotate to lock the first drill tool 4 relative to the prior first drill tool; drive the first power head 13 to move so that the second drill tool 5 contacts the prior second drill tool in the drill port platform 15, and drive the second power head 14 to rotate to lock the second drill tool 5 relative to the prior second drill tool; the first power head 13 drives the first drill tool 4, and the second power head 14 drives the second drill tool 5 to perform a drilling operation.

[0052] The automated drilling equipment provided in this embodiment can meet the exploration requirements for 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 port platform 15; and the automated drilling equipment provided in this application can meet the exploration requirements for drilling in complex formations (such as a large number of goafs, fire areas, coal gangue filling areas, etc. existing 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 port platform 15.

[0053] This embodiment enables the automated drilling equipment to be flexibly selected according to the characteristics of different formations and different engineering projects, expands the applicable range, ensures the safety of drilling, improves the success rate of drilling, and improves the utilization rate and economic benefits of the equipment.

[0054] Moreover, the second power head 14 of this embodiment is detachably arranged on the drill tower 11, enabling the automated drilling equipment to switch from the conventional drilling mode to the complex drilling mode in a short time, with strong flexibility, enabling the system to quickly adapt to different formation conditions, reducing the downtime caused by formation changes, and thus improving the construction efficiency. When the automated drilling equipment is in the conventional drilling mode, the second power head 14 can be detached from the drill tower 11, which helps to reduce the operating cost, improve the resource utilization efficiency, simultaneously reduce the complexity of the automated drilling equipment, avoid the influence of the second power head 14 on the drilling process, and improve the safety of the automated drilling equipment.

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

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

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

[0058] This embodiment enables the drill tower 11 to be rotatably arranged on the frame 1, so that the drill 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 drill tower 11 is in the vertical state, it is located at the side of the frame 1. When the drill 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 switch to an inclined state to achieve directional drilling or inclined hole drilling, realize a more accurate drilling path, and optimize the drilling effect; when moving or adjusting the position, it can switch to a parallel state, which is convenient for storage and transportation, and at the same time convenient for the maintenance and repair of the drill 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] This embodiment enables the automated drilling equipment to have the function of rapid transfer by arranging the power device 17 and the moving device 18 on the frame 1, without the need for additional transportation tools, reducing the number of loading, unloading and transfer times, greatly saving transportation time and transportation costs, and at the same time enabling the automated drilling equipment to have the ability of continuous operation, ensuring the continuity and efficiency of construction.

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

[0062] In this embodiment, the first telescopic device 19 enables the frame 1 to have the function of self-loading and self-unloading. When the frame 1 needs to be loaded onto the 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 stably in 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 frame 1 needs to be unloaded from the vehicle, the first telescopic device 19 extends to contact the drilling plane and supports the frame 1 so that the transport vehicle can withdraw. When the frame 1 is separated from the transport vehicle, the first telescopic device 19 contracts to move the frame 1 closer to the drilling plane until the frame 1 is stably in contact with the drilling plane.

[0064] This embodiment realizes the self-loading and self-unloading of the frame 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 provided with the first telescopic device 19.

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

[0068] The function of the second telescopic device 24 in this embodiment is the same as that of the first telescopic device 19, and will not be elaborated here. This embodiment realizes the self-loading and self-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 provided with the second telescopic device 24.

[0071] As Figure 2As shown, in an embodiment of the present invention, a third telescopic device 34 is provided on the second storage device 3. 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 the stretched state and move the second storage device 3 closer to the drilling plane in the contracted state.

[0072] The function of the third telescopic device 34 in this embodiment is the same as that of the first telescopic device 19, and will not be elaborated here. This embodiment realizes the automatic 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, the third telescopic device 34 is provided on at least two opposite sides of the second storage device 3.

[0075] As Figure 1 As shown, in an 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 drill 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 drill tool 4 in the first container 21 and place the first drill tool 4 on the first conveying device 23. The first conveying device 23 is used to drive the first drill tool 4 to move in a direction parallel to the drilling plane so that the first drill tool 4 approaches the manipulator 12.

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

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

[0078] Specifically, the number of the first drill tools 4 that the first container 21 can load is greater than or equal to 50, meeting the drilling requirements for large depths.

[0079] This embodiment configures the first grasping device 22 to realize the full-automatic grasping of the first drill tool 4, which helps to improve the automation degree of the automatic drilling equipment, reduces the labor cost, and improves the grasping efficiency.

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

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

[0082] Specifically, the number of the second drill tools 5 pre-installed with the first drill tool 4 that can be loaded in the second container 31 is greater than or equal to 50, meeting the drilling requirements for large depths.

[0083] In this embodiment, the second grasping device 32 is configured to achieve the full-automatic grasping of the second drill tool 5 pre-installed with the first drill tool 4, which helps to improve the automation degree of the automatic drilling equipment, reduces the labor cost, and improves the 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 drill tool 4. At the same time, a manipulator 12 cooperating with the first conveying device 23 is configured on the frame 1 to grasp the first drill tool 4 in a horizontal state located on the first conveying device 23 and switch the first drill tool 4 to a vertical state so that the first drill tool 4 contacts 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 drill tool 5 pre-installed with the first drill tool 4. The height of the second drill tool 5 pre-installed with the first drill tool 4 is adjusted through the second conveying device 33 so that the second drill tool 5 pre-installed with the first drill tool 4 contacts the first power head 13, avoiding the first drill tool 4 falling off from the second drill tool 5.

[0085] In this embodiment, a corresponding conveying device is configured according to the stored items in the container, ensuring a perfect match between the stored items and the conveying device, guaranteeing the stable conveyance of the stored items, avoiding damage to the stored items during conveyance, and improving the conveyance efficiency. At the same time, when the automated drilling equipment performs conventional drilling, the movement path of the first drill tool 4 between the first container 21 and the manipulator 12 does not overlap with the movement path of the second drill tool 5 pre-mounted with the first drill tool 4 between the second container 31 and the first power head 13 during complex drilling, so that the two do not interfere with each other during cross-operation, reducing the waiting time and improving the overall operation efficiency. At the same time, the risk of accidents that may be caused by cross-operation, such as collisions and misoperations, is reduced, thereby improving the safety of the operation.

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

[0087] In this embodiment, the moving part 121 is used to realize the movement of the jaw 122 in a direction perpendicular to the drilling plane, and the rotating part 123 is used to realize the rotation of the jaw 122 in a plane perpendicular to the drilling plane, greatly enhancing the flexibility of the manipulator 12, enabling it to quickly grab the first drill tool 4 and adjust the state of the first drill tool 4 to make it contact with 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 drill tower 11, and the manipulator 12 is arranged on the second side of the drill tower 11, and the first side and the second side are adjacent sides. In this embodiment, through reasonable planning of the installation positions of the first power head 13, the second power head 14 and the manipulator 12, the space utilization rate is improved, and during complex drilling, the manipulator 12 will not affect the second drill tool 5 pre-mounted with the first drill tool 4, so that during complex drilling, the manipulator 12 does not need to be removed, simplifying the process when the automated drilling equipment switches between conventional drilling and complex drilling.

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

[0090] Specifically, the manipulator 12 is applicable to grasping the first drill tool 4 with a length ranging from 3 m to 6 m.

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

[0092] In this embodiment, the first connecting portion 1321 and the second connecting portion 1322 are reasonably arranged according to the first drill tool 4 and the second drill tool 5, so that the first connecting portion 1321 is adapted to the first drill tool 4 and the second connecting portion 1322 is adapted to the second drill tool 5, facilitating the connection between the first connecting portion 1321 and the first drill tool 4 and the connection between the second connecting portion 1322 and the second drill tool 5.

[0093] In an embodiment of the present invention, the second connecting portion 1322 is detachably disposed on the first acting portion 132. When the automatic drilling equipment performs conventional drilling, the second connecting portion 1322 can be detached from the first acting portion 132 to reduce the difficulty of contact between the first drill tool 4 and the first connecting portion 1321, facilitating the contact between the first drill tool 4 and the first connecting portion 1321.

[0094] In an embodiment of the present invention, a first thread structure is provided on the first connecting portion 1321, and a second thread structure is provided at the upper end of the first drill tool 4, and the first thread structure and the second thread structure are adapted to each other. Among them, "driving the first power head 13 to rotate to lock the first drill tool 4 relative to the first power head 13" includes: driving the first power head 13 to rotate to thread-connect the first thread structure and the second thread structure so as to lock the first drill tool 4 relative to the first power head 13; driving the manipulator 12 away from the first drill tool 4. This embodiment makes the locking structure between the first drill 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 an embodiment of the present invention, the second connecting portion 1322 forms a receiving groove, and when the upper end of the second drill tool 5 contacts the second connecting portion 1322, it is located in the receiving groove. "Connecting the first power head 13 to the second drill tool 5 to lock the second drill tool 5 relative to the first power head 13" includes: detachably connecting the second connecting portion 1322 to the second drill tool 5 through a fastener to lock the second drill 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 drill tool 4 and the second drill tool 5 to move" includes: driving the second conveying device 33 to reset, and driving the first acting part 132 to rotate relative to the first base 131, so as to drive the first drill tool 4 and the second drill tool 5 to rotate to a vertical state relative to the drilling plane.

[0097] As Figure 5 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 drill tower 11, the second base 142 is arranged on the driving part 141, and the second base 142 is configured to be driven by the driving part 141 to move in a direction perpendicular to the drilling plane. A channel 1421 is arranged on the second base 142, the channel 1421 penetrates through the second base 142, and the second acting part is arranged in the channel 1421. The second acting part is used to drive the second drill tool 5 to rotate so as to lock the second drill tool 5 relative to the prior second drill tool.

[0098] In this embodiment, by arranging the second acting part in the channel 1421 and realizing the locking of the second drill tool 5 relative to the prior second drill tool through the second acting part, the locking between the second drill tool 5 and the prior second drill tool is automated, which helps to improve the automation degree of the automatic drilling equipment and reduces the labor cost.

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

[0100] In one embodiment of the present invention, "driving the first power head 13 to move, making the second drill tool 5 contact the prior second drill tool in the drill port platform 15, and driving the second power head 14 to rotate to lock the second drill tool 5 relative to the prior second drill tool" includes: driving the first power head 13 to drive the second connecting part 1322 and the second drill tool 5 to move so that the second drill tool 5 contacts the prior second drill tool in the drill port platform 15; driving the second acting part to drive the second drill tool 5 to rotate so as to lock the second drill tool 5 relative to the prior second drill tool.

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

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

[0103] In this embodiment, the first clamping part 162 and the second clamping part 163 respectively clamp the prior first drill tool and the first drill tool 4, and the second clamping part 163 realizes the locking of the first drill tool 4 relative to the prior first drill tool, making the locking between the first drill tool 4 and the prior first drill tool automatic, which helps to improve the automation degree of the automatic drilling equipment and reduces the labor cost.

[0104] In one embodiment of the present invention, the maximum make-up / break-out torque of the second clamping part 163 is 85 kN·m.

[0105] In one embodiment of the present invention, the maximum make-up / break-out angle of the second clamping part 163 is 30°.

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

[0107] As Figure 6 shown, in one embodiment of the present invention, the iron roughneck 16 further includes a calibration part 164. The calibration part 164 is arranged on the bracket 161. The calibration part 164 is used to calibrate the first drill tool 4 so that the lower end of the first drill tool 4 contacts the prior first drill tool in the drill port platform 15. The calibration part 164 is located above the second clamping part 163. The calibration part 164 includes a first calibration arm 1644, a second calibration arm 1641 and a third calibration arm 1642. The first calibration arm 1644 is used to perform preliminary calibration on the first drill tool 4. The second calibration arm 1641 and the third calibration arm 1642 cooperate to perform fine calibration on the first drill tool 4. The included angle formed between the second calibration arm 1641 and the third calibration arm 1642 is between 70° and 110°.

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

[0109] In an embodiment of the present invention, the included angle formed between the second calibration arm 1641 and the third calibration arm 1642 is 90°, so that the first drill tool 4 is adjusted from being vertically arranged relative to the drilling plane to being perpendicular to the drilling plane.

[0110] In this embodiment, by arranging the calibration part 164 on the iron roughneck 16, while enabling the iron roughneck 16 to have the function of connecting and disconnecting the tool joints, it also has the function of straightening the first drill pipe 4, which helps the first drill pipe 4 to quickly stabilize in a vertical state perpendicular to the drilling plane, so that the automatic drilling equipment does not need to use manual straightening during the drilling process, reducing the labor cost and helping to improve the automation level of the automatic drilling equipment.

[0111] As Figure 6 shown, in an embodiment of the present invention, a rolling member 1643 is arranged on the side of the second calibration arm 1641 close to the third calibration arm 1642. In an embodiment of the present invention, a rolling member 1643 is arranged on the side of the third calibration arm 1642 close to the second calibration arm 1641. By arranging the rolling member 1643 in this embodiment, it helps to reduce the friction generated between the calibration part 164 and the first drill tool 4 and reduce the wear of the first drill tool 4.

[0112] As Figures 1-6 shown, this embodiment also provides a control method for an automatic drilling equipment, which is applied to the automatic drilling equipment in any of the above embodiments. The control method of the automatic drilling equipment includes: driving the manipulator 12 to grab the first drill tool 4 on the first storage device 2 and making the upper end of the first drill tool 4 contact the first power head 13; driving the first power head 13 to rotate and locking the first drill tool 4 relative to the first power head 13; driving the first power head 13 to drive the first drill tool 4 to move so that the lower end of the first drill tool 4 contacts the prior first drill tool in the drill port platform 15; driving the iron roughneck 16 to rotate and locking the first drill tool 4 relative to the prior first drill tool; driving the first power head 13 to drive the first drill tool 4 to perform a drilling operation;

[0113] The control method of the automatic drilling equipment further includes: driving the second storage device 3 to drive the second drill 5 pre-loaded with the first drill 4 to move, so that the upper ends of the first drill 4 and the second drill 5 are respectively in contact with the first power head 13; driving the first power head 13 to rotate, locking the first drill 4 relative to the first power head 13, and connecting the first power head 13 with the second drill 5, locking the second drill 5 relative to the first power head 13; driving the first power head 13 to drive the first drill 4 and the second drill 5 to move, so that the lower ends of the first drill 4 and the second drill 5 extend into the second power head 14, and the first drill 4 contacts the prior first drill in the drill port platform 15; driving the iron roughneck 16 to rotate, locking the first drill 4 relative to the prior first drill; driving the first power head 13 to move, so that the second drill 5 contacts the prior second drill in the drill port platform 15, and driving the second power head 14 to rotate, locking the second drill 5 relative to the prior second drill; the first power head 13 drives the first drill 4, and the second power head 14 drives the second drill 5 to perform the drilling operation.

[0114] This embodiment enables the automatic drilling equipment to be flexibly selected according to the characteristics of different strata and different engineering projects, expands the applicable range, ensures the safety of drilling, improves the success rate of drilling, and improves the utilization rate and economic benefits of the equipment.

[0115] Note that the above is only the preferred embodiment of the present application and the applied technical principles. Those skilled in the art will understand that the present application is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments only. Without departing from the concept of the present application, more other equivalent embodiments can be included, and the scope of the present application is determined by the scope of the appended claims.

[0116] The above is only the 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 principle of the present application shall 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; Wherein, 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.

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