Drilling method and system

Abstract

The present application provides a drilling method and system, which are applied to a drilling mechanism including a drilling tower device and a conveying device, wherein the drilling tower device is provided with a first power head, a second power head, an iron driller and a grabbing device; the drilling method comprises: obtaining a drilling mode of the drilling mechanism; conveying the drill tool to be connected to a first preset position or a second preset position based on the drilling mode; when it is obtained that the drill tool to be connected is located at the first preset position, the grabbing device and the first power head are driven to align with the drill tool to be connected in sequence, and then the iron driller is driven to straighten the drill tool to be connected and lock it with the previous drill tool, and the first power head is driven to drill downward after locking; when it is obtained that the drill tool to be connected is located at the second preset position, the first power head is driven to move to dock with the drill tool to be connected, and then the drill tool to be connected is moved to contact and lock with the previous drill tool, and the first power head and the second power head are driven to drill downward after locking. The method provides a variety of drilling methods to meet different formation conditions and project requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a drilling method and system. Background Art

[0002] In the fields of geological exploration, mineral resource mining, infrastructure construction, and oil and gas drilling, drilling technology has always played a vital role as a key means to obtain underground information, mine resources, or build underground structures. With the advancement of science and technology and the diversification of engineering needs, drilling technology is also constantly developing and improving, from the initial simple manual drilling, to the later mechanical drilling, rotary drilling, and then to modern hydraulic drilling, impact rotary drilling and other methods.

[0003] Although the existing drilling methods are becoming more and more diverse, there are still obvious deficiencies in terms of function, flexibility, efficiency, etc. Specifically, the existing drilling modes are relatively single and often difficult to adapt to the geological characteristics and drilling requirements of different strata. For example, in hard rock formations, traditional drilling methods may face problems such as low drilling efficiency and severe wear of the drill bit; while in soft soil formations, risks such as hole collapse and drill jamming may occur. Secondly, the existing drilling methods lack sufficient flexibility and adjustability, and it is difficult to carry out targeted optimization and adjustment according to the needs of specific engineering projects, which not only increases construction costs, but also affects the progress and quality of the project. In addition, the development of existing drilling methods in terms of intelligence and automation is relatively lagging, and it is difficult to meet the urgent needs of the future engineering field for efficient, precise, and intelligent drilling technology. Summary of the invention

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

[0005] The specific technical solutions are as follows:

[0006] A drilling method is applied to a drilling mechanism, the drilling mechanism comprising a drilling tower device and a conveying device for conveying at least two kinds of drilling tools to be connected, the drilling tower device having a first power head at one end and a second power head, an iron roughneck and a grabbing device at the other end;

[0007] The drilling method comprises:

[0008] determining a drilling mode of the drilling mechanism;

[0009] Selecting the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to a first preset position or a second preset position based on the conveying path of the conveying device;

[0010] When it is obtained that the drill tool to be connected is located at the first preset position, the grasping device is driven to grasp the drill tool to be connected, and after grasping the drill tool to be connected, it is turned over so that the end of the drill tool to be connected faces the first power head; after the end of the drill tool to be connected faces the first power head, the first power head is driven downward to dock with the drill tool to be connected, and the grasping device is driven to loosen and move away from the drill tool to be connected; after the first power head is connected, the iron roughneck is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head is driven downward to drill;

[0011] When it is obtained that the drill tool to be connected is located at the second preset position, the first power head is driven to move downward and tilted up to dock with the drill tool to be connected according to the current position of the first power head and the current position of the drill tool to be connected; after the first power head docks with the drill tool to be connected, the first power head is driven to move until the drill tool to be connected contacts with the previous drill tool and is connected to the previous drill tool, and after the connection, the first power head and the second power head are driven downward to drill.

[0012] In a specific embodiment, the drilling mode includes a first drilling mode and a second drilling mode, and the types of the drilling tools to be connected include a first type of drilling tools to be connected and a second type of drilling tools to be connected;

[0013] The method of selecting the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device, comprises:

[0014] Selecting the first type of drilling tools to be connected and a first conveying path of the conveying device based on the first drilling mode, so as to convey the first type of drilling tools to be connected to the first preset position;

[0015] Based on the second drilling mode, the second type of drill tools to be connected and the second conveying path of the conveying device are selected to convey the second type of drill tools to be connected to the second preset position; wherein the second preset position is determined according to the parameter data of the second type of drill tools to be connected, and the second type of drill tools to be connected with different parameters correspond to different second preset positions.

[0016] In a specific embodiment, the conveying device includes a first storage device, a first manipulator and a conveyor belt, the first storage device is used to place the first type of drilling tools to be connected, the first manipulator is movably arranged above the first storage device, and is used to clamp the first type of drilling tools to be connected to the conveyor belt; the conveyor belt is used to transport the first type of drilling tools to be connected to the first preset position, and the first manipulator and the conveyor belt together constitute the first conveying path;

[0017] The selecting the first type of drilling tools to be connected and the first conveying path of the conveying device based on the first drilling mode to convey the first type of drilling tools to be connected to the first preset position includes:

[0018] Selecting the first type of drilling tools to be connected and a first conveying path of the conveying device based on the first drilling mode;

[0019] Based on the first conveying path, drive the first manipulator to grab the first type of drilling tools to be connected;

[0020] When it is obtained that the first manipulator grabs the first type of drilling tools to be connected, the first manipulator is driven to move to the top of the conveyor belt, and the first type of drilling tools to be connected are placed on the conveyor belt, so that the conveyor belt conveys the first type of drilling tools to be connected to the first preset position;

[0021] And / or, the conveying device includes a second storage device, a second manipulator and a catwalk device, the second storage device is used to place the second type of drilling tools to be connected, the second manipulator is arranged between the second storage device and the catwalk device, and is used to flip the second type of drilling tools to be connected onto the catwalk device; the catwalk device is used to move the second type of drilling tools to be connected to the second preset position; the second manipulator and the catwalk device together constitute the second conveying path;

[0022] The selecting the second type of drilling tools to be connected and the second conveying path of the conveying device based on the second drilling mode to convey the second type of drilling tools to be connected to the second preset position includes:

[0023] Selecting the second type of drilling tools to be connected and a second conveying path of the conveying device based on the second drilling mode;

[0024] Based on the second conveying path, drive the second manipulator to dock with the second type of drilling tools to be connected and flip them over, so that the second type of drilling tools to be connected are placed on the catwalk device;

[0025] The catwalk device is driven to lift and move so that the second type of drilling tools to be connected are transported to the second preset position.

[0026] In a specific embodiment, the catwalk device includes a base, a main frame, a lifting device, a first pushing device, a second pushing device, a third pushing device and a clamping device, the main frame is rotatably arranged on the base, the lifting device connects the base and the main frame, the main frame has a slidable placement plate, the first pushing device is arranged on the placement plate, and the clamping device is arranged on the free end of the main frame; the second pushing device is connected to the clamping device, and the third pushing device is connected to the placement plate;

[0027] The method of driving the catwalk device to lift and move so that the second type of drilling tools to be connected are transported to the second preset position comprises:

[0028] Driving the first pushing device to push the inner drill rod of the second type of drilling tool to be connected out of the outer casing by a preset distance;

[0029] driving the third pushing device to push the placement plate, so that the second type of drilling tool to be connected on the placement plate moves to the clamping device, and driving the clamping device to clamp the second type of drilling tool to be connected;

[0030] Driving the lifting device to lift the main frame so that the main frame and the base are at a preset angle;

[0031] The second pushing device is driven to push the clamping device forward, so that the second type of drilling tool to be connected clamped by the clamping device reaches the second preset position.

[0032] In a specific embodiment, the first pushing device includes an abutment portion and a lifting portion, wherein the abutment portion is disposed on the placement plate and is used to abut against an external casing in the drill tool to be connected; the lifting portion passes through the abutment portion and is used to connect with an internal drill rod in the drill tool to be connected;

[0033] The method of driving the first pushing device to push the inner drill rod of the second type of drill tool to be connected out of the outer casing by a preset distance based on the pushing distance of the first pushing device includes: driving the lifting part to push the inner drill rod of the second type of drill tool to be connected out of the outer casing by a preset distance based on the pushing distance of the first pushing device, and the preset distance is between 5cm and 110cm.

[0034] In a specific embodiment, the first power head includes a drill pipe connector and a casing connector, the drill pipe connector passes through the casing connector and exposes the bottom of the casing connector;

[0035] The driving the first power head downward to dock with the drill tool to be connected comprises: driving the drill rod connector of the first power head to dock with the drill tool to be connected;

[0036] According to the current position of the first power head and the current position of the drill tool to be connected, driving the first power head to move downward and tilt up to dock with the drill tool to be connected comprises:

[0037] According to the current position of the first power head and the current position of the drill bit to be connected, the first power head is first driven to move downward and tilted up to dock with the internal drill rod. After the first power head docks with the internal drill rod, the first power head is driven to dock with the external casing.

[0038] In a specific embodiment, the second power head is provided with a lifting assembly for driving the second power head to move, and the second power head is provided with a through hole, and the through hole is used for the first casing in the first drilling tool to pass through; the second power head is provided with a retractable fork device in the area close to the through hole, and the fork device is located on a side of the second power head close to the first power head, and is used to clamp the first drill rod in the first drilling tool to limit the position of the first drill rod;

[0039] The step of driving the first power head to move until the drill tool to be connected contacts the previous drill tool and is connected with the previous drill tool comprises:

[0040] driving the lifting assembly to move the second power head so that the first casing in the first drilling tool is located in the through hole;

[0041] The first drill rod in the first drilling tool is exposed from the first casing in the first drilling tool in advance, and the fork device is driven to clamp the first drill rod in the first drilling tool.

[0042] In a specific embodiment, the iron roughneck includes a tightening assembly and a straightening assembly, wherein the straightening assembly is arranged on a side of the tightening assembly close to the first power head and is used to straighten the drill tool to be connected; the tightening assembly includes a back-up clamp, a main clamp and a tightening cylinder, wherein the back-up clamp is used to clamp the previous drill tool, and the main clamp is arranged on the back-up clamp and is used to clamp the drill tool to be connected after the drill tool to be connected is straightened; the tightening cylinder is connected to the main clamp and is used to drive the drill tool to be connected to connect with the previous drill tool when the main clamp clamps the drill tool to be connected;

[0043] After the first power head is connected, the iron roughneck is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head is driven downward to drill, which includes:

[0044] After the first power head is connected, the iron roughneck is driven to move so that the straightening assembly straightens the drill tool to be connected, and after straightening, the main tongs clamp the drill tool to be connected;

[0045] When the main tongs clamp the drill tool to be connected and the backup tongs clamp the previous drill tool, the tightening cylinder is driven to push the main tongs to rotate so that the drill tool to be connected is connected to the previous drill tool.

[0046] In a specific embodiment, it also includes:

[0047] When it is obtained that the conveying device conveys the drill to be connected, after a preset time, it is determined whether the drill to be connected is located at the first preset position or the second preset position;

[0048] If the selected drill to be connected is not located at the first preset position or the second preset position after the preset time, an alarm instruction is generated to alarm based on the alarm instruction.

[0049] A drilling system is applied to a drilling mechanism, the drilling mechanism comprising a drilling tower device and a conveying device for conveying at least two kinds of drilling tools to be connected, one end of the drilling tower device has a first power head, and the other end has a second power head, an iron roughneck and a grabbing device;

[0050] The drilling system comprises:

[0051] An acquisition module, used to determine the drilling mode of the drilling mechanism;

[0052] A conveying module, used for selecting the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to a first preset position or a second preset position based on the conveying path of the conveying device;

[0053] The first drilling module is used to drive the grasping device to grasp the drill tool to be connected when it is found that the drill tool to be connected is located at the first preset position, and flip the drill tool to be connected after grasping it so that the end of the drill tool to be connected faces the first power head; after the end of the drill tool to be connected faces the first power head, drive the first power head downward to dock with the drill tool to be connected, and drive the grasping device to release and move away from the drill tool to be connected; after the first power head is connected, drive the iron roughneck to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and drive the first power head downward to drill after the connection;

[0054] The second drilling module is used for, when it is obtained that the drill tool to be connected is located at the second preset position, driving the first power head to move downward and tilt up to dock with the drill tool to be connected according to the current position of the first power head and the current position of the drill tool to be connected; after the first power head docks with the drill tool to be connected, driving the first power head to move until the drill tool to be connected contacts with the previous drill tool and connects with the previous drill tool, and after the connection, driving the first power head and the second power head to drill downward.

[0055] This application has at least the following beneficial effects:

[0056] A drilling method and system are applied to a drilling mechanism, wherein the drilling mechanism includes a drilling tower device and a conveying device for conveying at least two types of drill tools to be connected, wherein one end of the drilling tower device has a first power head, and the other end has a second power head, an iron drill and a grasping device; the drilling method includes: determining a drilling mode of the drilling mechanism; selecting the type of drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to a first preset position or a second preset position based on the conveying path of the conveying device; when it is obtained that the drill tool to be connected is located at the first preset position, driving the grasping device to grasp the drill tool to be connected, and flipping it after grasping the drill tool to be connected so that the end of the drill tool to be connected faces the first power head; After the end is facing the first power head, the first power head is driven downward to align with the drill tool to be connected, and the grasping device is driven to loosen and move away from the drill tool to be connected; after the first power head is connected, the iron driller is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head is driven downward to drill; when it is obtained that the drill tool to be connected is located at the second preset position, according to the current position of the first power head and the current position of the drill tool to be connected, the first power head is driven to move downward and tilt up to dock with the drill tool to be connected; after the first power head docks with the drill tool to be connected, the first power head is driven to move until the drill tool to be connected contacts with the previous drill tool and is connected to the previous drill tool, and after the connection, the first power head and the second power head are driven downward to drill. The drilling method of the present application can select the type of drill tool to be connected and the conveying path of the conveying device according to the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device, and perform different drilling processes according to the drill tools to be connected at different positions. For example, when the drill tool to be connected is obtained to be located at the first preset position, the first drilling mode is achieved through the cooperation of the first power head, the gripping device and the iron driller. For example, when the drill tool to be connected is obtained to be located at the second preset position, the second drilling mode is achieved through the cooperation of the first power head and the second power head. The method can flexibly switch the drilling mode according to different formation conditions and project requirements, which not only ensures the drilling efficiency, but also improves the construction reliability. The design of the multi-mode drilling mechanism enables the equipment to use the powerful power of the dual power heads for efficient drilling in hard formations, while the traditional drill rod drilling method can be used in soft formations to reduce equipment wear and energy consumption. In addition, the method also has the characteristics of convenient construction and strong adaptability, and can cope with complex and changeable geological conditions and meet the needs of diversified engineering projects.

[0057] Further, the drilling mode includes a first drilling mode and a second drilling mode, and the types of drill tools to be connected include a first type of drill tools to be connected and a second type of drill tools to be connected; selecting the type of drill tools to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tools to be connected to the first preset position or the second preset position based on the conveying path of the conveying device includes: selecting the first type of drill tools to be connected and the first conveying path of the conveying device based on the first drilling mode, so as to convey the first type of drill tools to be connected to the first preset position; selecting the second type of drill tools to be connected and the second conveying path of the conveying device based on the second drilling mode, so as to convey the second type of drill tools to be connected to the second preset position; wherein the second preset position is determined according to the parameter data of the second type of drill tools to be connected, and the second type of drill tools to be connected with different parameters correspond to different second preset positions. wherein the parameter data of the second type of drill tools to be connected include the length, outer diameter, hardness, etc. of the second type of drill tools to be connected. The drilling method of the present application can enable the drilling mechanism to transport the first type of drill tools to be connected to the first preset position in the first drilling mode, and transport the second type of drill tools to be connected to the second preset position in the second drilling mode, so as to obtain the first type of drill tools to be connected or the second type of drill tools to be connected based on the drilling tower device, and then drill different drill tools to be connected, so as to meet the drilling needs of different projects and different formations. Furthermore, different second preset positions are set according to the second type of drill tools to be connected with different scale parameters, so that the first power head can better dock with the second type of drill tools to be connected, so that the second type of drill tools to be connected can be more accurately docked with the previous drill tools, making the drilling safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] 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.

[0059] Figure 1 A first flow chart of the drilling method provided in this embodiment;

[0060] Figure 2 A second flow chart of the drilling method provided in this embodiment;

[0061] Figure 3 A third flow chart of the drilling method provided in this embodiment;

[0062] Figure 4 A fourth flow chart of the drilling method provided in this embodiment;

[0063] Figure 5 A fifth flow chart of the drilling method provided in this embodiment;

[0064] Figure 6 A first structural schematic diagram of the drilling mechanism provided in this embodiment;

[0065] Figure 7 A second structural schematic diagram of the drilling mechanism provided in this embodiment;

[0066] Figure 8 A schematic diagram of the structure of the catwalk device provided in this embodiment;

[0067] Fig. 9 An exploded schematic diagram of the catwalk device provided in this embodiment;

[0068] Fig.10 A schematic diagram of the structure of the second power head provided in this embodiment;

[0069] Fig.11 A schematic diagram of the structure of the iron roughneck provided in this embodiment;

[0070] Fig.12 The structure of the first power head provided in this embodiment is shown in FIG. Figure 1 ;

[0071] Fig.13 The structure of the first power head provided in this embodiment is shown in FIG. Figure 2 .

[0072] Reference numerals:

[0073] 1-drilling tower device; 2-conveying device; 3-first type of drilling tools to be connected; 4-second type of drilling tools to be connected;

[0074] 41-drill pipe; 42-casing;

[0075] 11-first power head; 12-second power head; 13-iron roughneck; 14-grabbing device;

[0076] 111-drill pipe connector; 112-casing connector;

[0077] 21-first storage device; 22-first manipulator; 23-conveyor belt;

[0078] 24-second storage device; 25-second manipulator; 26-catwalk device;

[0079] 261-base; 262-main frame; 263-lifting device; 264-first pushing device; 266-third pushing device; 267-clamping device;

[0080] 2611-support rod; 2613-rotating member;

[0081] 2621-Placement board;

[0082] 2641-abutting portion; 2642-lifting portion;

[0083] 121-lifting assembly; 122-through hole; 123-fork device;

[0084] 131-tightening assembly; 132-righting assembly;

[0085] 1311-back-up clamp; 1312-main clamp; 1313-tightening piece. DETAILED DESCRIPTION

[0086] 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.

[0087] 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.

[0088] 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.

[0089] Example 1

[0090] like Figure 1 , 6 As shown in , 7, a drilling method is applied to a drilling mechanism, the drilling mechanism includes a drilling tower device 1 and a conveying device 2 for conveying at least two kinds of drilling tools to be connected, one end of the drilling tower device 1 has a first power head 11, and the other end has a second power head 12, an iron roughneck 13 and a grabbing device 14;

[0091] Drilling methods include:

[0092] Drilling methods include:

[0093] S1: Determine the drilling mode of the drilling mechanism;

[0094] S2: selecting the type of the drill tool to be connected and the conveying path of the conveying device 2 based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device 2;

[0095] S31: When it is obtained that the drill tool to be connected is located at the first preset position, the grasping device 14 is driven to grasp the drill tool to be connected, and after grasping the drill tool to be connected, it is turned over so that the end of the drill tool to be connected faces the first power head 11; after the end of the drill tool to be connected faces the first power head 11, the first power head 11 is driven downward to face the drill tool to be connected, and the grasping device 14 is driven to loosen and move away from the drill tool to be connected; after the first power head 11 is connected, the iron roughneck 13 is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head 11 is driven downward to drill (such as Figure 7 shown);

[0096] S32: When it is obtained that the drill tool to be connected is located at the second preset position, the first power head 11 is driven to move downward and tilt up to dock with the drill tool to be connected according to the current position of the first power head 11 and the current position of the drill tool to be connected; after the first power head 11 is docked with the drill tool to be connected, the first power head 11 is driven to move until the drill tool to be connected contacts with the previous drill tool and is connected with the previous drill tool, and after the connection, the first power head 11 and the second power head 12 are driven to drill downward (such as Figure 6 shown).

[0097] The drilling method of the present application can select the type of drill tool to be connected and the conveying path of the conveying device 2 according to the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device 2, and perform different drilling processes according to the drill tools to be connected at different positions. For example, when the drill tool to be connected is obtained to be located at the first preset position, the first drilling mode is achieved through the cooperation of the first power head 11, the gripping device 14 and the iron drill 13. For example, when the drill tool to be connected is obtained to be located at the second preset position, the second drilling mode is achieved through the cooperation of the first power head 11 and the second power head 12. This method can flexibly switch the drilling mode according to different formation conditions and project requirements, which not only ensures the drilling efficiency, but also improves the construction reliability. The design of the multi-mode drilling mechanism enables the equipment to use the powerful power of the dual power heads for efficient drilling in hard formations, and can use the traditional drill rod drilling method in soft formations to reduce equipment wear and energy consumption. In addition, this method has the characteristics of easy construction and strong adaptability. It can cope with complex and changeable geological conditions and meet the needs of diversified engineering projects.

[0098] Among them, selecting the type of the drill tool to be connected and the conveying path of the conveying device 2 based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device 2 includes:

[0099] Based on the drilling mode, the type of drill tool to be connected and the delivery path of the delivery device 2 are selected. The operator transports the delivery device 2 corresponding to the drilling mode to the designated position, and places the drill tool to be connected selected in the drilling mode on the delivery device 2. Finally, the delivery device 2 is operated to deliver the drill tool to be connected to the first preset position or the second preset position.

[0100] like Figure 2 , 6 As shown in 7, the drilling mode includes a first drilling mode and a second drilling mode, and the types of drilling tools to be connected include a first type of drilling tools to be connected 3 and a second type of drilling tools to be connected 4;

[0101] S2 selects the type of the drill tool to be connected and the conveying path of the conveying device 2 based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device 2, including:

[0102] S21: selecting a first type of drilling tool 3 to be connected and a first conveying path of the conveying device 2 based on the first drilling mode, so as to convey the first type of drilling tool 3 to be connected to a first preset position;

[0103] S22: Based on the second drilling mode, select the second type of drill tools 4 to be connected and the second conveying path of the conveying device 2 to convey the second type of drill tools 4 to be connected to the second preset position; wherein the second preset position is determined according to the parameter data of the second type of drill tools 4 to be connected, and the second type of drill tools 4 to be connected with different parameters correspond to different second preset positions.

[0104] The first type of drilling tools 3 and the second type of drilling tools 4 have corresponding parameter data, and the parameter data include the length, outer diameter, etc. of the drilling tools.

[0105] The drilling method of the present application can enable the drilling mechanism to transport the first type of drill tools 3 to be connected to the first preset position in the first drilling mode, and in the second drilling mode, the operator operates the drilling mechanism to transport the second type of drill tools 4 to be connected to the second preset position, so as to obtain the first type of drill tools 3 or the second type of drill tools 4 to be connected based on the drilling tower device 1, and then drill different drill tools to be connected, so as to meet the drilling needs of different projects and different formations. Furthermore, different second preset positions are set according to the second type of drill tools 4 to be connected with different scale parameters, so that the first power head 11 can better dock with the second type of drill tools 4 to be connected, so that the second type of drill tools 4 to be connected can be more accurately docked with the previous drill tools, making the drilling safer and more reliable.

[0106] like Figure 3 , 7 As shown, since the structures of the first type of drilling tools 3 to be connected and the second type of drilling tools 4 to be connected are different, the conveying paths of the first type of drilling tools 3 to be connected and the second type of drilling tools 4 to be connected are also different. Specifically:

[0107] For the transportation of the first type of drilling tools 3 to be connected, the transportation device 2 includes a first storage device 21, a first manipulator 22 and a conveyor belt 23. The first storage device 21 is used to place the first type of drilling tools 3 to be connected. The first manipulator 22 is movably arranged above the first storage device 21 and is used to clamp the first type of drilling tools 3 to be connected to the conveyor belt 23. The conveyor belt 23 is used to transport the first type of drilling tools 3 to be connected to the first preset position. The first manipulator 22 and the conveyor belt 23 together constitute a first transportation path.

[0108] Selecting the first type of drilling tools 3 to be connected and the first conveying path of the conveying device 2 based on the first drilling mode to convey the first type of drilling tools 3 to be connected to the first preset position includes:

[0109] Selecting a first type of drilling tools 3 to be connected and a first conveying path of the conveying device 2 based on the first drilling mode;

[0110] Based on the first conveying path, the first manipulator 22 is driven to grab the first type of drilling tools 3 to be connected;

[0111] When the first manipulator 22 grabs the first type of drilling tools 3 to be connected, the first manipulator 22 is driven to move above the conveyor belt 23, and the first type of drilling tools 3 to be connected are placed on the conveyor belt 23, so that the conveyor belt 23 conveys the first type of drilling tools 3 to be connected to the first preset position.

[0112] The present application uses the cooperation of the first storage device 21, the first manipulator 22 and the conveyor belt 23 to transport the first type of drill tools 3 to be connected to the first preset position. In the first drilling mode (i.e., traditional drill rod drilling), this process does not require human participation, which improves the degree of automation. The automated transportation can make the first type of drill tools 3 to be connected more accurately placed in the first preset position, so that the subsequent grasping device 14 can obtain the first type of drill tools 3 to be connected.

[0113] like Figure 4 , 6 As shown, for the transportation of the second type of drilling tools 4 to be connected, the transportation device 2 includes a second storage device 24, a second manipulator 25 and a catwalk device 26. The second storage device 24 is used to place the second type of drilling tools 4 to be connected. The second manipulator 25 is arranged between the second storage device 24 and the catwalk device 26, and is used to flip the second type of drilling tools 4 to be connected onto the catwalk device 26; the catwalk device 26 is used to move the second type of drilling tools 4 to be connected to the second preset position; the second manipulator 25 and the catwalk device 26 together constitute a second transportation path;

[0114] Selecting the second type of drilling tool 4 to be connected and the second conveying path of the conveying device 2 based on the second drilling mode to convey the second type of drilling tool 4 to be connected to the second preset position includes:

[0115] Selecting a second type of drilling tools 4 to be connected and a second conveying path of the conveying device 2 based on the second drilling mode;

[0116] Based on the second conveying path, the second manipulator 25 is driven to dock the second type of drilling tools 4 to be connected and flipped, so that the second type of drilling tools 4 to be connected are placed on the catwalk device 26;

[0117] The catwalk device 26 is driven to be lifted and moved so that the second type of drilling tools 4 to be connected are transported to the second preset position.

[0118] In the present application, the operator operates the second manipulator 25 to flip and the catwalk device 26 to lift and move, thereby transporting the second type of drilling tools 4 to be connected to the second preset position. The whole process reduces manual handling through the cooperation of the second manipulator 25 and the catwalk device 26, making the drilling process safer and more reliable.

[0119] In this embodiment, the first type of drilling tool 3 to be connected is a drill rod 41 (such as Figure 7 The second type of drilling tool 4 to be connected is a combination of a drill rod 41 and a casing 42 (as shown in FIG. Fig. 9 , 13 As shown), the casing 42 is arranged on the outside of the drill rod 41. Since the structure of the second type of drill tool 4 to be connected is more complicated than that of the first type of drill tool 3 to be connected, the conveying device 2 for conveying the second type of drill tool 4 to be connected is also different from the conveying device 2 for conveying the first type of drill tool 3 to be connected. The present application specially designs the conveying device 2 for the second type of drill tool 4 to be connected, and the second type of drill tool 4 to be connected is flipped and conveyed to the catwalk device 26 by the second manipulator 25, and the position of the second type of drill tool 4 to be connected is adjusted by the catwalk device 26. Considering that the second type of drill tool 4 to be connected needs to be directly connected to the first power head 11, and the structure of the second type of drill tool 4 to be connected is relatively complicated, the present application can adjust the second preset position of the second type of drill tool 4 to be connected according to the second type of drill tool 4 to be connected with different lengths and different outer diameters, so that the first power head 11 can better connect with the second type of drill tool 4 to be connected, so as to facilitate subsequent drilling.

[0120] Specifically, if Figure 5 , 89, the catwalk device 26 includes a base 261, a main frame 262, a lifting device 263, a first pushing device 264, a second pushing device (not shown in the figure), a third pushing device 266 and a clamping device 267. The main frame 262 is rotatably arranged on the base 261, the lifting device 263 connects the base 261 and the main frame 262, the main frame 262 has a slidable placement plate 2621, the first pushing device 264 is arranged on the placement plate 2621, and the clamping device 267 is arranged at the free end of the main frame 262; the second pushing device (not shown in the figure) is connected to the clamping device 267, and the third pushing device 266 is connected to the placement plate 2621;

[0121] Driving the catwalk device 26 to lift and move so that the second type of drilling tools 4 to be connected are transported to the second preset position includes:

[0122] Drive the first pushing device 264 to push the inner drill rod of the second type of drilling tool 4 to be connected out of the outer casing by a preset distance;

[0123] The third pushing device 266 is driven to push the placement plate 2621, so that the second type of drilling tool 4 to be connected on the placement plate 2621 is moved to the clamping device 267, and the clamping device 267 is driven to clamp the second type of drilling tool 4 to be connected;

[0124] The lifting device 263 is driven to lift the main frame 262 so that the main frame 262 and the base 261 are at a preset angle;

[0125] The second pushing device is driven to push the clamping device 267 forward, so that the second type of drilling tool 4 to be connected clamped by the clamping device 267 reaches the second preset position.

[0126] The present application designs the catwalk device 26, and through the cooperation between the base 261, the main frame 262, the lifting device 263, the first pushing device 264, the second pushing device, the third pushing device 266 and the clamping device 267, the overall position change of the second type of drilling tool 4 to be connected and the position change of the drill rod 41 and the casing 42 in the second type of drilling tool 4 to be connected are achieved, so that the first power head 11 can better dock with the second type of drilling tool 4 to be connected, thereby improving the reliability of the entire equipment.

[0127] The second preset positions of the second type of drilling tools 4 to be connected with different parameters correspond to different rotation angles of the catwalk device 26 , different pushing distances of the second pushing device and different pushing distances of the third pushing device 266 .

[0128] In this embodiment, the second pushing device (not shown in the figure) and the third pushing device (not shown in the figure) are both oil cylinders.

[0129] like Figure 8 , 9As shown, the first pushing device 264 includes an abutting portion 2641 and a lifting portion 2642. The abutting portion 2641 is disposed on the placement plate 2621 and is used to abut against the external casing 42 in the drill tool to be connected; the lifting portion 2642 passes through the abutting portion 2641 and is used to connect with the internal drill rod 41 in the drill tool to be connected.

[0130] Driving the first pushing device 264 to push the inner drill rod of the second type of drill tool 4 to be connected out of the outer casing by a preset distance includes: driving the first pushing device 264 to push the inner drill rod of the second type of drill tool 4 to be connected out of the outer casing by a preset distance, and the preset distance is between 5cm and 110cm. In the present application, the inner drill rod 41 is pushed out of the outer casing 42 by the first pushing device 264, so that both the inner drill rod 41 and the outer casing 42 can be docked with the first power head 11, and its structural design is more reasonable.

[0131] Furthermore, the first power head 11 of the present application includes a drill rod connector 111 and a casing connector 112. In order to improve the stability of the connection between the drill rod connector 111 and the internal drill rod 41 and the connection between the casing connector 112 and the external casing 42, the present application is designed from the structural design of the first power head 11 and / or the control of the first power head 11.

[0132] In one embodiment, Fig.12 As shown, the first power head 11 includes a drill pipe connector 111 and a casing connector 112, and the drill pipe connector 111 passes through the casing connector 112 and exposes the bottom of the casing connector 112;

[0133] Driving the first power head 11 downward to mate with the receiving drill tool comprises: driving the drill rod connector 111 of the first power head 11 to mate with the receiving drill tool;

[0134] According to the current position of the first power head 11 and the current position of the drill tool to be connected, driving the first power head 11 to move downward and tilt up to dock with the drill tool to be connected includes:

[0135] According to the current position of the first power head 11 and the current position of the drill bit to be connected, the first power head 11 is first driven to move downward and tilted up to dock with the internal drill rod. After the first power head 11 docks with the internal drill rod, the first power head 11 is driven to dock with the external casing.

[0136] After the first power head 11 is connected to the external sleeve, the sleeve connector 112 and the external sleeve 42 are locked by screws or bolts.

[0137] The present application sequentially drives the first power head 11 to connect with the internal drill rod and the first power head 11 to connect with the external casing, thereby realizing the front-to-back connection of the internal drill rod and the external casing with the first power head 11. In this way, the connection between the first power head 11 and the drill tool to be connected is more stable, and the reliability and safety of the drilling equipment are enhanced.

[0138] like Fig.13 As shown, when the drill pipe connector 111 is connected to the internal drill pipe 41 and the casing connector 112 is connected to the external casing 42, there is a preset height h1 between the bottom of the drill pipe connector 111 and the inner bottom wall of the casing connector 112; the sum of the preset height h1 and the preset distance d is not greater than the inner cavity depth h2 of the casing connector 112.

[0139] like Fig.10 As shown, the second power head 12 is provided with a lifting assembly 121 for driving the second power head 12 to move, and the second power head 12 is provided with a through hole 122, and the through hole 122 is used for the first casing in the first drilling tool to pass through; the second power head 12 is provided with a retractable fork device 123 in the area close to the through hole 122, and the fork device 123 is located on a side of the second power head 12 close to the first power head 11, and is used to clamp the first drill rod in the first drilling tool to limit the position of the first drill rod;

[0140] Driving the first power head 11 to move to the drilling tool to be connected to contact with the previous drilling tool and to connect with the previous drilling tool includes:

[0141] Drive the lifting assembly 121 to move the second power head 12 so that the first casing in the first drilling tool is located in the through hole 122;

[0142] The first drill rod in the first drill tool is exposed in advance from the first casing in the first drill tool, and the fork device 123 is driven to clamp the first drill rod in the first drill tool.

[0143] The present application designs the structure of the second power head 12, limits the position of the preceding casing by means of the through hole 122, limits the position of the preceding drill rod by means of the fork device 123, and at the same time positions the fork device 123 on the side of the second power head 12 close to the first power head 11, so that the preceding drill rod can be exposed from the preceding casing. At this time, the drill rod to be connected can be lowered to more accurately dock with the preceding drill rod, so as to facilitate subsequent connection.

[0144] like Fig.11As shown, the iron roughneck 13 includes a tightening assembly 131 and a straightening assembly 132. The straightening assembly 132 is arranged on a side of the tightening assembly 131 close to the first power head 11, and is used to straighten the drill tool to be connected; the tightening assembly 131 includes a back-up clamp 1311, a main clamp 1312 and a tightening cylinder. The back-up clamp 1311 is used to clamp the previous drill tool, and the main clamp 1312 is arranged on the back-up clamp 1311, and is used to clamp the drill tool to be connected after the drill tool to be connected is straightened; the tightening cylinder is connected to the main clamp 1312, and is used to drive the drill tool to be connected to connect with the previous drill tool when the main clamp 1312 clamps the drill tool to be connected;

[0145] After the first power head 11 is connected, the iron roughneck 13 is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head 11 is driven downward to drill, including:

[0146] After the first power head 11 is connected, the iron roughneck 13 is driven to move so that the straightening assembly 132 straightens the drill tool to be connected, and after straightening, the main clamp 1312 clamps the drill tool to be connected;

[0147] When the main tongs 1312 clamp the drill tool to be connected and the backup tongs 1311 clamp the previous drill tool, the tightening cylinder is driven to push the main tongs 1312 to rotate so that the drill tool to be connected is connected to the previous drill tool.

[0148] The present application uses the straightening assembly 132 to straighten the drill tool to be connected, so that the drill tool to be connected can be better connected with the previous drill tool, and the main clamp 1312 is used to clamp the drill tool to be connected and the backup clamp 1311 is used to clamp the previous drill tool. After clamping, the main clamp 1312 is pushed to rotate by tightening the oil cylinder to connect the drill tool to be connected with the previous drill tool, thereby facilitating the subsequent drilling work.

[0149] like Figure 1-12 As shown, the drilling method of the present application also includes:

[0150] When it is obtained that the conveying device 2 conveys the drill tool to be connected, after a preset time, it is determined whether the drill tool to be connected is located at the first preset position or the second preset position;

[0151] If the selected drill to be connected is not located at the first preset position or the second preset position after the preset time, an alarm instruction is generated to alarm based on the alarm instruction.

[0152] When the selected drill to be connected is not located at the first preset position or the second preset position, the drilling method of the present application generates an alarm instruction to alarm based on the alarm instruction, thereby promptly reminding the operator to inspect and repair the drilling mechanism.

[0153] Example 2

[0154] A drilling system is applied to a drilling mechanism, the drilling mechanism comprises a drilling tower device 1 and a conveying device 2 for conveying at least two kinds of drilling tools to be connected, one end of the drilling tower device 1 has a first power head 11, and the other end has a second power head 12, an iron roughneck 13 and a grabbing device 14;

[0155] The drilling system includes:

[0156] An acquisition module, used for determining a drilling mode of the drilling mechanism;

[0157] A conveying module, used for selecting the type of the drill tool to be connected and the conveying path of the conveying device 2 based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device 2;

[0158] The first drilling module is used for, when it is obtained that the drill tool to be connected is located at the first preset position, driving the grasping device 14 to grasp the drill tool to be connected, and flipping it after grasping the drill tool to be connected so that the end of the drill tool to be connected faces the first power head 11; after the end of the drill tool to be connected faces the first power head 11, driving the first power head 11 downward and facing the drill tool to be connected, and driving the grasping device 14 to loosen and move away from the drill tool to be connected; after the first power head 11 is connected, driving the iron roughneck 13 to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, driving the first power head 11 downward to drill (such as Figure 7 shown);

[0159] The second drilling module is used for, when it is obtained that the drill tool to be connected is located at the second preset position, driving the first power head 11 to move downward and tilt up to dock with the drill tool to be connected according to the current position of the first power head 11 and the current position of the drill tool to be connected; after the first power head 11 is docked with the drill tool to be connected, driving the first power head 11 to move until the drill tool to be connected contacts with the previous drill tool and connects with the previous drill tool, and after the connection, driving the first power head 11 and the second power head 12 to drill downward (such as Figure 6 shown).

[0160] The drilling system of the present application can select drilling modules to achieve different drilling processes based on the first drilling module and the second drilling module, which not only ensures drilling efficiency but also improves construction reliability. The design of the multi-mode drilling mechanism enables the equipment to use the powerful power of the dual power head for efficient drilling in hard formations, while in soft formations, the traditional drill rod drilling method can be used to reduce equipment wear and energy consumption. In addition, this method also has the characteristics of convenient construction and strong adaptability, and can cope with complex and changeable geological conditions and meet the needs of diversified engineering projects.

[0161] 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.

[0162] 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. A drilling method, applied to a drilling mechanism, characterized in that: The drilling mechanism includes a drilling tower device and a conveying device for conveying at least two kinds of drilling tools to be connected. The drilling tower device has a first power head at one end and a second power head, an iron drill and a grabbing device at the other end. The second power head is provided with a lifting assembly for driving the second power head to move. The second power head has a through hole for passing a prior casing in a prior drilling tool. The second power head has a retractable fork device in an area close to the through hole. The fork device is located on a side of the second power head close to the first power head and is used to clamp a prior drill rod in the prior drilling tool to limit the position of the prior drill rod. The drilling method comprises: determining a drilling mode of the drilling mechanism; Selecting the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to a first preset position or a second preset position based on the conveying path of the conveying device; When it is obtained that the drill tool to be connected is located at the first preset position, the grasping device is driven to grasp the drill tool to be connected, and after grasping the drill tool to be connected, it is turned over so that the end of the drill tool to be connected faces the first power head; after the end of the drill tool to be connected faces the first power head, the first power head is driven downward to dock with the drill tool to be connected, and the grasping device is driven to loosen and move away from the drill tool to be connected; after the first power head is connected, the iron roughneck is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head is driven downward to drill; When it is obtained that the drill tool to be connected is located at the second preset position, the first power head is driven to move downward and tilt up to dock with the drill tool to be connected according to the current position of the first power head and the current position of the drill tool to be connected; after the first power head docks with the drill tool to be connected, the first power head is driven to move until the drill tool to be connected contacts with the previous drill tool and is connected with the previous drill tool, and after the connection, the first power head and the second power head are driven to drill downward; The step of driving the first power head to move until the drill tool to be connected contacts the previous drill tool and is connected with the previous drill tool comprises: driving the lifting assembly to move the second power head so that the first casing in the first drilling tool is located in the through hole; The first drill rod in the first drilling tool is exposed from the first casing in the first drilling tool in advance, and the fork device is driven to clamp the first drill rod in the first drilling tool.

2. The drilling method according to claim 1, characterized in that: The drilling modes include a first drilling mode and a second drilling mode, and the types of the drilling tools to be connected include a first type of drilling tools to be connected and a second type of drilling tools to be connected; The method of selecting the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to the first preset position or the second preset position based on the conveying path of the conveying device, comprises: Selecting the first type of drilling tools to be connected and a first conveying path of the conveying device based on the first drilling mode, so as to convey the first type of drilling tools to be connected to the first preset position; Based on the second drilling mode, the second type of drill tools to be connected and the second conveying path of the conveying device are selected to convey the second type of drill tools to be connected to the second preset position; wherein the second preset position is determined according to the parameter data of the second type of drill tools to be connected, and the second type of drill tools to be connected with different parameters correspond to different second preset positions.

3. The drilling method according to claim 2, characterized in that: The conveying device includes a first storage device, a first manipulator and a conveyor belt, wherein the first storage device is used to place the first type of drilling tools to be connected, and the first manipulator is movably arranged above the first storage device, and is used to clamp the first type of drilling tools to be connected to the conveyor belt; the conveyor belt is used to transport the first type of drilling tools to be connected to the first preset position, and the first manipulator and the conveyor belt together constitute the first conveying path; The selecting the first type of drilling tools to be connected and the first conveying path of the conveying device based on the first drilling mode to convey the first type of drilling tools to be connected to the first preset position includes: Selecting the first type of drilling tools to be connected and a first conveying path of the conveying device based on the first drilling mode; Based on the first conveying path, drive the first manipulator to grab the first type of drilling tools to be connected; When it is obtained that the first manipulator grabs the first type of drilling tools to be connected, the first manipulator is driven to move to the top of the conveyor belt, and the first type of drilling tools to be connected are placed on the conveyor belt, so that the conveyor belt conveys the first type of drilling tools to be connected to the first preset position; And / or, the conveying device includes a second storage device, a second manipulator and a catwalk device, the second storage device is used to place the second type of drilling tools to be connected, the second manipulator is arranged between the second storage device and the catwalk device, and is used to flip the second type of drilling tools to be connected onto the catwalk device; the catwalk device is used to move the second type of drilling tools to be connected to the second preset position; the second manipulator and the catwalk device together constitute the second conveying path; The selecting the second type of drilling tools to be connected and the second conveying path of the conveying device based on the second drilling mode to convey the second type of drilling tools to be connected to the second preset position includes: Selecting the second type of drilling tools to be connected and a second conveying path of the conveying device based on the second drilling mode; Based on the second conveying path, drive the second manipulator to dock with the second type of drilling tools to be connected and flip them over, so that the second type of drilling tools to be connected are placed on the catwalk device; The catwalk device is driven to lift and move so that the second type of drilling tools to be connected are transported to the second preset position.

4. The drilling method according to claim 3, characterized in that: The catwalk device comprises a base, a main frame, a lifting device, a first pushing device, a second pushing device, a third pushing device and a clamping device, wherein the main frame is rotatably arranged on the base, the lifting device is connected to the base and the main frame, the main frame is provided with a slidable placement plate, the first pushing device is arranged on the placement plate, and the clamping device is arranged on the free end of the main frame; the second pushing device is connected to the clamping device, and the third pushing device is connected to the placement plate; The method of driving the catwalk device to lift and move so that the second type of drilling tools to be connected are transported to the second preset position comprises: Driving the first pushing device to push the inner drill rod of the second type of drilling tool to be connected out of the outer casing by a preset distance; driving the third pushing device to push the placement plate, so that the second type of drilling tool to be connected on the placement plate moves to the clamping device, and driving the clamping device to clamp the second type of drilling tool to be connected; Driving the lifting device to lift the main frame so that the main frame and the base are at a preset angle; The second pushing device is driven to push the clamping device forward, so that the second type of drilling tool to be connected clamped by the clamping device reaches the second preset position.

5. The drilling method according to claim 4, characterized in that: The first pushing device includes an abutment portion and a lifting portion, wherein the abutment portion is disposed on the placement plate and is used to abut against an external casing in the drill tool to be connected; the lifting portion passes through the abutment portion and is used to connect with an internal drill rod in the drill tool to be connected; The method of driving the first pushing device to push the inner drill rod of the second type of drill tool to be connected out of the outer casing by a preset distance based on the pushing distance of the first pushing device includes: driving the lifting part to push the inner drill rod of the second type of drill tool to be connected out of the outer casing by a preset distance based on the pushing distance of the first pushing device, and the preset distance is between 5cm and 110cm.

6. The drilling method according to claim 5, characterized in that: The first power head includes a drill pipe connector and a casing connector, the drill pipe connector passes through the casing connector and exposes the bottom of the casing connector; The driving the first power head downward to dock with the drill tool to be connected comprises: driving the drill rod connector of the first power head to dock with the drill tool to be connected; According to the current position of the first power head and the current position of the drill tool to be connected, driving the first power head to move downward and tilt up to dock with the drill tool to be connected comprises: According to the current position of the first power head and the current position of the drill bit to be connected, the first power head is first driven to move downward and tilted up to dock with the internal drill rod. After the first power head docks with the internal drill rod, the first power head is driven to dock with the external casing.

7. The drilling method according to claim 1, characterized in that: The iron roughneck comprises a tightening assembly and a straightening assembly, wherein the straightening assembly is arranged on a side of the tightening assembly close to the first power head and is used to straighten the drill tool to be connected; the tightening assembly comprises a backup clamp, a main clamp and a tightening cylinder, wherein the backup clamp is used to clamp the previous drill tool, and the main clamp is arranged on the backup clamp and is used to clamp the drill tool to be connected after the drill tool to be connected is straightened; the tightening cylinder is connected to the main clamp and is used to drive the drill tool to be connected to be connected to be connected with the previous drill tool when the main clamp clamps the drill tool to be connected; After the first power head is connected, the iron roughneck is driven to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and after the connection, the first power head is driven downward to drill, which includes: After the first power head is connected, the iron roughneck is driven to move so that the straightening assembly straightens the drill tool to be connected, and after straightening, the main tongs clamp the drill tool to be connected; When the main tongs clamp the drill tool to be connected and the backup tongs clamp the previous drill tool, the tightening cylinder is driven to push the main tongs to rotate so that the drill tool to be connected is connected to the previous drill tool.

8. The drilling method according to claim 1, characterized in that: Also includes: When it is obtained that the conveying device conveys the drill to be connected, after a preset time, it is determined whether the drill to be connected is located at the first preset position or the second preset position; If the selected drill to be connected is not located at the first preset position or the second preset position after the preset time, an alarm instruction is generated to alarm based on the alarm instruction.

9. A drilling system, applied to a drilling mechanism, characterized in that: The drilling mechanism includes a drilling tower device and a conveying device for conveying at least two kinds of drilling tools to be connected. The drilling tower device has a first power head at one end and a second power head, an iron drill and a grabbing device at the other end. The second power head is provided with a lifting assembly for driving the second power head to move. The second power head has a through hole for passing a prior casing in a prior drilling tool. The second power head has a retractable fork device in an area close to the through hole. The fork device is located on a side of the second power head close to the first power head and is used to clamp a prior drill rod in the prior drilling tool to limit the position of the prior drill rod. The drilling system comprises: An acquisition module, used for determining a drilling mode of the drilling mechanism; A conveying module, configured to select the type of the drill tool to be connected and the conveying path of the conveying device based on the drilling mode, so as to convey the selected drill tool to be connected to a first preset position or a second preset position based on the conveying path of the conveying device; The first drilling module is used to drive the grasping device to grasp the drill tool to be connected when it is found that the drill tool to be connected is located at the first preset position, and flip the drill tool to be connected after grasping it so that the end of the drill tool to be connected faces the first power head; after the end of the drill tool to be connected faces the first power head, drive the first power head downward to dock with the drill tool to be connected, and drive the grasping device to release and move away from the drill tool to be connected; after the first power head is connected, drive the iron roughneck to straighten the drill tool to be connected and connect the drill tool to be connected with the previous drill tool, and drive the first power head downward to drill after the connection; The second drilling module is used for, when it is obtained that the drill tool to be connected is located at the second preset position, driving the first power head to move downward and tilt up to dock with the drill tool to be connected according to the current position of the first power head and the current position of the drill tool to be connected; after the first power head docks with the drill tool to be connected, driving the first power head to move until the drill tool to be connected contacts with the previous drill tool and connects with the previous drill tool, and driving the first power head and the second power head to drill downward after the connection; The drilling system further performs the following steps: The step of driving the first power head to move until the drill tool to be connected contacts the previous drill tool and is connected with the previous drill tool comprises: driving the lifting assembly to move the second power head so that the first casing in the first drilling tool is located in the through hole; The first drill rod in the first drilling tool is exposed from the first casing in the first drilling tool in advance, and the fork device is driven to clamp the first drill rod in the first drilling tool.

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