Angle and amplitude modulation control construction system and method for nearly horizontal directional drilling machine

Abstract

The invention provides an angle and amplitude adjusting control construction system and method for a nearly horizontal directional drilling machine. The system is used for controlling the directional drilling machine with a progressive angle adjusting device with a main shaft inclination angle locking function. The directional drilling machine comprises a drilling machine crawler body, a rear angle adjusting assembly and a front angle adjusting assembly are installed on the two longitudinal sides of the drilling machine crawler body respectively, and a rear inclined strut assembly and a front inclined strut assembly are hinged to the top face of the drilling machine crawler body. A feeding device is arranged above the drilling machine crawler body, and the feeding device is movably connected with the rear angle adjusting assembly, the rear inclined strut assembly, the front angle adjusting assembly and the front inclined strut assembly; the device comprises a feeding device, a controller, an oil way switching multi-way valve, a linkage valve block, a displacement sensor and a tilt angle sensor, according to the method, the system is adopted for adjusting the drilling height, the elevation angle and the depression angle of the directional drilling machine. According to the invention, the automation level of the directional drilling machine is improved, and the construction safety is also improved.

Description

Technical Field

[0001] The invention belongs to the technical field of gas extraction prevention and control construction, relates to the control construction of a high-power automatic directional drilling rig, and specifically relates to an angle and amplitude modulation control construction system and method for a nearly horizontal directional drilling rig. Background Art

[0002] At present, underground tunnel drilling rigs are mainly used for gas pre-extraction and treatment to ensure safe and efficient production of coal mines. Under the same coal seam original pressure, coal seam permeability and the same borehole extraction negative pressure, increasing the borehole diameter and borehole depth can greatly improve the coal seam gas extraction efficiency. Ordinary rotary drilling rigs are only suitable for occasions with shallow borehole depths because the drilling trajectory is uncontrollable. Directional large-diameter long drilling has many advantages such as large aperture, accurate positioning, deep hole, controllable trajectory and high efficiency, and is widely used in high-gas and protruding mines.

[0003] Directional drilling rigs are special equipment for directional large-diameter long-hole drilling construction. Traditional directional drilling rigs mainly rely on manual loading and unloading of drilling tools, which not only increases the labor intensity of on-site workers and reduces the efficiency of drilling rig construction, but also poses great safety hazards. With the increase in the specifications of supporting drilling tools, it is difficult for manpower to complete the loading and unloading of drilling tools, and the implementation of special actions such as mechanized replacement of personnel and automated reduction of personnel to strengthen science and technology, the application of high-power automatic directional drilling rigs has become a trend. In order to realize the automatic function, high-power directional drilling rigs need to integrate modules such as rod bins, rod adding manipulators, shackles, controllers, sensors, etc. The integration of these modules will greatly increase the size and weight of high-power drilling rigs, limiting their application in narrow spaces underground in coal mines.

[0004] In order to reduce the height of high-power automatic directional drilling rigs, the height of the drilling rig angle adjustment device needs to be designed as low as possible. However, the weight of the drilling rig host is greatly increased due to the integration of automatic functions. The too low angle adjustment device is not enough to generate enough upward force to support the host, and it cannot ensure that the host has a large enough angle adjustment and height adjustment range, which limits the application of the drilling rig. At the same time, the traditional angle adjustment device uses a mechanical chuck body to enhance the stability of the drilling rig construction. When the drilling rig is adjusted to the designed spindle inclination angle, the mechanical chuck body needs to be manually tightened, which is labor-intensive and has the risk of injury. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an angle and amplitude modulation control construction system and method for a near-horizontal directional drilling rig, so as to solve the technical problems in the prior art that a mechanical chuck body is used to enhance the stability of the drilling rig construction, and when the drilling rig is adjusted to the designed spindle inclination angle, the mechanical chuck body needs to be manually tightened, which results in high labor intensity and prone to safety accidents.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0007] The invention discloses an angle adjustment and amplitude modulation control construction system for a nearly horizontal directional drilling rig, which is used to control a directional drilling rig with a progressive angle adjustment device having a main shaft inclination locking function.

[0008] The directional drilling rig with a progressive angle adjustment device with a spindle inclination locking function includes a drilling rig crawler body, a rear angle adjustment assembly is fixedly installed on the longitudinal rear side of the drilling rig crawler body, and a front angle adjustment assembly is fixedly installed on the longitudinal front side of the drilling rig crawler body; a pair of rear diagonal brace assemblies and a pair of front diagonal brace assemblies are hinged on the top surface of the drilling rig crawler body; a feeding device is arranged above the drilling rig crawler body; the longitudinal rear end of the feeding device is movably connected to the rear angle adjustment assembly, the longitudinal front end of the feeding device is movably connected to the front angle adjustment assembly, and the bottom surface of the feeding device is movably connected to the pair of rear diagonal brace assemblies and the pair of front diagonal brace assemblies.

[0009] The rear angle adjustment component includes a rear crossbeam component and a rear multi-stage angle adjustment cylinder, the front angle adjustment component includes a front crossbeam component and a front multi-stage angle adjustment cylinder, the rear crossbeam component and the front crossbeam component each include a crossbeam cylinder; the rear diagonal brace component includes a rear diagonal brace angle adjustment cylinder, and the front diagonal brace component includes a front diagonal brace angle adjustment cylinder.

[0010] The angle adjustment and amplitude modulation control construction system of the near-horizontal directional drilling rig includes a controller, an oil circuit switching multi-way valve, a linkage valve block, and a displacement sensor and an inclination sensor installed on a feed device; the inclination sensor is used to measure the spindle inclination angle of a directional drilling rig with a progressive angle adjustment device having a spindle inclination locking function, including an elevation angle and a depression angle; the displacement sensor is used to detect the displacement of the front end of the feed device relative to the crawler body of the drilling rig; the controller is used to receive data from the displacement sensor and the inclination sensor, and compare the preset value and the actual measured value of the data; it is also used to control the oil circuit switching multi-way valve; the oil circuit switching multi-way valve is used to control high-pressure oil to enter the linkage valve block from different oil inlet ends; the linkage valve block is used to control the actions of the rear multi-stage angle adjustment cylinder, the front multi-stage angle adjustment cylinder, the crossbeam cylinder, the rear diagonal support angle adjustment cylinder and the front diagonal support angle adjustment cylinder.

[0011] The present invention also has the following technical features:

[0012] The linkage valve block includes a first main oil circuit, a second main oil circuit, a third main oil circuit, a fourth main oil circuit, a fifth main oil circuit and a sixth main oil circuit; the oil circuit switching multi-way valve is arranged between the oil inlet end and the oil source of the first main oil circuit, the second main oil circuit, the third main oil circuit, the fourth main oil circuit, the fifth main oil circuit and the sixth main oil circuit.

[0013] The oil outlet end of the first main oil circuit is connected to the crossbeam cylinder of the front crossbeam assembly, and the first main oil circuit is provided with a first electromagnetic reversing valve and a first hydraulically controlled non-return valve; the oil outlet end of the second main oil circuit is connected to the oil inlet ends of the first branch and the second branch, the oil outlet end of the first branch is connected to the front multi-stage angle adjustment cylinder, and the oil outlet end of the second branch is connected to the front diagonal support angle adjustment cylinder; the second main oil circuit is provided with a first hydraulically controlled reversing valve, the first branch is provided with a first diverter valve, and the second branch is provided with a second diverter valve; the oil outlet end of the third main oil circuit is connected to the oil inlet ends of the third branch and the fourth branch, the oil outlet end of the third branch is connected to the front diagonal support angle adjustment cylinder, and the oil outlet end of the fourth branch It is connected with the front multi-stage angle adjustment cylinder; a second hydraulically controlled reversing valve is arranged on the third main oil circuit, a third diverter valve is arranged on the third branch circuit, and a fourth diverter valve is arranged on the fourth branch circuit; the first main oil circuit is also connected with the oil inlet end of the first connecting oil circuit, the oil inlet end of the first connecting oil circuit is located between the first solenoid reversing valve and the first hydraulically controlled one-way valve, and the oil outlet end of the first connecting oil circuit is respectively connected with the first hydraulically controlled reversing valve and the second hydraulically controlled reversing valve; the second main oil circuit and the third main oil circuit are also provided with a first shuttle valve, the oil inlet end of the first shuttle valve is respectively connected with the second main oil circuit and the third main oil circuit, and the oil outlet end of the first shuttle valve is connected with the first hydraulically controlled one-way valve through the first hydraulically controlled one-way valve control pipeline.

[0014] The oil outlet end of the sixth main oil circuit is connected to the crossbeam cylinder of the rear crossbeam assembly, and the second solenoid reversing valve and the second hydraulically controlled one-way valve are sequentially arranged on the sixth main oil circuit along the oil delivery direction; the oil outlet end of the fourth main oil circuit is connected to the oil inlet ends of the fifth branch and the sixth branch, the oil outlet end of the fifth branch is connected to the rear multi-stage angle adjustment cylinder, and the oil outlet end of the sixth branch is connected to the rear diagonal support angle adjustment cylinder; the third hydraulically controlled reversing valve is arranged on the fourth main oil circuit, the fifth diverter valve is arranged on the fifth branch, and the sixth diverter valve is arranged on the sixth branch; the oil outlet end of the fifth main oil circuit is connected to the oil inlet ends of the seventh branch and the eighth branch, the oil outlet end of the seventh branch is connected to the rear diagonal support angle adjustment cylinder, and the oil outlet end of the eighth branch is connected to the rear multi-stage angle adjustment cylinder; the fourth hydraulically controlled reversing valve is arranged on the fifth main oil circuit, the fifth diverter valve is arranged on the fifth branch, and the sixth diverter valve is arranged on the sixth branch; the oil outlet end of the fifth main oil circuit is connected to the oil inlet ends of the seventh branch and the eighth branch, the oil outlet end of the seventh branch is connected to the rear diagonal support angle adjustment cylinder, and the oil outlet end of the eighth branch is connected to the rear multi-stage angle adjustment cylinder; a second shuttle valve is arranged on the seventh branch, and an eighth shuttle valve is arranged on the eighth branch; the fourth main oil circuit and the fifth main oil circuit are connected through the fourth connecting oil circuit, and the second shuttle valve is arranged on the fourth connecting oil circuit; the second shuttle valve and the second hydraulically controlled one-way valve are connected through a pipeline; the sixth main oil circuit is also connected with the oil inlet end of the third connecting oil circuit, the oil inlet end of the third connecting oil circuit is located between the second electromagnetic reversing valve and the second hydraulically controlled one-way valve, and the oil outlet end of the third connecting oil circuit is respectively connected with the third hydraulically controlled reversing valve and the fourth hydraulically controlled reversing valve; the fourth main oil circuit and the fifth main oil circuit are also provided with a second shuttle valve, the oil inlet end of the second shuttle valve is respectively connected with the fourth main oil circuit and the fifth main oil circuit, and the oil outlet end of the second shuttle valve is connected with the second hydraulically controlled one-way valve through the second hydraulically controlled one-way valve control pipeline.

[0015] The rear angle adjustment component includes a pair of rear column mounting seats, each of which has a rear diagonal support column movably mounted therein, and the rear diagonal support column is arranged along the vertical direction; each rear diagonal support column is respectively mounted with a rear multi-stage angle adjustment cylinder mounting piece, and a pair of rear multi-stage angle adjustment cylinder mounting pieces are arranged opposite to each other; a rear crossbeam component is mounted on a pair of rear diagonal support columns, and the rear crossbeam component is arranged along the transverse direction, and the rear crossbeam component is located above the rear multi-stage angle adjustment cylinder mounting piece; the rear multi-stage angle adjustment cylinder mounting piece is movably connected to the cylinder barrel of the rear multi-stage angle adjustment cylinder, and the rear crossbeam component is movably connected to the cylinder rod of the rear multi-stage angle adjustment cylinder; each rear diagonal support column is mounted with a rear limit block, and the rear limit block is located below the rear multi-stage angle adjustment cylinder mounting piece.

[0016] The front angle adjustment component includes a pair of front column mounting seats, each of which has a front diagonal support column movably mounted therein, and the front diagonal support column is arranged along the vertical direction; each front diagonal support column is respectively mounted with a front multi-stage angle adjustment cylinder mounting piece, and a pair of front multi-stage angle adjustment cylinder mounting pieces are arranged opposite to each other; a front crossbeam component is mounted on a pair of front diagonal support columns, and the front crossbeam component is arranged along the transverse direction, and the front crossbeam component is located above the front multi-stage angle adjustment cylinder mounting piece; the front multi-stage angle adjustment cylinder mounting piece is movably connected to the cylinder barrel of the front multi-stage angle adjustment cylinder, and the front crossbeam component is movably connected to the cylinder rod of the front multi-stage angle adjustment cylinder; each front diagonal support column is mounted with a front limit block, and the front limit block is located below the front multi-stage angle adjustment cylinder mounting piece.

[0017] The rear diagonal brace assembly comprises a pair of rear diagonal brace angle adjustment oil cylinder mounting seats, and each rear diagonal brace angle adjustment oil cylinder mounting seat is movably connected with a rear diagonal brace angle adjustment oil cylinder.

[0018] The front diagonal brace assembly comprises a pair of front diagonal brace angle adjustment oil cylinder mounting seats, and each front diagonal brace angle adjustment oil cylinder mounting seat is movably connected with a front diagonal brace angle adjustment oil cylinder.

[0019] The structure of the rear crossbeam assembly is the same as that of the front crossbeam assembly; the rear crossbeam assembly includes a crossbeam assembly shell, which is arranged along the transverse direction, and a chuck shell is fixedly arranged at the two transverse ends of the crossbeam assembly shell respectively; a fixed chuck is arranged on the transverse outer side of the chuck shell; a crossbeam cylinder is arranged in the crossbeam assembly shell, and a liquid-driven chuck is movably arranged in the chuck shell, and the two liquid-driven chucks are respectively connected to the two transverse ends of the crossbeam cylinder, and the inner side surfaces of the liquid-driven chuck and the fixed chuck are the mating surfaces of the diagonal brace columns, and the space enclosed by the liquid-driven chuck and the fixed chuck is the through hole of the diagonal brace column.

[0020] The feeding device includes a feeding body, a guide rail is respectively arranged on the two lateral sides of the top surface of the feeding body, and a support plate is movably installed on the pair of guide rails; a feeding cylinder is arranged at the longitudinal front part of the feeding body, the cylinder barrel of the feeding cylinder is fixedly connected to the feeding body, and the cylinder rod of the feeding cylinder is connected to the support plate.

[0021] A pair of rear connecting ear plates are arranged on the longitudinal rear end of the feed fuselage, and the rear connecting ear plates are installed on the rear crossbeam assembly; a pair of front connecting ear plates are arranged on the longitudinal front end of the feed fuselage, and the front connecting ear plates are installed on the front crossbeam assembly; a plurality of groups of lower connecting ear plates are arranged on the bottom surface of the feed fuselage, and the rear diagonal support angle adjustment cylinders and the front diagonal support angle adjustment cylinders are respectively installed in the plurality of groups of lower connecting ear plates.

[0022] The present invention also protects a method for controlling the angle and amplitude of a near-horizontal directional drilling rig, which uses the angle and amplitude control construction system for the near-horizontal directional drilling rig as described above to adjust the hole height, elevation angle and depression angle of a directional drilling rig with a progressive angle adjustment device having a main shaft inclination locking function.

[0023] Compared with the prior art, the present invention has the following technical effects:

[0024] The present invention controls the action of each oil cylinder in a directional drilling rig through a linkage valve block, thereby realizing large inclination angle adjustment and large hole height adjustment of a high-power automatic directional drilling rig in a limited space, reducing labor intensity and avoiding the occurrence of safety accidents; the linkage valve block cooperates with a sensor and a controller to realize automatic adjustment and automatic locking of the spatial posture of the directional drilling rig; the present invention improves the automation level of the directional drilling rig and also improves construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a progressive angle adjustment device with a spindle inclination locking function.

[0026] Figure 2 It is a schematic diagram of the structure of the rear angle adjustment assembly and the rear diagonal brace assembly.

[0027] Figure 3 It is a schematic diagram of the structure of the front angle adjustment assembly and the front diagonal brace assembly.

[0028] Figure 4 It is a structural schematic diagram of the rear crossbeam assembly.

[0029] Figure 5 It is a schematic diagram of the structure of the feeding device.

[0030] Figure 6 It is a schematic diagram of a directional drilling rig with a progressive angle adjustment device having a main shaft tilt angle locking function during horizontal construction.

[0031] Figure 7 It is a schematic diagram of a directional drilling rig with a progressive angle adjustment device having a spindle inclination locking function during high-position hole construction.

[0032] Figure 8 It is a schematic diagram of a directional drilling rig with a progressive angle adjustment device having a main shaft tilt angle locking function when performing construction at a large elevation angle.

[0033] Fig. 9 It is a schematic diagram of a directional drilling rig with a progressive angle adjustment device with a main shaft tilt angle locking function when performing large pitch angle construction.

[0034] Fig.10 This is a structural diagram of the linkage valve block in the angle and amplitude modulation control construction system of a near-horizontal directional drilling rig.

[0035] Fig.11 This is a schematic diagram of the working process of the angle and amplitude modulation control construction system of the near-horizontal directional drilling rig.

[0036] Fig.12 A schematic diagram of the process of using a control construction system to adjust the height of a directional drilling rig; Fig.12 In the figure, (A), (B), (C), (D), and (E) show the attitude changes of the directional drill during the adjustment process.

[0037] Fig.13 It is a schematic diagram of the process of adjusting the elevation angle of a directional drilling rig using a control construction system; Fig.13 In the figure, (A), (B), (C), (D), (E), and (F) show the attitude changes of the directional drill during the adjustment process.

[0038] Fig.14 It is a schematic diagram of the process of adjusting the pitch angle of a directional drilling rig using a control construction system; Fig.14 In the figure, (A), (B), (C), (D), (E), and (F) show the attitude changes of the directional drill during the adjustment process.

[0039] The meanings of the numbers in the figure are as follows: 1-rear angle adjustment assembly, 2-front angle adjustment assembly, 3-rear diagonal brace assembly, 4-front diagonal brace assembly, 5-drilling rig crawler body, 6-feeding device, 7-drilling rig power head, 8-clamp, 9-stable bracket, 10-crane; 11-displacement sensor, 12-tilt sensor; 13-first main oil circuit, 14-second main oil circuit, 15-third main oil circuit, 16-fourth main oil circuit, 17-fifth main oil circuit, 18-sixth main oil circuit; 19-first solenoid reversing valve, 20-first hydraulically controlled one-way valve, 21-first branch, 22-second branch, 23-first hydraulically controlled reversing valve, 24-first diverter valve, 25-second diverter valve, 26-first Three branches, 27-the fourth branch, 28-the second hydraulically controlled reversing valve, 29-the third diverter valve, 30-the fourth diverter valve, 31-the first connecting oil circuit, 32-the first hydraulically controlled one-way valve control pipeline, 33-the first shuttle valve; 34-the second solenoid reversing valve, 35-the second hydraulically controlled one-way valve, 36-the fifth branch, 37-the sixth branch, 38-the third hydraulically controlled reversing valve, 39-the fifth diverter valve, 40-the sixth diverter valve, 41-the seventh branch, 42-the eighth branch, 43-the fourth hydraulically controlled reversing valve, 44-the seventh diverter valve, 45-the eighth diverter valve, 46-the third connecting oil circuit, 47-the second hydraulically controlled one-way valve control pipeline, 48-the second shuttle valve; 49-drilling, 50-drill pipe.

[0040] 101-rear column mounting seat, 102-rear diagonal support column, 103-rear multi-stage angle adjustment cylinder mounting part, 104-rear crossbeam assembly, 105-rear multi-stage angle adjustment cylinder, 106-rear limit block.

[0041] 201-front column mounting seat, 202-front diagonal support column, 203-front multi-stage angle adjustment cylinder mounting part, 204-front crossbeam assembly, 205-front multi-stage angle adjustment cylinder, 206-front limit block.

[0042] 301-rear diagonal brace angle adjustment cylinder mounting seat, 302-rear diagonal brace angle adjustment cylinder.

[0043] 401-front diagonal brace angle adjustment cylinder mounting seat, 402-front diagonal brace angle adjustment cylinder.

[0044] 601-feeding body, 602-guide rail, 603-supporting plate, 604-feeding oil cylinder, 605-rear connecting ear plate, 606-front connecting ear plate, 607-lower connecting ear plate.

[0045] 10401- crossbeam assembly housing, 10402- chuck housing, 10403- fixed chuck, 10404- crossbeam cylinder, 10405- liquid-driven chuck, 10406- diagonal support column through hole, 10407- fixing part, 10408- ​​connecting screw.

[0046] The specific contents of the present invention are further explained in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0047] "Near-horizontal directional drilling rig" refers to a directional drilling rig that performs directional drilling construction along a near-horizontal direction. The near-horizontal direction refers to the range of 30° upward or downward inclination based on the horizontal direction.

[0048] It should be noted that all components in the present invention, unless otherwise specified, are components known in the art, such as:

[0049] The oil circuit switching multi-way valve adopts a conventional multi-way valve known in the prior art.

[0050] The controller adopts a conventional flameproof and intrinsically safe controller for underground coal mines known in the prior art.

[0051] The drill rod adding device adopts a conventional drill rod adding device known in the prior art, for example, the drill rod adding device recorded in the Chinese patent application number 202010393059.7, which includes a drilling rig power head 7, a clamp 8, etc.

[0052] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0053] Embodiment 1:

[0054] This embodiment provides a progressive angle adjustment device with a spindle inclination locking function, such as Figure 1 As shown, it includes a rear angle adjustment component 1 arranged on the longitudinal rear side and a front angle adjustment component 2 arranged on the longitudinal front side, a pair of rear diagonal brace components 3 and a pair of front diagonal brace components 4 are arranged between the rear angle adjustment component 1 and the front angle adjustment component 2, the rear diagonal brace component 3 is close to the rear angle adjustment component 1, and the front diagonal brace component 4 is close to the front angle adjustment component 2.

[0055] In this embodiment, the front angle adjustment assembly 2 and the front diagonal brace assembly 4 cooperate with each other and are used to achieve progressive large-range adjustment of the inclination and elevation angles of the drilling rig main shaft; the rear angle adjustment assembly 1 and the rear diagonal brace assembly 3 first cooperate with each other and are used to achieve progressive large-range adjustment of the inclination and elevation angles of the drilling rig main shaft; the front angle adjustment assembly 2, the front diagonal brace assembly 4, the rear angle adjustment assembly 1 and the rear diagonal brace assembly 3 cooperate with each other to jointly achieve a large-range adjustment of the drilling rig opening height.

[0056] As a specific solution of this embodiment, Figure 2As shown, the rear angle adjustment component 1 includes a pair of rear column mounting seats 101, each of which has a rear diagonal support column 102 movably mounted therein, and the rear diagonal support column 102 is arranged along the vertical direction; each rear diagonal support column 102 is respectively mounted with a rear multi-stage angle adjustment cylinder mounting member 103, and a pair of rear multi-stage angle adjustment cylinder mounting members 103 are arranged opposite to each other; a rear cross beam component 104 is mounted on a pair of rear diagonal support columns 102, and the rear cross beam component 104 is arranged along the transverse direction, and the rear crossbeam assembly 104 is located above the rear multi-stage angle adjustment cylinder mounting member 103; the rear multi-stage angle adjustment cylinder mounting member 103 is movably connected to the cylinder barrel of the rear multi-stage angle adjustment cylinder 105, and the rear crossbeam assembly 104 is movably connected to the cylinder rod of the rear multi-stage angle adjustment cylinder 105; a rear limit block 106 is installed on each rear diagonal support column 102, and the rear limit block 106 is located below the rear multi-stage angle adjustment cylinder mounting member 103.

[0057] In this embodiment, the rear diagonal support column 102 is movably mounted in the rear column mounting seat 101 through a pin shaft, and the rear diagonal support column 102 can rotate around the pin shaft. The cylinder barrel of the rear multi-stage angle adjustment oil cylinder 105 is connected to the rear multi-stage angle adjustment oil cylinder mounting member 103 through a hinge shaft, and the cylinder rod of the rear multi-stage angle adjustment oil cylinder 105 is hinged to the rear cross beam assembly 104.

[0058] In this embodiment, the rear multi-stage angle adjustment oil cylinder 105 provides sufficient driving force at the initial position of the drilling rig to achieve a small range of angle adjustment of the drilling rig pitch angle. The rear multi-stage angle adjustment oil cylinder mounting piece 103 is connected to the rear diagonal support column 102. Under the drive of the rear multi-stage angle adjustment oil cylinder 105, the rear multi-stage angle adjustment oil cylinder mounting piece 103 moves linearly along the rear diagonal support column 102. The rear limit block 106 installed on the rear diagonal support column 102 is used to limit the rear multi-stage angle adjustment oil cylinder mounting piece 103 to the lowest position on the rear diagonal support column 102.

[0059] As a specific solution of this embodiment, Figure 3 As shown, the front angle adjustment component 2 includes a pair of front column mounting seats 201, each of which has a front diagonal support column 202 movably mounted therein, and the front diagonal support column 202 is arranged along the vertical direction; each of the front diagonal support columns 202 is respectively mounted with a front multi-stage angle adjustment cylinder mounting member 203, and a pair of front multi-stage angle adjustment cylinder mounting members 203 are arranged opposite to each other; a front crossbeam component 204 is mounted on the pair of front diagonal support columns 202, and the front crossbeam component 204 is arranged along the transverse direction, and the front crossbeam assembly 204 is located above the front multi-stage angle adjustment cylinder mounting member 203; the front multi-stage angle adjustment cylinder mounting member 203 is movably connected to the cylinder barrel of the front multi-stage angle adjustment cylinder 205, and the front crossbeam assembly 204 is movably connected to the cylinder rod of the front multi-stage angle adjustment cylinder 205; a front limit block 206 is installed on each front diagonal support column 202, and the front limit block 206 is located below the front multi-stage angle adjustment cylinder mounting member 203.

[0060] In this embodiment, the front diagonal support column 202 is movably mounted in the front column mounting seat 201 through a pin shaft, and the rear diagonal support column 102 can rotate around the pin shaft. The cylinder barrel of the front multi-stage angle adjustment oil cylinder 205 is connected to the front multi-stage angle adjustment oil cylinder mounting member 203 through a hinge shaft, and the cylinder rod of the front multi-stage angle adjustment oil cylinder 205 is hinged to the front cross beam assembly 204.

[0061] In this embodiment, the front multi-stage angle adjustment oil cylinder 205 provides sufficient driving force at the initial position of the drilling rig to achieve a small range of angle adjustment of the drilling rig elevation angle. The front multi-stage angle adjustment oil cylinder mounting part 203 is connected to the front diagonal support column 202. Under the drive of the front multi-stage angle adjustment oil cylinder 205, the front multi-stage angle adjustment oil cylinder mounting part 203 moves linearly along the front diagonal support column 202. The front limit block 206 installed on the front diagonal support column 202 is used to limit the lowest position of the front multi-stage angle adjustment oil cylinder mounting part 203 on the front diagonal support column 202.

[0062] As a specific solution of this embodiment, Figure 2 As shown, the rear diagonal support assembly 3 includes a pair of rear diagonal support angle adjustment cylinder mounting seats 301, and each rear diagonal support angle adjustment cylinder mounting seat 301 is movably connected to a rear diagonal support angle adjustment cylinder 302.

[0063] As a specific solution of this embodiment, Figure 3 As shown, the front diagonal brace assembly 4 includes a pair of front diagonal brace angle adjustment cylinder mounting seats 401 , and each front diagonal brace angle adjustment cylinder mounting seat 401 is movably connected to a front diagonal brace angle adjustment cylinder 402 .

[0064] As a specific solution of this embodiment, the rear cross beam assembly 104 has the same structure as the front cross beam assembly 204; Figure 4 As shown, the rear crossbeam assembly 104 includes a crossbeam assembly shell 10401, which is arranged along the transverse direction, and a chuck shell 10402 is fixedly arranged at the two transverse ends of the crossbeam assembly shell 10401; a fixed chuck 10403 is arranged on the transverse outer side of the chuck shell 10402; a crossbeam cylinder 10404 is arranged in the crossbeam assembly shell 10401, and a liquid-driven chuck 10405 is movably arranged in the chuck shell 10402, and the two liquid-driven chucks 10405 are respectively connected to the two transverse ends of the crossbeam cylinder 10404, and the inner side surfaces of the liquid-driven chuck 10405 and the fixed chuck 10403 are the matching surfaces of the diagonal brace columns, and the space enclosed by the liquid-driven chuck 10405 and the fixed chuck 10403 is the diagonal brace column through hole 10406.

[0065] In this embodiment, the crossbeam assembly housing 10401 of the crossbeam assembly 104 is hinged to the cylinder rod of the multi-stage angle adjustment cylinder, and the crossbeam assembly is connected to the diagonal support column through the fixed chuck 10403 and the liquid-driven chuck 10405. The contact surface composed of the fixed chuck 10403 and the liquid-driven chuck 10405 and the contact surface of the diagonal support column are clearance-matched, and are driven by the multi-stage angle adjustment cylinder to move linearly along the diagonal support column. When the inclination adjustment of the drilling rig main shaft is completed, the crossbeam cylinder 10404 drives the liquid-driven chuck 10405 to move along the chuck housing 10402 until the diagonal support column is clamped, thereby enhancing the stability and safety of the drilling rig construction.

[0066] As a specific solution of this embodiment, Figure 4 As shown, a pair of fixing parts 10407 are installed outside the beam assembly housing 10401.

[0067] As a specific solution of this embodiment, Figure 4 As shown, threaded holes are provided on the crossbeam assembly housing 10401 for installing connecting screws 10408 , and the crossbeam assembly housing 10401 and the multi-stage angle adjustment cylinder are connected through the threaded holes and the connecting screws 10408 .

[0068] As a specific solution of this embodiment, Figure 4 As shown, the contact surface between the beam assembly and the diagonal support column can be in various forms, such as cylindrical surface, rectangular surface, hexagonal prism surface, etc. In this embodiment, the beam assembly housing 10401 is a hollow cylindrical structure, the chuck housing 10402 is a hollow structure similar to a half hexagonal nut, the fixed chuck 10403 is a solid structure similar to a half hexagonal nut, the structure composed of the fixed chuck 10403 and the chuck housing 10402 is a structure similar to a nut, and the diagonal support column through hole 10406 ​​is a cylindrical structure.

[0069] As a specific solution of this embodiment, the structure of the lateral outer end of the multi-stage angle adjustment cylinder mounting component is similar to that of the hexagonal nut, and the contact surface between the multi-stage angle adjustment cylinder mounting component and the diagonal support column can be in various forms, such as cylindrical surface, rectangular surface, hexagonal prism surface, etc.

[0070] The progressive angle adjustment device with spindle inclination locking function provided in the present embodiment realizes progressive large inclination adjustment and hole opening height adjustment of the drilling rig through two groups of multi-stage angle adjustment cylinders, two groups of diagonal support angle adjustment cylinders, and two groups of diagonal support column assemblies, and realizes automatic locking function through a liquid-driven chuck body. The adjustment device significantly reduces the hole opening height and external dimensions of the drilling rig while having a large angle adjustment range and height adjustment range, and solves the problem of limited application of high-power automatic directional drilling rigs in limited space; when the drilling rig reaches the designed spindle inclination angle or hole opening height, the liquid-driven chuck body in the progressive angle adjustment device is automatically locked, which enhances the stability of the drilling rig construction and improves the automation level and construction safety of the drilling rig.

[0071] Embodiment 2:

[0072] This embodiment provides a directional drilling machine with a progressive angle adjustment device having a main shaft inclination locking function according to embodiment 1, such as Figure 1 and Figure 6 As shown, it includes a drilling rig crawler body 5, a rear angle adjustment component 1 is fixedly installed on the longitudinal rear side of the drilling rig crawler body 5, and a front angle adjustment component 2 is fixedly installed on the longitudinal front side of the drilling rig crawler body 5; a pair of rear diagonal support components 3 and a pair of front diagonal support components 4 are hinged on the top surface of the drilling rig crawler body 5; a feeding device 6 is arranged above the drilling rig crawler body 5; the longitudinal rear end of the feeding device 6 is movably connected to the rear angle adjustment component 1, the longitudinal front end of the feeding device 6 is movably connected to the front angle adjustment component 2, and the bottom surface of the feeding device 6 is movably connected to the pair of rear diagonal support components 3 and the pair of front diagonal support components 4.

[0073] In this embodiment, the rear column mounting seat 101 of the rear angle adjustment assembly 1 is fixedly connected to the drilling rig crawler body 5 by bolts, and the front column mounting seat 201 of the front angle adjustment assembly 2 is fixedly connected to the drilling rig crawler body 5 by bolts. The feeding device 6 is movably connected to the front crossbeam assembly 204 of the front angle adjustment assembly 2 and the rear crossbeam assembly 104 of the rear angle adjustment assembly 1 through a hinge shaft.

[0074] In this embodiment, the front diagonal support angle adjustment cylinder mounting base 401 of the front diagonal support assembly 4 is fixedly connected to the drilling rig crawler body 5 by bolts, and the cylinder rod of the front diagonal support angle adjustment cylinder 402 is hinged to the feeding device 6. When the front multi-stage angle adjustment cylinder 205 reaches the maximum stroke, the front diagonal support angle adjustment cylinder 402 performs progressive angle adjustment, driving the feeding device 6, the front multi-stage angle adjustment cylinder 205, the front multi-stage angle adjustment cylinder mounting part 203, and the front cross beam assembly 204 to move along the front diagonal support column 202, thereby realizing a large range of elevation angle adjustment of the drilling rig.

[0075] In this embodiment, the rear diagonal support angle adjustment cylinder mounting base 301 of the rear diagonal support assembly 3 is fixedly connected to the drilling rig crawler body 5 by bolts, and the cylinder rod of the rear diagonal support angle adjustment cylinder 302 is hinged to the feeding device 6. When the rear multi-stage angle adjustment cylinder 105 reaches the maximum stroke, the rear diagonal support angle adjustment cylinder 302 performs progressive angle adjustment, driving the feeding device 6, the rear multi-stage angle adjustment cylinder 105, the rear multi-stage angle adjustment cylinder mounting part 103, and the rear cross beam assembly 104 to move along the rear diagonal support column 102, thereby realizing a large range of angle adjustment of the drilling rig's pitch angle.

[0076] As a specific solution of this embodiment, Figure 5As shown, the feeding device 6 includes a feeding body 601, and a guide rail 602 is respectively arranged on the two lateral sides of the top surface of the feeding body 601, and a support plate 603 is movably installed on the pair of guide rails 602; a feeding cylinder 604 is arranged at the longitudinal front part of the feeding body 601, the cylinder barrel of the feeding cylinder 604 is fixedly connected to the feeding body 601, and the cylinder rod of the feeding cylinder 604 is connected to the support plate 603.

[0077] In this embodiment, the guide rail 602 is fixedly connected to the feed body 601 by bolts; the cylinder rod of the feed cylinder 604 is connected to the support plate 603 by a pin shaft, and the cylinder barrel of the feed cylinder 604 is fixedly connected to the feed body 601. The feed cylinder 604 can drive the support plate 603 to move linearly along the guide rail 602.

[0078] As a specific solution of this embodiment, Figure 5 As shown, a pair of rear connecting ear plates 605 are provided on the longitudinal rear end of the feed fuselage 601, and the rear connecting ear plates 605 are installed on the rear cross beam assembly 104; a pair of front connecting ear plates 606 are provided on the longitudinal front end of the feed fuselage 601, and the front connecting ear plates 606 are installed on the front cross beam assembly 204; a plurality of groups of lower connecting ear plates 607 are provided on the bottom surface of the feed fuselage 601, and the rear diagonal support angle adjustment cylinders 302 and the front diagonal support angle adjustment cylinders 402 are respectively installed in the plurality of groups of lower connecting ear plates 607.

[0079] As a specific solution of this embodiment, Figure 6 As shown, a drill rod adding device is movably provided on the top surface of the feeding device 6 , and the drill rod adding device is installed on the supporting plate 603 .

[0080] As a specific solution of this embodiment, Figure 6 As shown, a stabilizing bracket 9 is also provided outside the longitudinal front side and the longitudinal rear side of the directional drilling rig for stabilizing the directional drilling rig.

[0081] As a specific solution of this embodiment, Figure 6 As shown, a crane 10 is installed on the crawler body 5 of the drilling rig.

[0082] The working process of the directional drilling rig with the progressive angle adjustment device having the spindle inclination locking function of the present invention is as follows:

[0083] First, horizontal construction (such as Figure 6 shown):

[0084] The feed device 6, the drilling rig power head 7, and the clamp 8 are all in a horizontal position, and the drill rod 50 and the tool string are lowered into the borehole 49 through the drill rod adding device to perform horizontal construction of the directional drilling rig.

[0085] Second, adjust the opening height and carry out high-position hole construction (such as Figure 7shown):

[0086] The high-pressure oil is input into the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402, so that the front end of the feed device 6 rises or falls to the designed height; then the high-pressure oil enters the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302, so that the longitudinal rear part of the feed device 6 rises or falls to the designed height. When the drilling rig reaches the preset hole opening height, the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the front diagonal support column 202 and the rear diagonal support column 102. After the position of the feed device 6 is adjusted, the drill rod 50 and the tool string are lowered into the borehole 49 through the drill rod adding device to carry out the high-position hole construction of the directional drilling rig.

[0087] Third, adjust the elevation angle to carry out large elevation angle construction (such as Figure 8 shown):

[0088] High-pressure oil is input into the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402. The front multi-stage angle adjustment cylinder 205 provides sufficient driving force to make the front end of the feed device 6 rise to the preset elevation angle. When the drilling rig is at the initial position and the preset elevation angle is at a larger angle, the front multi-stage angle adjustment cylinder 205 is used to adjust the position of the front end of the feed device 6 until the front multi-stage angle adjustment cylinder 205 stops after reaching the maximum stroke, and then the front diagonal support angle adjustment cylinder 402 performs progressive angle adjustment, driving the front end of the feed device 6 to rise and drive the front crossbeam assembly 204, the front multi-stage angle adjustment cylinder 205, and the front multi-stage angle adjustment cylinder mounting member 203 to move upward along the front diagonal support column 202 until the drilling rig reaches the preset elevation angle. If the drilling rig is not in the initial position, the high-pressure oil enters the front multi-stage angle adjustment cylinder 205 and the front diagonal support assembly 4, driving the front end of the feed device 6 to rise or fall until the drilling rig reaches the preset elevation angle; when the drilling rig reaches the preset elevation angle, the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the front diagonal support column 202. After the position of the feed device 6 is adjusted, the drill rod 50 and the tool string are lowered into the borehole 49 through the drill rod adding device to perform the directional drilling rig high elevation construction.

[0089] Third, adjust the depression angle and carry out large depression angle construction (such as Fig. 9 shown):

[0090] High-pressure oil is input into the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302, and the rear multi-stage angle adjustment cylinder 105 provides sufficient driving force to drive the rear end of the feed device 6 to rise to the preset depression angle. When the drilling rig is at the initial position and the preset depression angle is at a larger angle, the rear multi-stage angle adjustment cylinder 105 is used to adjust the position of the rear end of the feed device 6 until the rear multi-stage angle adjustment cylinder 105 reaches the maximum stroke and stops, and then the rear diagonal support angle adjustment cylinder 302 performs progressive angle adjustment, drives the rear end of the feed device 6 to rise and drives the rear crossbeam assembly 104, the rear multi-stage angle adjustment cylinder 105, and the rear multi-stage angle adjustment cylinder mounting member 103 to move upward along the rear diagonal support column 102 until the drilling rig reaches the preset depression angle. If the drilling rig is not in the initial position, the high-pressure oil enters the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302, driving the rear end of the feed device 6 to rise or fall until the drilling rig reaches the preset depression angle; when the drilling rig reaches the preset depression angle, the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the rear diagonal support column 102. After the position of the feed device 6 is adjusted, the drill rod 50 and the tool string are lowered into the borehole 49 through the drill rod adding device to perform the directional drilling rig high depression angle construction.

[0091] The directional drilling rig with a progressive angle adjustment device having a main shaft inclination locking function provided in this embodiment is suitable for the angle adjustment construction of directional drilling rigs in coal mines. When the high-power automatic directional drilling rig is adjusting the angle, the multi-stage angle adjustment cylinder assembly first applies a vertical upward force to the main machine to prop up the main machine, thereby avoiding the problem that the upward force of the diagonal angle adjustment cylinder is insufficient to prop up the main machine due to the low height of the angle adjustment device; when the multi-stage angle adjustment cylinder stroke is completed, the diagonal angle adjustment cylinder is progressively raised, and the multi-stage angle adjustment cylinder assembly as a whole moves upward along the diagonal support column assemblies on both sides to the designed main shaft inclination angle or hole opening height position; when the drilling rig reaches the designed main shaft inclination angle or hole opening height position, the liquid-driven chuck body automatically clamps the diagonal support column assembly, thereby improving the stability and safety of the drilling rig construction. The design of the progressive angle adjustment device can ensure that the high-power automatic directional drilling rig has a small hole opening height and an outer height, while also being able to achieve posture adjustment in a low-position hole, a large angle, and a large height range.

[0092] Embodiment 3:

[0093] This embodiment provides a nearly horizontal directional drilling machine angle adjustment and amplitude modulation control construction system, the system is used to control the directional drilling machine with a progressive angle adjustment device with a main shaft inclination locking function of embodiment 2; Figure 5 and Fig.11 As shown, the system includes a handheld terminal, a controller, an oil circuit switching multi-way valve, a linkage valve block, and a displacement sensor 11 and an inclination sensor 12 installed on the feeding device 6.

[0094] In this embodiment, the handheld terminal is used to accept the preset values ​​of the parameters, the controller is used to accept the data from the displacement sensor 11 and the inclination sensor 12, and compare the preset values ​​and the actual measured values ​​of the data, and is also used to send a signal to the linkage valve block; the oil circuit switching multi-way valve is used to control the high-pressure oil to enter the linkage valve block from different oil inlet ends; the linkage valve block is used to control the cylinder action of the progressive angle adjustment device; the inclination sensor 12 is used to measure the inclination angle of the main shaft of the drilling rig, including the elevation angle and the depression angle; the displacement sensor 11 is used to detect the displacement of the front end of the feeding device 6 relative to the drilling rig crawler body 5, and then obtain the horizontal opening height of the drilling rig.

[0095] In this embodiment, the relationship between the displacement measured by the displacement sensor 11 and the horizontal hole height of the drilling rig is as follows: "The horizontal hole height of the drilling rig" is "the displacement measured by the displacement sensor 11 + the distance from the installation position of the displacement sensor to the main shaft axis of the drilling rig power head + the distance from the crawler body to the ground", that is, the hole height is "the displacement of the displacement sensor + the fixed value", and the fixed value will not change after the structure is designed. The displacement sensor 11 is installed at the front end of the feed device. When the drilling rig is to be adjusted to the required designed hole height, the displacement of the sensor should be the hole height minus the fixed value. During the angle adjustment process, the displacement of the displacement sensor first reaches the requirement. At this time, the displacement sensor should be in an inclined state and does not meet the hole height requirement. Then the rear end cylinder of the feed device is actuated to adjust the rear end of the feed device to the same height as the front end, that is, the feed device is in a horizontal position. At this time, the displacement sensor is in a vertical state, which can be considered as the horizontal hole height of the drilling rig.

[0096] As a specific solution of this embodiment, Fig.10 As shown, the linkage valve block includes a first main oil circuit 13, a second main oil circuit 14, a third main oil circuit 15, a fourth main oil circuit 16, a fifth main oil circuit 17 and a sixth main oil circuit 18; the oil circuit switching multi-way valve is arranged between the oil inlet end and the oil source of the first main oil circuit 13, the second main oil circuit 14, the third main oil circuit 15, the fourth main oil circuit 16, the fifth main oil circuit 17 and the sixth main oil circuit 18.

[0097] As a specific solution of this embodiment, Fig.10As shown, the oil outlet end of the first main oil circuit 13 is connected to the crossbeam cylinder 10404 of the front crossbeam assembly 204, and the first main oil circuit 13 is provided with a first electromagnetic reversing valve 19 and a first hydraulically controlled non-return valve 20; the oil outlet end of the second main oil circuit 14 is connected to the oil inlet ends of the first branch 21 and the second branch 22, the oil outlet end of the first branch 21 is connected to the front multi-stage angle adjustment cylinder 205, and the oil outlet end of the second branch 22 is connected to the front diagonal support angle adjustment cylinder 402; the second main oil circuit 14 is provided with a first hydraulically controlled reversing valve 23, the first branch 21 is provided with a first diverter valve 24, and the second branch 22 is provided with a second diverter valve 25; the oil outlet end of the third main oil circuit 15 is connected to the oil inlet ends of the third branch 26 and the fourth branch 27, the oil outlet end of the third branch 26 is connected to the front diagonal support angle adjustment cylinder 402, and the fourth branch 27 is connected to the front diagonal support angle adjustment cylinder 402. The oil outlet end is connected with the front multi-stage angle adjustment cylinder 205; the third main oil circuit 15 is provided with a second hydraulically controlled reversing valve 28, the third branch 26 is provided with a third diverter valve 29, and the fourth branch 27 is provided with a fourth diverter valve 30; the first main oil circuit 13 is also connected with the oil inlet end of the first connecting oil circuit 31, the oil inlet end of the first connecting oil circuit 31 is located between the first solenoid reversing valve 19 and the first hydraulically controlled one-way valve 20, and the oil outlet end of the first connecting oil circuit 31 is respectively connected with the first hydraulically controlled reversing valve 23 and the second hydraulically controlled reversing valve 28; the second main oil circuit 14 and the third main oil circuit 15 are also provided with a first shuttle valve 33, the oil inlet end of the first shuttle valve 33 is respectively connected with the second main oil circuit 14 and the third main oil circuit 15, and the oil outlet end of the first shuttle valve 33 is connected with the first hydraulically controlled one-way valve 20 through the first hydraulically controlled one-way valve control pipeline 32.

[0098] As a specific solution of this embodiment, Fig.10As shown, the oil outlet end of the sixth main oil circuit 18 is connected to the crossbeam cylinder 10404 of the rear crossbeam assembly 104, and the second electromagnetic reversing valve 34 and the second hydraulically controlled non-return valve 35 are sequentially arranged on the sixth main oil circuit 18 along the oil delivery direction; the oil outlet end of the fourth main oil circuit 16 is connected to the oil inlet ends of the fifth branch 36 and the sixth branch 37, the oil outlet end of the fifth branch 36 is connected to the rear multi-stage angle adjustment cylinder 105, and the oil outlet end of the sixth branch 37 is connected to the rear diagonal support angle adjustment cylinder 30 2; the fourth main oil circuit 16 is provided with a third hydraulically controlled reversing valve 38, the fifth branch circuit 36 ​​is provided with a fifth diverter valve 39, and the sixth branch circuit 37 is provided with a sixth diverter valve 40; the oil outlet end of the fifth main oil circuit 17 is connected to the oil inlet ends of the seventh branch circuit 41 and the eighth branch circuit 42, the oil outlet end of the seventh branch circuit 41 is connected to the rear diagonal support angle adjustment cylinder 302, and the oil outlet end of the eighth branch circuit 42 is connected to the rear multi-stage angle adjustment cylinder 105; the fifth main oil circuit 17 is provided with a third hydraulically controlled reversing valve 38, the fifth branch circuit 36 ​​is provided with a fifth diverter valve 39, and the sixth branch circuit 37 is provided with a sixth diverter valve 40; the oil outlet end of the fifth main oil circuit 17 is connected to the oil inlet ends of the seventh branch circuit 41 and the eighth branch circuit 42, the oil outlet end of the seventh branch circuit 41 is connected to the rear diagonal support angle adjustment cylinder 302, and the oil outlet end of the eighth branch circuit 42 is connected to the rear multi-stage angle adjustment cylinder 105; The fourth main oil circuit 16 and the fifth main oil circuit 17 are connected through a fourth connecting oil circuit 47, and a second shuttle valve 48 is provided on the fourth connecting oil circuit 47; the second shuttle valve 48 is connected to the second hydraulically controlled one-way valve 35 through a pipeline; the sixth main oil circuit 18 is also connected to the oil inlet end of the third connecting oil circuit 46, and the oil inlet end of the third connecting oil circuit 46 is located at the first connecting oil circuit 47. Between the second solenoid reversing valve 34 and the second hydraulically controlled one-way valve 35, the oil outlet end of the third connecting oil circuit 46 is connected to the third hydraulically controlled reversing valve 38 and the fourth hydraulically controlled reversing valve 43 respectively; the fourth main oil circuit 16 and the fifth main oil circuit 17 are also provided with a second shuttle valve 48, the oil inlet end of the second shuttle valve 48 is connected to the fourth main oil circuit 16 and the fifth main oil circuit 17 respectively, and the oil outlet end of the second shuttle valve 48 is connected to the second hydraulically controlled one-way valve 35 through the second hydraulically controlled one-way valve control pipeline 47.

[0099] The working principle of the angle modulation and amplitude modulation control construction system of the near-horizontal directional drilling rig of the present invention is as follows:

[0100] (A) Fig.10 and Fig.11 As shown, the first main oil circuit 13 is the A3 oil circuit; the second main oil circuit 14, the first branch 21 and the second branch 22 together form the A1 oil circuit; the third main oil circuit 15, the third branch 26 and the fourth branch 27 together form the B1 oil circuit; the fourth main oil circuit 16, the fifth branch 36 and the sixth branch 37 together form the A2 oil circuit; the fifth main oil circuit 17, the seventh branch 41 and the eighth branch 42 together form the B2 oil circuit; the sixth main oil circuit 18 is the A4 oil circuit. After the high-pressure oil flows out from the high-pressure oil source, when it flows through the oil circuit switching multi-way valve, the oil circuit switching multi-way valve controls the high-pressure oil to enter different oil circuits, thereby realizing the control of the cylinder action.

[0101] When the inclination angle or the opening height reaches the design value, the inclination sensor 12 or the displacement sensor 11 feeds back a signal to the controller, and the controller controls the first electromagnetic reversing valve 19 and the second electromagnetic reversing valve 34 to operate, and the high-pressure oil enters the crossbeam cylinder 10404 through A3 and A4. Under the action of the crossbeam cylinder 10404, the liquid-driven chuck 10405 clamps the front diagonal support column 202 and the rear diagonal support column 102; at the same time, the high-pressure oil drives the first hydraulically controlled reversing valve 23, the second hydraulically controlled reversing valve 28, the third hydraulically controlled reversing valve 38 and the fourth hydraulically controlled reversing valve 43 in the A1 / B1 and A2 / B2 oil circuits to operate, and cuts off the A1 / B1 and A2 / B2 oil circuits to enhance the stability of the drilling rig.

[0102] (B) The A3 oil circuit is used to control the action of the crossbeam cylinder 10404 of the front crossbeam assembly 204. The specific process is as follows: the controller drives the first electromagnetic reversing valve 19 to reverse, so that the first main oil circuit 13 is connected, and then the high-pressure oil enters the A3 oil circuit from the left end of the first main oil circuit 13. The high-pressure oil flows into the crossbeam cylinder 10404 of the front crossbeam assembly 204 through the first main oil circuit 13, driving the cylinder rod of the crossbeam cylinder 10404 of the front crossbeam assembly 204 to extend, driving the hydraulic chuck 10405 to approach the fixed chuck 10403 and clamp the front diagonal support column 202. At the same time, the high-pressure oil flows to the first hydraulic control reversing valve 23 and the second hydraulic control reversing valve 28 through the first connecting oil circuit 31, driving the first hydraulic control reversing valve 23 and the second hydraulic control reversing valve 28 to reverse, so that A1 / B1 is in a cut-off state, and the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402 do not move.

[0103] (C) The A1 / B1 oil circuit is used to control the actions of the front diagonal support angle adjustment cylinder 402 and the front multi-stage angle adjustment cylinder 205. Taking the high-pressure oil entering from B1 as an example, the specific process is as follows:

[0104] When the high-pressure oil enters the B1 oil circuit from the left end of the third main oil circuit 15, the second hydraulically controlled reversing valve 28 is in the initial state. At this time, the third main oil circuit 15 is in a connected state. The high-pressure oil enters the rodless chamber of the front diagonal support angle adjustment cylinder 402 through the third main oil circuit 15 and the third branch circuit 26. The oil in the rod chamber of the front diagonal support angle adjustment cylinder 402 flows out of the linkage valve block through the second branch circuit 22 and the second main oil circuit 14. Driven by the high-pressure oil, the cylinder rod of the front diagonal support angle adjustment cylinder 402 extends; the high-pressure oil passes through the third main oil circuit 15 and the third branch circuit 26. The oil enters the rodless chamber of the front multi-stage angle adjustment cylinder 205 through the third main oil circuit 15 and the fourth branch 27, and the oil in the rod chamber of the front multi-stage angle adjustment cylinder 205 flows out of the linkage valve block through the first branch 21 and the second main oil circuit 14. Driven by the high-pressure oil, the cylinder rod of the front multi-stage angle adjustment cylinder 205 extends; under the action of the first diverter valve 24, the second diverter valve 25, the third diverter valve 29 and the fourth diverter valve 30, the front diagonal support angle adjustment cylinder 402 and the front multi-stage angle adjustment cylinder 205 are ensured to move synchronously.

[0105] At the same time, the high-pressure oil entering from B1 flows to the first shuttle valve 33 through the third main oil circuit 15, and then flows to the first hydraulically controlled one-way valve 20 through the first hydraulically controlled one-way valve control pipeline 32, and then drives the first hydraulically controlled one-way valve 20 to open, and the oil in the crossbeam cylinder 10404 of the front crossbeam assembly 204 flows to the first hydraulically controlled one-way valve 20 through the first main oil circuit 13, and then flows back to the oil tank. At this time, the cylinder rod of the crossbeam cylinder 10404 of the front crossbeam assembly 204 retracts, driving the hydraulically driven chuck 10405 away from the fixed chuck 10403 and loosening the front diagonal brace column 202, ensuring that the angle adjustment action is carried out smoothly.

[0106] If high-pressure oil enters from A1, the cylinder rods of the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402 will both retract, and the specific principle is the same as above.

[0107] (D) The A4 oil circuit is used to control the action of the crossbeam cylinder 10404 of the rear crossbeam assembly 104. The specific process is as follows: the controller drives the second electromagnetic reversing valve 34 to reverse, so that the sixth main oil circuit 18 is connected, and then the high-pressure oil enters the A4 oil circuit from the left end of the sixth main oil circuit 18. The high-pressure oil flows into the crossbeam cylinder 10404 of the rear crossbeam assembly 104 through the sixth main oil circuit 18, driving the cylinder rod of the crossbeam cylinder 10404 of the rear crossbeam assembly 104 to extend, driving the hydraulic chuck 10405 to approach the fixed chuck 10403 and clamp the rear diagonal support column 102. At the same time, the high-pressure oil flows to the third hydraulic control reversing valve 38 and the fourth hydraulic control reversing valve 43 through the third connecting oil circuit 46, driving the third hydraulic control reversing valve 38 and the fourth hydraulic control reversing valve 43 to reverse, so that A2 / B2 is in a cut-off state, and the rear diagonal support angle adjustment cylinder 302 and the rear multi-stage angle adjustment cylinder 105 do not move.

[0108] (E) The A2 / B2 oil circuit is used to control the actions of the rear diagonal support angle adjustment cylinder 302 and the rear multi-stage angle adjustment cylinder 105. Taking the high-pressure oil entering from B2 as an example, the specific process is as follows:

[0109] When the high-pressure oil enters the B2 oil circuit from the left end of the fifth main oil circuit 17, the fourth hydraulically controlled reversing valve 43 is in the initial state. At this time, the fifth main oil circuit 17 is in a connected state. The high-pressure oil enters the rodless chamber of the rear diagonal support angle adjustment cylinder 302 through the fifth main oil circuit 17 and the seventh branch 41. The oil in the rod chamber of the rear diagonal support angle adjustment cylinder 302 flows out of the linkage valve block through the sixth branch 37 and the fourth main oil circuit 16. Driven by the high-pressure oil, the cylinder rod of the rear diagonal support angle adjustment cylinder 302 extends; the high-pressure oil passes through The fifth main oil circuit 17 and the eighth branch circuit 42 enter the rodless chamber of the rear multi-stage angle adjustment cylinder 105, and the oil in the rod chamber of the rear multi-stage angle adjustment cylinder 105 flows out of the linkage valve block through the fifth branch circuit 36 ​​and the fourth main oil circuit 16. Driven by the high-pressure oil, the cylinder rod of the rear multi-stage angle adjustment cylinder 105 extends out, and under the action of the fifth diverter valve 39, the sixth diverter valve 40, the seventh diverter valve 44, and the eighth diverter valve 45, the rear diagonal support angle adjustment cylinder 302 and the rear multi-stage angle adjustment cylinder 105 are ensured to move synchronously.

[0110] At the same time, the high-pressure oil entering from B2 flows to the second shuttle valve 48 through the fifth main oil circuit 17, and then flows to the second hydraulically controlled one-way valve 35 through the second hydraulically controlled one-way valve control pipeline 47, and then drives the second hydraulically controlled one-way valve 35 to open, and the oil in the crossbeam cylinder 10404 of the rear crossbeam assembly 104 flows to the second hydraulically controlled one-way valve 35 through the sixth main oil circuit 18, and then flows back to the oil tank. At this time, the cylinder rod of the crossbeam cylinder 10404 of the rear crossbeam assembly 104 retracts, driving the hydraulically driven chuck 10405 away from the fixed chuck 10403 and loosening the rear diagonal brace column 102, ensuring that the angle adjustment action is carried out smoothly.

[0111] If high-pressure oil enters from A2, the cylinder rods of the rear diagonal support angle adjustment cylinder 302 and the rear multi-stage angle adjustment cylinder 105 will both retract, and the specific principle is the same as above.

[0112] like Fig.11 As shown, the working process of the angle modulation and amplitude modulation control construction system of the near-horizontal directional drilling rig of the present invention is as follows:

[0113] The preset hole opening height is input on the handheld terminal, and the controller sends a signal to the electromagnetic reversing valve that controls the angle adjustment, so that the control oil first enters one group of angle adjustment cylinders and drives one end of the feed device 6 to reach the designed height, and then controls the oil to enter the other group of angle adjustment cylinders and drive the other end of the feed device 6 to rise or fall until the inclination sensor 12 sends a signal that the feed device 6 is in a horizontal position and stops. At this time, the drilling rig has reached the preset hole opening height.

[0114] The designed spindle inclination angle is input on the handheld terminal, and the controller sends a signal to the electromagnetic reversing valve that controls the angle adjustment, so that the control oil first enters one group of angle adjustment cylinders and drives one end of the feed device 6 to rise or fall until the inclination sensor 12 sends a signal that the designed spindle inclination angle is reached.

[0115] When the drilling rig reaches the preset hole opening height or spindle inclination angle, the controller sends a signal to the electromagnetic reversing valve controlling the crossbeam cylinder 10404, so that the control oil enters the crossbeam cylinder 10404, driving the liquid-driven chuck 10405 to clamp the diagonal support column, thereby enhancing the stability and safety of the drilling rig construction.

[0116] When the drilling rig is adjusting the hole opening height or the main shaft inclination angle, the linkage valve block realizes hydraulic linkage, that is, when the angle adjustment cylinder is actuated, the crossbeam cylinder 10404 is at the minimum stroke, and the liquid-driven chuck 10405 is fully retracted, ensuring the smooth progress of the angle adjustment and height adjustment. When the angle adjustment or height adjustment is completed, the inclination or displacement sensor 11 sends a signal, the controller controls the crossbeam cylinder 10404 to actuate, and the liquid-driven chuck 10405 fully clamps the diagonal support column. The interlocking function of the angle adjustment cylinder and the crossbeam cylinder 10404 is realized through the linkage valve block and the sensor to ensure the safety of the drilling rig construction.

[0117] Embodiment 4:

[0118] This embodiment provides a method for controlling the angle and amplitude of a near-horizontal directional drilling rig. The method is implemented by using the directional drilling rig with a progressive angle adjustment device having a main shaft inclination locking function of the embodiment 2 and the angle and amplitude adjustment control construction system of the near-horizontal directional drilling rig of the embodiment 3. The method is specifically as follows:

[0119] First, the opening height adjustment (such as Fig.12 shown):

[0120] The preset hole opening height is input through the handheld terminal and compared with the measured value of the displacement sensor 11. The controller controls the first electromagnetic reversing valve 19 to change direction, and the high-pressure oil enters the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402, so that the front end of the feed device 6 rises or falls to the designed height; then the controller controls the second electromagnetic reversing valve 34 to change direction, and the high-pressure oil enters the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302, so that the longitudinal rear part of the feed device 6 rises or falls to the designed height; when the inclination sensor 12 determines that the feed device 6 is in a horizontal position, the drilling rig reaches the preset hole opening height.

[0121] When the angle adjustment cylinder is in action, due to the action of the linkage valve block, the liquid-driven chuck 10405 is always in a loosened state, ensuring that the front crossbeam assembly 204 and the rear crossbeam assembly 104 drive the feeding device 6 to move smoothly along the axial direction of the front diagonal support column 202 and the rear diagonal support column 102; when the drilling rig reaches the preset hole opening height, the inclination sensor 12 sends a signal to stop the rear multi-stage angle adjustment cylinder 105 and the front multi-stage angle adjustment cylinder 205, and the controller controls the first solenoid reversing valve 19 and the second solenoid reversing valve 34 to switch, and the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the front diagonal support column 202 and the rear diagonal support column 102, thereby ensuring the stability and safety of the drilling rig construction.

[0122] Second, elevation adjustment (such as Fig.13 shown):

[0123] The preset elevation angle is input through the handheld terminal. When the drilling rig is in the initial position and the preset elevation angle is at a smaller angle, the controller controls the first electromagnetic reversing valve 19 to reverse, and the high-pressure oil enters the front multi-stage angle adjustment cylinder 205 and the front diagonal support angle adjustment cylinder 402. The front multi-stage angle adjustment cylinder 205 provides sufficient driving force to make the front end of the feeding device 6 rise to the preset elevation angle.

[0124] When the drilling rig is in the initial position and the preset elevation angle is at a larger angle, the position of the front end of the feed device 6 is first adjusted by the front multi-stage angle adjustment cylinder 205 until the front multi-stage angle adjustment cylinder 205 reaches the maximum stroke and stops, and then the front diagonal support angle adjustment cylinder 402 performs progressive angle adjustment to drive the front end of the feed device 6 to rise and drive the front crossbeam assembly 204, the front multi-stage angle adjustment cylinder 205, and the front multi-stage angle adjustment cylinder mounting part 203 to move upward along the front diagonal support column 202 until the drilling rig reaches the preset elevation angle.

[0125] If the drilling rig is not in the initial position, the preset elevation angle is first compared with the measured value of the inclination sensor 12, and then the controller controls the first electromagnetic reversing valve 19 to change direction, and the high-pressure oil enters the front multi-stage angle adjustment cylinder 205 and the front diagonal support assembly 4, driving the front end of the feed device 6 to rise or fall until the drilling rig reaches the preset elevation angle.

[0126] When the angle adjustment cylinder is in action, due to the action of the linkage valve block, the liquid-driven chuck 10405 is always in a loosened state, ensuring that the front crossbeam assembly 204 drives the feeding device 6 to move smoothly along the axial direction of the front diagonal support column 202; when the drilling rig reaches the preset elevation angle, the inclination sensor 12 sends a signal, the angle adjustment cylinder does not move, the controller controls the first solenoid reversing valve 19 to reverse, and the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the front diagonal support column 202, ensuring the stability and safety of the drilling rig construction.

[0127] Third, pitch adjustment (such as Fig.14shown):

[0128] The preset pitch angle is input through the handheld terminal. When the drilling rig is in the initial position and the preset pitch angle is at a smaller angle, the controller controls the second electromagnetic reversing valve 34 to reverse, and the high-pressure oil enters the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302. The rear multi-stage angle adjustment cylinder 105 provides sufficient driving force to drive the rear end of the feeding device 6 to rise to the preset pitch angle.

[0129] When the drilling rig is in the initial position and the preset depression angle is at a larger angle, the position of the rear end of the feed device 6 is first adjusted by the rear multi-stage angle adjustment cylinder 105 until the rear multi-stage angle adjustment cylinder 105 reaches the maximum stroke and stops, and then the rear diagonal support angle adjustment cylinder 302 performs progressive angle adjustment to drive the rear end of the feed device 6 to rise and drive the rear crossbeam assembly 104, the rear multi-stage angle adjustment cylinder 105, and the rear multi-stage angle adjustment cylinder mounting part 103 to move upward along the rear diagonal support column 102 until the drilling rig reaches the preset depression angle.

[0130] If the drilling rig is not in the initial position, the preset pitch angle is first compared with the value measured by the inclination sensor 12, and the controller controls the second electromagnetic reversing valve 34 to switch, and the high-pressure oil enters the rear multi-stage angle adjustment cylinder 105 and the rear diagonal support angle adjustment cylinder 302 to drive the rear end of the feed device 6 to rise or fall until the drilling rig reaches the preset pitch angle.

[0131] When the angle adjustment cylinder is in action, due to the action of the linkage valve block, the liquid-driven chuck 10405 is always in a loosened state, ensuring that the rear crossbeam assembly 104 drives the feeding device 6 to move smoothly along the axial direction of the rear diagonal support column 102; when the drilling rig reaches the preset depression angle, the inclination sensor 12 sends a signal, the angle adjustment cylinder does not move, the controller controls the second solenoid reversing valve 34 to reverse, and the high-pressure oil drives the crossbeam cylinder 10404 to drive the liquid-driven chuck 10405 to clamp the rear diagonal support column 102, ensuring the stability and safety of the drilling rig construction.

Claims

1. An angle and amplitude modulation control construction system for a near-horizontal directional drilling rig, characterized in that: The system is used to control a directional drilling rig with a progressive angle adjustment device having a spindle inclination locking function; The directional drilling rig with a progressive angle adjustment device having a spindle inclination locking function comprises a drilling rig crawler body (5), a rear angle adjustment component (1) is fixedly installed on the longitudinal rear side of the drilling rig crawler body (5), and a front angle adjustment component (2) is fixedly installed on the longitudinal front side of the drilling rig crawler body (5); a pair of rear diagonal support components (3) and a pair of front diagonal support components (4) are hinged on the top surface of the drilling rig crawler body (5); a feeding device (6) is arranged above the drilling rig crawler body (5); the longitudinal rear end of the feeding device (6) is movably connected to the rear angle adjustment component (1), the longitudinal front end of the feeding device (6) is movably connected to the front angle adjustment component (2), and the bottom surface of the feeding device (6) is movably connected to the pair of rear diagonal support components (3) and the pair of front diagonal support components (4); The rear angle adjustment component (1) includes a rear crossbeam component (104) and a rear multi-stage angle adjustment cylinder (105); the front angle adjustment component (2) includes a front crossbeam component (204) and a front multi-stage angle adjustment cylinder (205); the rear crossbeam component (104) and the front crossbeam component (204) each include a crossbeam cylinder (10404); the rear diagonal brace component (3) includes a rear diagonal brace angle adjustment cylinder (302); the front diagonal brace component (4) includes a front diagonal brace angle adjustment cylinder (402); The angle and amplitude modulation control construction system of the near-horizontal directional drilling rig comprises a controller, an oil circuit switching multi-way valve, a linkage valve block, and a displacement sensor (11) and an inclination sensor (12) installed on a feeding device (6); The inclination sensor (12) is used to measure the main shaft inclination angle of a directional drilling rig with a progressive angle adjustment device having a main shaft inclination locking function, including an elevation angle and a depression angle; The displacement sensor (11) is used to detect the displacement of the front end of the feeding device (6) relative to the drilling rig crawler body (5); The controller is used to receive data from the displacement sensor (11) and the inclination sensor (12), and compare the preset value of the data with the actual measured value; and is also used to control the oil circuit switching multi-way valve; The oil circuit switching multi-way valve is used to control the high-pressure oil to enter the linkage valve block from different oil inlet ends; The linkage valve block is used to control the actions of the rear multi-stage angle adjustment oil cylinder (105), the front multi-stage angle adjustment oil cylinder (205), the crossbeam oil cylinder (10404), the rear diagonal support angle adjustment oil cylinder (302) and the front diagonal support angle adjustment oil cylinder (402).

2. The angle and amplitude modulation control construction system of the near-horizontal directional drilling rig according to claim 1 is characterized in that: The linkage valve block comprises a first main oil circuit (13), a second main oil circuit (14), a third main oil circuit (15), a fourth main oil circuit (16), a fifth main oil circuit (17) and a sixth main oil circuit (18); the oil circuit switching multi-way valve is arranged between the oil inlet ends and the oil source of the first main oil circuit (13), the second main oil circuit (14), the third main oil circuit (15), the fourth main oil circuit (16), the fifth main oil circuit (17) and the sixth main oil circuit (18); The oil outlet end of the first main oil circuit (13) is connected to the crossbeam oil cylinder (10404) of the front crossbeam assembly (204), and a first electromagnetic reversing valve (19) and a first hydraulically controlled one-way valve (20) are provided on the first main oil circuit (13); The oil outlet end of the second main oil circuit (14) is connected to the oil inlet ends of the first branch circuit (21) and the second branch circuit (22); the oil outlet end of the first branch circuit (21) is connected to the front multi-stage angle adjustment cylinder (205); the oil outlet end of the second branch circuit (22) is connected to the front diagonal support angle adjustment cylinder (402); a first hydraulically controlled reversing valve (23) is provided on the second main oil circuit (14); a first flow divider valve (24) is provided on the first branch circuit (21); and a second flow divider valve (25) is provided on the second branch circuit (22); The oil outlet end of the third main oil circuit (15) is connected to the oil inlet ends of the third branch circuit (26) and the fourth branch circuit (27); the oil outlet end of the third branch circuit (26) is connected to the front diagonal support angle adjustment cylinder (402); and the oil outlet end of the fourth branch circuit (27) is connected to the front multi-stage angle adjustment cylinder (205); a second hydraulically controlled reversing valve (28) is provided on the third main oil circuit (15); a third flow dividing valve (29) is provided on the third branch circuit (26); and a fourth flow dividing valve (30) is provided on the fourth branch circuit (27); The first main oil circuit (13) is also connected to an oil inlet end of a first connecting oil circuit (31), the oil inlet end of the first connecting oil circuit (31) is located between the first electromagnetic reversing valve (19) and the first hydraulically controlled one-way valve (20), and the oil outlet end of the first connecting oil circuit (31) is respectively connected to the first hydraulically controlled reversing valve (23) and the second hydraulically controlled reversing valve (28); The second main oil circuit (14) and the third main oil circuit (15) are further provided with a first shuttle valve (33), the oil inlet end of the first shuttle valve (33) being connected to the second main oil circuit (14) and the third main oil circuit (15) respectively, and the oil outlet end of the first shuttle valve (33) being connected to the first hydraulically controlled one-way valve (20) via a first hydraulically controlled one-way valve control pipeline (32); The oil outlet end of the sixth main oil circuit (18) is connected to the crossbeam oil cylinder (10404) of the rear crossbeam assembly (104), and a second electromagnetic reversing valve (34) and a second hydraulically controlled one-way valve (35) are sequentially arranged on the sixth main oil circuit (18) along the oil delivery direction; The oil outlet end of the fourth main oil circuit (16) is connected to the oil inlet ends of the fifth branch circuit (36) and the sixth branch circuit (37); the oil outlet end of the fifth branch circuit (36) is connected to the rear multi-stage angle adjustment cylinder (105); and the oil outlet end of the sixth branch circuit (37) is connected to the rear diagonal support angle adjustment cylinder (302); a third hydraulically controlled reversing valve (38) is provided on the fourth main oil circuit (16); a fifth flow divider valve (39) is provided on the fifth branch circuit (36); and a sixth flow divider valve (40) is provided on the sixth branch circuit (37); The oil outlet end of the fifth main oil circuit (17) is connected to the oil inlet ends of the seventh branch circuit (41) and the eighth branch circuit (42); the oil outlet end of the seventh branch circuit (41) is connected to the rear diagonal support angle adjustment cylinder (302); and the oil outlet end of the eighth branch circuit (42) is connected to the rear multi-stage angle adjustment cylinder (105); a fourth hydraulically controlled reversing valve (43) is provided on the fifth main oil circuit (17); a seventh flow divider valve (44) is provided on the seventh branch circuit (41); and an eighth flow divider valve (45) is provided on the eighth branch circuit (42); The fourth main oil circuit (16) and the fifth main oil circuit (17) are connected via a fourth connecting oil circuit (47), and a second shuttle valve (48) is provided on the fourth connecting oil circuit (47); the second shuttle valve (48) and the second hydraulically controlled one-way valve (35) are connected via a pipeline; The sixth main oil circuit (18) is also connected to an oil inlet end of a third connecting oil circuit (46), the oil inlet end of the third connecting oil circuit (46) is located between the second electromagnetic reversing valve (34) and the second hydraulically controlled one-way valve (35), and the oil outlet end of the third connecting oil circuit (46) is respectively connected to the third hydraulically controlled reversing valve (38) and the fourth hydraulically controlled reversing valve (43); A second shuttle valve (48) is also provided on the fourth main oil circuit (16) and the fifth main oil circuit (17); an oil inlet end of the second shuttle valve (48) is connected to the fourth main oil circuit (16) and the fifth main oil circuit (17), respectively; and an oil outlet end of the second shuttle valve (48) is connected to the second hydraulically controlled one-way valve (35) via a second hydraulically controlled one-way valve control pipeline (47).

3. The angle and amplitude modulation control construction system of the near-horizontal directional drilling rig according to claim 1 is characterized in that: The rear angle adjustment assembly (1) comprises a pair of rear column mounting seats (101), each rear column mounting seat (101) having a rear diagonal support column (102) movably mounted therein, and the rear diagonal support column (102) is arranged along the vertical direction; each rear diagonal support column (102) is respectively mounted with a rear multi-stage angle adjustment cylinder mounting member (103), and the pair of rear multi-stage angle adjustment cylinder mounting members (103) are arranged opposite to each other; a rear cross beam assembly (104) is mounted on the pair of rear diagonal support columns (102), and the rear cross beam assembly ( 104) is arranged along the transverse direction, and the rear crossbeam assembly (104) is located above the rear multi-stage angle adjustment cylinder mounting member (103); the rear multi-stage angle adjustment cylinder mounting member (103) is movably connected to the cylinder barrel of the rear multi-stage angle adjustment cylinder (105), and the rear crossbeam assembly (104) is movably connected to the cylinder rod of the rear multi-stage angle adjustment cylinder (105); a rear limit block (106) is installed on each rear diagonal support column (102), and the rear limit block (106) is located below the rear multi-stage angle adjustment cylinder mounting member (103).

4. The angle and amplitude modulation control construction system of a near-horizontal directional drilling rig according to claim 1, characterized in that: The front angle adjustment assembly (2) comprises a pair of front column mounting seats (201), each of which has a front diagonal support column (202) movably mounted therein, and the front diagonal support column (202) is arranged along the vertical direction; each of the front diagonal support columns (202) is respectively mounted with a front multi-stage angle adjustment cylinder mounting member (203), and the pair of front multi-stage angle adjustment cylinder mounting members (203) are arranged opposite to each other; a front crossbeam assembly (204) is mounted on the pair of front diagonal support columns (202), and the front crossbeam assembly ( 204) is arranged along the transverse direction, and the front crossbeam assembly (204) is located above the front multi-stage angle adjustment cylinder mounting member (203); the front multi-stage angle adjustment cylinder mounting member (203) is movably connected to the cylinder barrel of the front multi-stage angle adjustment cylinder (205), and the front crossbeam assembly (204) is movably connected to the cylinder rod of the front multi-stage angle adjustment cylinder (205); a front limit block (206) is installed on each front diagonal support column (202), and the front limit block (206) is located below the front multi-stage angle adjustment cylinder mounting member (203).

5. The angle and amplitude modulation control construction system of a near-horizontal directional drilling rig according to claim 1, characterized in that: The rear diagonal support assembly (3) comprises a pair of rear diagonal support angle adjustment cylinder mounting seats (301), and each rear diagonal support angle adjustment cylinder mounting seat (301) is movably connected to a rear diagonal support angle adjustment cylinder (302).

6. The angle and amplitude modulation control construction system of a near-horizontal directional drilling rig according to claim 1, characterized in that: The front diagonal brace assembly (4) comprises a pair of front diagonal brace angle adjustment cylinder mounting seats (401), and each front diagonal brace angle adjustment cylinder mounting seat (401) is movably connected to a front diagonal brace angle adjustment cylinder (402).

7. The angle and amplitude modulation control construction system of a near-horizontal directional drilling rig according to claim 1, characterized in that: The rear crossbeam assembly (104) has the same structure as the front crossbeam assembly (204); the rear crossbeam assembly (104) comprises a crossbeam assembly housing (10401), the crossbeam assembly housing (10401) is arranged along the transverse direction, and a clamp housing (10402) is fixedly arranged at each of the transverse ends of the crossbeam assembly housing (10401); a fixed clamp (10403) is arranged on the transverse outer side of the clamp housing (10402); the crossbeam assembly housing (10401) is provided with a plurality of clamps (10403) and a plurality of clamps (10404) disposed on the rear crossbeam assembly housing (10401). 1) is provided with a crossbeam cylinder (10404), a liquid-driven chuck (10405) is movably provided in the chuck housing (10402), two liquid-driven chucks (10405) are respectively connected to the lateral ends of the crossbeam cylinder (10404), the inner side surfaces of the liquid-driven chuck (10405) and the fixed chuck (10403) are the matching surfaces of the diagonal bracing column, and the space enclosed by the liquid-driven chuck (10405) and the fixed chuck (10403) is the through hole (10406) of the diagonal bracing column.

8. The angle and amplitude modulation control construction system of a near-horizontal directional drilling rig as claimed in claim 1, characterized in that: The feeding device (6) comprises a feeding body (601), a guide rail (602) is respectively arranged on the two lateral sides of the top surface of the feeding body (601), and a support plate (603) is movably installed on the pair of guide rails (602); a feeding cylinder (604) is arranged at the longitudinal front part of the feeding body (601), the cylinder barrel of the feeding cylinder (604) is fixedly connected to the feeding body (601), and the cylinder rod of the feeding cylinder (604) is connected to the support plate (603).

9. The angle and amplitude modulation control construction system of the near-horizontal directional drilling rig as claimed in claim 8, characterized in that A pair of rear connecting ear plates (605) are arranged on the longitudinal rear end of the feed fuselage (601), and the rear connecting ear plates (605) are installed on the rear cross beam assembly (104); a pair of front connecting ear plates (606) are arranged on the longitudinal front end of the feed fuselage (601), and the front connecting ear plates (606) are installed on the front cross beam assembly (204); a plurality of groups of lower connecting ear plates (607) are arranged on the bottom surface of the feed fuselage (601), and a rear diagonal support angle adjustment cylinder (302) and a front diagonal support angle adjustment cylinder (402) are respectively installed in the plurality of groups of lower connecting ear plates (607).

10. A method for controlling the angle and amplitude of a near-horizontal directional drilling rig, characterized in that: The method uses the angle adjustment and amplitude modulation control construction system of the near-horizontal directional drilling rig as described in any one of claims 1 to 9 to adjust the hole opening height, elevation angle and depression angle of the directional drilling rig with a progressive angle adjustment device with a main shaft tilt locking function.

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