Angle and amplitude control construction system and method of near horizontal directional drilling machine

Abstract

The application provides an angle and amplitude control construction system and method of a near-horizontal directional drilling machine, which 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 vehicle body, rear and front angle adjusting assemblies are respectively arranged on the longitudinal sides of the drilling machine crawler vehicle body, rear and front diagonal brace assemblies are hingedly connected to the top surface of the drilling machine crawler vehicle body; a feeding device is arranged above the drilling machine crawler vehicle body, and the feeding device is movably connected with the rear and front angle adjusting assemblies and the rear and front diagonal brace assemblies; a controller, an oil path switching multi-way valve, a linkage valve block, and a displacement sensor and an inclination angle sensor arranged on the feeding device; the method adopts the above system to adjust the opening height, the elevation angle and the depression angle of the directional drilling machine. The application improves the automation level of the directional drilling machine, and improves the construction safety.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of gas extraction and prevention and control construction, and relates to control construction of a high-power automatic directional drilling machine, in particular to an angle and amplitude control construction system and method of a near-horizontal directional drilling machine. BACKGROUND

[0002] At present, a coal mine underground tunnel drilling machine is mainly used for gas pre-extraction and control to ensure safe and efficient production of coal mines. Under the same coal seam original pressure, coal seam permeability and the same drilling extraction negative pressure, increasing the drilling diameter and drilling depth can greatly improve the coal seam gas extraction efficiency. The ordinary rotary drilling machine is only suitable for drilling design with shallow depth because the drilling trajectory is uncontrollable. The 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 outburst mines.

[0003] The directional drilling machine is a special equipment for directional large-diameter long drilling construction. The traditional directional drilling machine mainly relies on manual loading and unloading of drilling tools, which not only increases the labor intensity of the on-site workers and reduces the drilling construction efficiency, but also has great safety hazards. With the increase of the specifications of the matched drilling tools, it is difficult for manpower to complete the loading and unloading of the drilling tools, and the mechanization and automation of the workers are also developing. The application of high-power automatic directional drilling machines has become a trend. In order to realize the automatic function, the high-power directional drilling machine needs to integrate modules such as rod bin, rod loading manipulator, unloading device, controller and sensor. The integration of these modules will greatly increase the size and weight of the high-power drilling machine, limiting its application in the narrow space of the coal mine underground.

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

[0005] In view of the deficiencies in the prior art, the purpose of the present application is to provide an angle and amplitude control construction system and method of a near-horizontal directional drilling machine, which solves the technical problem that the labor intensity is high and safety accidents are easy to occur when a mechanical clamp body is used to enhance the stability of the drilling construction and manually tightened when the drilling machine is adjusted to the designed spindle inclination angle.

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

[0007] An angle and amplitude control construction system of a near horizontal directional drilling rig, which is used for controlling a directional drilling rig with a progressive angle adjusting device with a main shaft inclination angle locking function.

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

[0009] The rear angle adjusting assembly comprises a rear cross beam assembly and a rear multi-stage angle adjusting oil cylinder, and the front angle adjusting assembly comprises a front cross beam assembly and a front multi-stage angle adjusting oil cylinder, and the rear cross beam assembly and the front cross beam assembly each comprise a cross beam oil cylinder; the rear diagonal strut assembly comprises a rear diagonal strut angle adjusting oil cylinder, and the front diagonal strut assembly comprises a front diagonal strut angle adjusting oil cylinder.

[0010] The angle and amplitude control construction system of the near horizontal directional drilling rig comprises a controller, an oil path switching multi-way valve, a linkage valve block, and a displacement sensor and an inclination angle sensor installed on the feeding device; the inclination angle sensor is used for measuring the main shaft inclination angle of the directional drilling rig with the progressive angle adjusting device with the main shaft inclination angle locking function, including an elevation angle and a depression angle; the displacement sensor is used for detecting the displacement of the front end of the feeding device relative to the rig crawler body; the controller is used for receiving data from the displacement sensor and the inclination angle sensor, and comparing the preset value and the actual measured value of the data; and the controller is also used for controlling the oil path switching multi-way valve; the oil path switching multi-way valve is used for controlling the high-pressure oil to enter the linkage valve block from different oil inlet ends; and the linkage valve block is used for controlling the actions of the rear multi-stage angle adjusting oil cylinder, the front multi-stage angle adjusting oil cylinder, the cross beam oil cylinder, the rear diagonal strut angle adjusting oil cylinder and the front diagonal strut angle adjusting oil cylinder.

[0011] The angle and amplitude control construction system of the near horizontal directional drilling rig comprises a controller, an oil path switching multi-way valve, a linkage valve block, and a displacement sensor and an inclination angle sensor installed on the feeding device; the inclination angle sensor is used for measuring the main shaft inclination angle of the directional drilling rig with the progressive angle adjusting device with the main shaft inclination angle locking function, including an elevation angle and a depression angle; the displacement sensor is used for detecting the displacement of the front end of the feeding device relative to the rig crawler body; the controller is used for receiving data from the displacement sensor and the inclination angle sensor, and comparing the preset value and the actual measured value of the data; and the controller is also used for controlling the oil path switching multi-way valve; the oil path switching multi-way valve is used for controlling the high-pressure oil to enter the linkage valve block from different oil inlet ends; and the linkage valve block is used for controlling the actions of the rear multi-stage angle adjusting oil cylinder, the front multi-stage angle adjusting oil cylinder, the cross beam oil cylinder, the rear diagonal strut angle adjusting oil cylinder and the front diagonal strut angle adjusting oil cylinder.

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

[0013] The oil outlet end of the first main oil path is communicated with the beam cylinder of the front beam assembly, and a first electromagnetic directional valve and a first hydraulic control check valve are arranged on the first main oil path; the oil outlet end of the second main oil path is communicated with the oil inlet ends of the first branch and the second branch, the oil outlet end of the first branch is communicated with the front multi-stage angle adjusting cylinder, and the oil outlet end of the second branch is communicated with the front diagonal brace angle adjusting cylinder; a first hydraulic control directional valve is arranged on the second main oil path, a first flow divider is arranged on the first branch, and a second flow divider is arranged on the second branch; the oil outlet end of the third main oil path is communicated with the oil inlet ends of the third branch and the fourth branch, the oil outlet end of the third branch is communicated with the front diagonal brace angle adjusting cylinder, and the oil outlet end of the fourth branch is communicated with the front multi-stage angle adjusting cylinder; a second hydraulic control directional valve is arranged on the third main oil path, a third flow divider is arranged on the third branch, and a fourth flow divider is arranged on the fourth branch; the first main oil path is further communicated with the oil inlet end of the first connecting oil path, the oil inlet end of the first connecting oil path is located between the first electromagnetic directional valve and the first hydraulic control check valve, the oil outlet end of the first connecting oil path is respectively communicated with the first hydraulic control directional valve and the second hydraulic control directional valve; the second main oil path and the third main oil path are further provided with a first shuttle valve, the oil inlet end of the first shuttle valve is respectively communicated with the second main oil path and the third main oil path, and the oil outlet end of the first shuttle valve is communicated with the first hydraulic control check valve through a first hydraulic control check valve control pipeline.

[0014] The oil outlet end of the sixth main oil path is communicated with the beam cylinder of the rear beam assembly, and a second electromagnetic directional valve and a second hydraulic control check valve are arranged on the sixth main oil path along the oil conveying direction; the oil outlet end of the fourth main oil path is communicated with the oil inlet ends of the fifth branch and the sixth branch, the oil outlet end of the fifth branch is communicated with the rear multi-stage angle adjusting cylinder, and the oil outlet end of the sixth branch is communicated with the rear diagonal brace angle adjusting cylinder; a third hydraulic control directional valve is arranged on the fourth main oil path, a fifth flow divider is arranged on the fifth branch, and a sixth flow divider is arranged on the sixth branch; the oil outlet end of the fifth main oil path is communicated with the oil inlet ends of the seventh branch and the eighth branch, the oil outlet end of the seventh branch is communicated with the rear diagonal brace angle adjusting cylinder, and the oil outlet end of the eighth branch is communicated with the rear multi-stage angle adjusting cylinder; a fourth hydraulic control directional valve is arranged on the fifth main oil path, a seventh flow divider is arranged on the seventh branch, and an eighth flow divider is arranged on the eighth branch; the fourth main oil path and the fifth main oil path are communicated through a fourth connecting oil path, and a second shuttle valve is arranged on the fourth connecting oil path; the second shuttle valve and the second hydraulic control check valve are communicated through a pipeline; the sixth main oil path is further communicated with the oil inlet end of the third connecting oil path, the oil inlet end of the third connecting oil path is located between the second electromagnetic directional valve and the second hydraulic control check valve, the oil outlet end of the third connecting oil path is respectively communicated with the third hydraulic control directional valve and the fourth hydraulic control directional valve; the fourth main oil path and the fifth main oil path are further provided with a second shuttle valve, the oil inlet end of the second shuttle valve is respectively communicated with the fourth main oil path and the fifth main oil path, and the oil outlet end of the second shuttle valve is communicated with the second hydraulic control check valve through a second hydraulic control check valve control pipeline.

[0015] The rear angle adjusting assembly comprises a pair of rear column mounting seats, each of which movably mounts a rear diagonal strut column arranged in a vertical direction; each rear diagonal strut column is respectively mounted with a rear multi-stage angle adjusting oil cylinder mounting piece, and the pair of rear multi-stage angle adjusting oil cylinder mounting pieces are oppositely arranged; a rear cross beam assembly is mounted on the pair of rear diagonal strut columns and arranged in a horizontal direction, and the rear cross beam assembly is located above the rear multi-stage angle adjusting oil cylinder mounting pieces; the rear multi-stage angle adjusting oil cylinder mounting pieces are movably connected with the cylinder barrels of the rear multi-stage angle adjusting oil cylinders, and the rear cross beam assembly is movably connected with the cylinder rods of the rear multi-stage angle adjusting oil cylinders; each rear diagonal strut column is mounted with a rear limiting block located below the rear multi-stage angle adjusting oil cylinder mounting pieces.

[0016] The front angle adjusting assembly comprises a pair of front column mounting seats, each of which movably mounts a front diagonal strut column arranged in a vertical direction; each front diagonal strut column is respectively mounted with a front multi-stage angle adjusting oil cylinder mounting piece, and the pair of front multi-stage angle adjusting oil cylinder mounting pieces are oppositely arranged; a front cross beam assembly is mounted on the pair of front diagonal strut columns and arranged in a horizontal direction, and the front cross beam assembly is located above the front multi-stage angle adjusting oil cylinder mounting pieces; the front multi-stage angle adjusting oil cylinder mounting pieces are movably connected with the cylinder barrels of the front multi-stage angle adjusting oil cylinders, and the front cross beam assembly is movably connected with the cylinder rods of the front multi-stage angle adjusting oil cylinders; each front diagonal strut column is mounted with a front limiting block located below the front multi-stage angle adjusting oil cylinder mounting pieces.

[0017] The rear diagonal strut assembly comprises a pair of rear diagonal strut angle adjusting oil cylinder mounting seats, each of which movably connects with a rear diagonal strut angle adjusting oil cylinder.

[0018] The front diagonal strut assembly comprises a pair of front diagonal strut angle adjusting oil cylinder mounting seats, each of which movably connects with a front diagonal strut angle adjusting oil cylinder.

[0019] The rear cross beam assembly and the front cross beam assembly have the same structure; the rear cross beam assembly comprises a cross beam assembly shell arranged in a horizontal direction, and a chuck shell is fixedly arranged at each of the transverse ends of the cross beam assembly shell; a fixed chuck is arranged at the transverse outer side of the chuck shell; a cross beam oil cylinder is arranged in the cross beam assembly shell, and a liquid-driven chuck is movably arranged in the chuck shell, and the two liquid-driven chucks are connected with the transverse ends of the cross beam oil cylinder; the inner side surfaces of the liquid-driven chuck and the fixed chuck are diagonal strut column matching surfaces, and the space surrounded by the liquid-driven chuck and the fixed chuck is a diagonal strut column through hole.

[0020] The feeding device comprises a feeding body, a guide rail is arranged on each lateral side of the top surface of the feeding body, and a pair of guide rails movably install a supporting plate; the longitudinal front part of the feeding body is provided with a feeding oil cylinder, the cylinder barrel of the feeding oil cylinder is fixedly connected with the feeding body, and the cylinder rod of the feeding oil cylinder is connected with the supporting plate.

[0021] A pair of rear connecting ear plates are arranged on the longitudinal rear end of the feeding body, and the rear connecting ear plates are installed on the rear cross beam assembly; a pair of front connecting ear plates are arranged on the longitudinal front end of the feeding body, and the front connecting ear plates are installed on the front cross beam assembly; a plurality of groups of lower connecting ear plates are arranged on the bottom surface of the feeding body, and the rear angle adjusting oil cylinder and the front angle adjusting oil cylinder are respectively installed in the plurality of groups of lower connecting ear plates.

[0022] The application also protects a method for adjusting the angle and amplitude of a near-horizontal directional drilling machine, which adopts the angle and amplitude adjusting and controlling construction system of the near-horizontal directional drilling machine to adjust the opening height, the elevation angle and the depression angle of the directional drilling machine with the progressive angle adjusting device having the main shaft inclination locking function.

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

[0024] The application controls the action of each oil cylinder in the directional drilling machine through the linkage valve block, realizes the large inclination angle adjustment and the large opening height adjustment of the high-power automatic directional drilling machine in the limited space, reduces the labor intensity, and avoids the occurrence of safety accidents; the linkage valve block, the sensor and the controller are matched with each other to realize the automatic adjustment and automatic locking of the space position of the directional drilling machine; the application improves the automation level of the directional drilling machine and also improves the construction safety. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a whole structure schematic view of the progressive angle adjusting device having the main shaft inclination locking function.

[0026] Figure 2 It is a structure schematic view of the rear angle adjusting assembly and the rear inclined strut assembly.

[0027] Figure 3 It is a structure schematic view of the front angle adjusting assembly and the front inclined strut assembly.

[0028] Figure 4 It is a structure schematic view of the rear cross beam assembly.

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

[0030] Figure 6 It is a schematic view of the directional drilling machine with the progressive angle adjusting device having the main shaft inclination locking function when performing horizontal construction.

[0031] Figure 7 The schematic diagram of the directional drilling rig with progressive angle adjusting device with main shaft inclination angle locking function in high position hole construction.

[0032] Figure 8 The schematic diagram of the directional drilling rig with progressive angle adjusting device with main shaft inclination angle locking function in high inclination angle construction.

[0033] Figure 9 The schematic diagram of the directional drilling rig with progressive angle adjusting device with main shaft inclination angle locking function in large inclination angle construction.

[0034] Figure 10 The schematic diagram of the linkage valve block in the angle and amplitude control construction system of the near horizontal directional drilling rig.

[0035] Figure 11 The working process schematic diagram of the angle and amplitude control construction system of the near horizontal directional drilling rig.

[0036] Figure 12 The process schematic diagram of the height adjustment of the directional drilling rig by the control construction system. Figure 12 In the middle, (A), (B), (C), (D), (E) shows the posture change state of the directional drilling rig in the adjustment process.

[0037] Figure 13 The process schematic diagram of the inclination angle adjustment of the directional drilling rig by the control construction system. Figure 13 In the middle, (A), (B), (C), (D), (E), (F) shows the posture change state of the directional drilling rig in the adjustment process.

[0038] Figure 14 The process schematic diagram of the inclination angle adjustment of the directional drilling rig by the control construction system. Figure 14 In the middle, (A), (B), (C), (D), (E), (F) shows the posture change state of the directional drilling rig in the adjustment process.

[0039] The meanings of the various reference numbers in the figures 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 - gripper, 9 - stabilizing support, 10 - crane; 11 - displacement sensor, 12 - inclination sensor; 13 - first main oil line, 14 - second main oil line, 15 - third main oil line, 16 - fourth main oil line, 17 - fifth main oil line, 18 - sixth main oil line; 19 - first electromagnetic directional valve, 20 - first hydraulic control check valve, 21 - first branch, 22 - second branch, 23 - first hydraulic control directional valve, 24 - first flow divider, 25 - second flow divider, 26 - third branch, 27 - fourth branch, 28 - second hydraulic control directional valve, 29 - third flow divider, 30 - fourth flow divider, 31 - first connecting oil line, 32 - first hydraulic control check valve control pipeline, 33 - first shuttle valve; 34 - second electromagnetic directional valve, 35 - second hydraulic control check valve, 36 - fifth branch, 37 - sixth branch, 38 - third hydraulic control directional valve, 39 - fifth flow divider, 40 - sixth flow divider, 41 - seventh branch, 42 - eighth branch, 43 - fourth hydraulic control directional valve, 44 - seventh flow divider, 45 - eighth flow divider, 46 - third connecting oil line, 47 - second hydraulic control check valve control pipeline, 48 - second shuttle valve; 49 - drill hole, 50 - drill rod.

[0040] 101 - rear upright mounting seat, 102 - rear diagonal brace upright, 103 - rear multi-stage angle adjustment oil cylinder mounting piece, 104 - rear cross beam assembly, 105 - rear multi-stage angle adjustment oil cylinder, 106 - rear limit block.

[0041] 201 - front upright mounting seat, 202 - front diagonal brace upright, 203 - front multi-stage angle adjustment oil cylinder mounting piece, 204 - front cross beam assembly, 205 - front multi-stage angle adjustment oil cylinder, 206 - front limit block.

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

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

[0044] 601 - feeding machine 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 - cross beam assembly shell, 10402 - chuck shell, 10403 - fixed chuck, 10404 - cross beam oil cylinder, 10405 - liquid drive chuck, 10406 - diagonal brace upright through hole, 10407 - fixing piece, 10408 - connecting screw.

[0046] The specific content of the present application is further explained in detail in the following combined with embodiments. DETAILED DESCRIPTION

[0047] The "near-horizontal directional drilling rig" refers to the directional drilling rig that performs directional drilling along the near-horizontal direction, and 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 parts in the present application, without special explanation, adopt the parts known in the art, for example:

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

[0050] The controller adopts the conventional controller for coal mine underground use with explosion-proof and intrinsic safety type known in the prior art.

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

[0052] The specific embodiments of the present application are given below, and it should be noted that the present application is not limited to the following specific embodiments, and any equivalent transformation made on the basis of the technical solutions of the present application falls within the protection scope of the present application.

[0053] Embodiment 1:

[0054] This embodiment gives a progressive angle adjusting device with main shaft inclination angle locking function, as shown in Figure 1 , which includes a rear angle adjusting assembly 1 arranged at the longitudinal rear side and a front angle adjusting assembly 2 arranged at the longitudinal front side, and a pair of rear inclined strut assemblies 3 and a pair of front inclined strut assemblies 4 are arranged between the rear angle adjusting assembly 1 and the front angle adjusting assembly 2, the rear inclined strut assemblies 3 are close to the rear angle adjusting assembly 1, and the front inclined strut assemblies 4 are close to the front angle adjusting assembly 2.

[0055] In this embodiment, the front angle adjusting assembly 2 and the front inclined strut assembly 4 cooperate with each other and are used to realize the progressive large-range adjustment of the inclination angle of the drilling rig main shaft; the rear angle adjusting assembly 1 and the rear inclined strut assembly 3 first cooperate with each other and are used to realize the progressive large-range adjustment of the inclination angle of the drilling rig main shaft; the front angle adjusting assembly 2, the front inclined strut assembly 4, the rear angle adjusting assembly 1 and the rear inclined strut assembly 3 cooperate with each other to realize the large-range adjustment of the drilling rig opening height.

[0056] As a specific scheme of this embodiment, as shown in Figure 2As shown in the figure, the rear angle adjusting assembly 1 comprises a pair of rear column mounting seats 101, each of which movably mounts a rear inclined support column 102 along the vertical direction; each rear inclined support column 102 is respectively mounted with a rear multi-stage angle adjusting oil cylinder mounting piece 103, and the pair of rear multi-stage angle adjusting oil cylinder mounting pieces 103 are oppositely arranged; a rear cross beam assembly 104 is mounted on the pair of rear inclined support columns 102, and the rear cross beam assembly 104 is arranged along the horizontal direction and is located above the rear multi-stage angle adjusting oil cylinder mounting pieces 103; the rear multi-stage angle adjusting oil cylinder mounting pieces 103 are movably connected with the cylinder barrels of rear multi-stage angle adjusting oil cylinders 105, and the rear cross beam assembly 104 is movably connected with the cylinder rods of the rear multi-stage angle adjusting oil cylinders 105; each rear inclined support column 102 is mounted with a rear limit block 106, and the rear limit block 106 is located below the rear multi-stage angle adjusting oil cylinder mounting pieces 103.

[0057] In this embodiment, the rear inclined support column 102 is movably mounted in the rear column mounting seat 101 through a pin shaft, and the rear inclined support column 102 can rotate around the pin shaft. The cylinder barrels of the rear multi-stage angle adjusting oil cylinders 105 are connected with the rear multi-stage angle adjusting oil cylinder mounting pieces 103 through a hinge shaft, and the cylinder rods of the rear multi-stage angle adjusting oil cylinders 105 are hingedly connected with the rear cross beam assembly 104.

[0058] In this embodiment, the rear multi-stage angle adjusting oil cylinders 105 provide sufficient driving force at the initial position of the drilling machine, so as to realize small-range angle adjustment of the drilling machine depression angle. The rear multi-stage angle adjusting oil cylinder mounting pieces 103 are connected with the rear inclined support columns 102, and under the driving of the rear multi-stage angle adjusting oil cylinders 105, the rear multi-stage angle adjusting oil cylinder mounting pieces 103 move linearly along the rear inclined support columns 102. The rear limit blocks 106 mounted on the rear inclined support columns 102 are used to limit the lowest position of the rear multi-stage angle adjusting oil cylinder mounting pieces 103 on the rear inclined support columns 102.

[0059] As a specific scheme of this embodiment, as shown in the figure, Figure 3 As shown in the figure, the front angle adjusting assembly 2 comprises a pair of front column mounting seats 201, each of which movably mounts a front inclined support column 202 along the vertical direction; each front inclined support column 202 is respectively mounted with a front multi-stage angle adjusting oil cylinder mounting piece 203, and the pair of front multi-stage angle adjusting oil cylinder mounting pieces 203 are oppositely arranged; a front cross beam assembly 204 is mounted on the pair of front inclined support columns 202, and the front cross beam assembly 204 is arranged along the horizontal direction and is located above the front multi-stage angle adjusting oil cylinder mounting pieces 203; the front multi-stage angle adjusting oil cylinder mounting pieces 203 are movably connected with the cylinder barrels of front multi-stage angle adjusting oil cylinders 205, and the front cross beam assembly 204 is movably connected with the cylinder rods of the front multi-stage angle adjusting oil cylinders 205; each front inclined support column 202 is mounted with a front limit block 206, and the front limit block 206 is located below the front multi-stage angle adjusting oil cylinder mounting pieces 203.

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

[0061] In the embodiment, the front multi-stage angle adjusting oil cylinder 205 provides sufficient driving force at the initial position of the drilling machine, so as to realize small-range angle adjustment of the drilling machine. The front multi-stage angle adjusting oil cylinder mounting piece 203 is connected with the front inclined support column 202, and under the driving of the front multi-stage angle adjusting oil cylinder 205, the front multi-stage angle adjusting oil cylinder mounting piece 203 moves linearly along the front inclined support column 202. The front limiting block 206 mounted on the front inclined support column 202 is used to limit the lowest position of the front multi-stage angle adjusting oil cylinder mounting piece 203 on the front inclined support column 202.

[0062] As a specific scheme of the embodiment, as shown in Figure 2 the rear inclined support assembly 3 includes a pair of rear inclined support angle adjusting oil cylinder mounting seats 301, and each rear inclined support angle adjusting oil cylinder mounting seat 301 movably connects a rear inclined support angle adjusting oil cylinder 302.

[0063] As a specific scheme of the embodiment, as shown in Figure 3 the front inclined support assembly 4 includes a pair of front inclined support angle adjusting oil cylinder mounting seats 401, and each front inclined support angle adjusting oil cylinder mounting seat 401 movably connects a front inclined support angle adjusting oil cylinder 402.

[0064] As a specific scheme of the embodiment, the rear cross beam assembly 104 has the same structure as the front cross beam assembly 204; as shown in Figure 4 the rear cross beam assembly 104 includes a cross beam assembly shell 10401, the cross beam assembly shell 10401 is arranged along the transverse direction, and one clamp head shell 10402 is fixedly arranged at each transverse end of the cross beam assembly shell 10401; a fixed clamp head 10403 is arranged on the transverse outer side of the clamp head shell 10402; a cross beam oil cylinder 10404 is arranged in the cross beam assembly shell 10401, and a hydraulic drive clamp head 10405 is movably arranged in the clamp head shell 10402, two hydraulic drive clamp heads 10405 are connected with the transverse two ends of the cross beam oil cylinder 10404 respectively, the inner side surfaces of the hydraulic drive clamp head 10405 and the fixed clamp head 10403 are inclined support column matching surfaces, and the space surrounded by the hydraulic drive clamp head 10405 and the fixed clamp head 10403 is an inclined support column through hole 10406.

[0065] In this embodiment, the beam assembly housing 10401 of the beam assembly 104 is hinged with the cylinder rod of the multi-stage angle adjusting oil cylinder, the beam assembly is connected with the diagonal bracing column through the fixed clamp head 10403 and the liquid driving clamp head 10405, the contact surface formed by the fixed clamp head 10403 and the liquid driving clamp head 10405 is in clearance fit with the contact surface of the diagonal bracing column, and is driven by the multi-stage angle adjusting oil cylinder to move linearly along the diagonal bracing column, when the angle adjustment of the main shaft of the drilling machine is completed, the liquid driving clamp head 10405 is driven by the beam oil cylinder 10404 to move along the clamp head housing 10402 until the clamp head housing 10402 clamps the diagonal bracing column, thereby enhancing the stability and safety of the drilling machine in construction.

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

[0067] As a specific solution of the embodiment, as shown in Figure 4 The beam assembly housing 10401 is provided with threaded holes for installing connecting screws 10408, and the beam assembly housing 10401 and the multi-stage angle adjusting oil cylinder are connected through the threaded holes and the connecting screws 10408.

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

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

[0070] The progressive angle adjusting device with the main shaft inclination locking function provided in this embodiment realizes the progressive large inclination adjustment and the opening height adjustment of the drilling machine through two sets of multi-stage angle adjusting oil cylinders, two sets of diagonal bracing angle adjusting oil cylinders, and two sets of diagonal bracing column assemblies, and the automatic locking function is realized through the liquid driving clamp head body. Under the premise of having a large angle adjusting range and a large height adjusting range, the opening height and the outer shape size of the drilling machine are significantly reduced, and the problem that the application of the high-power automatic directional drilling machine is limited in a limited space is solved. When the drilling machine reaches the designed main shaft inclination or the opening height, the liquid driving clamp head body in the progressive angle adjusting device is automatically locked, thereby enhancing the stability of the drilling machine in construction and improving the automation level and the construction safety of the drilling machine.

[0071] Embodiment 2

[0072] This embodiment gives a directional drilling rig with the progressive angle adjusting device with the main shaft inclination angle locking function of embodiment 1, as shown in Figure 1 and Figure 6 The rear angle adjusting assembly 1 is fixedly installed on the longitudinal rear side of the rig track vehicle body 5, and the front angle adjusting assembly 2 is fixedly installed on the longitudinal front side of the rig track vehicle body 5. A pair of rear diagonal strut assemblies 3 and a pair of front diagonal strut assemblies 4 are hingedly connected to the top surface of the rig track vehicle body 5. The feed device 6 is arranged above the rig track vehicle body 5. The longitudinal rear end of the feed device 6 is movably connected with the rear angle adjusting assembly 1, the longitudinal front end of the feed device 6 is movably connected with the front angle adjusting assembly 2, and the bottom surface of the feed device 6 is movably connected with the pair of rear diagonal strut assemblies 3 and the pair of front diagonal strut assemblies 4.

[0073] In this embodiment, the rear upright mounting seat 101 of the rear angle adjusting assembly 1 is fixedly connected with the rig track vehicle body 5 by bolts, and the front upright mounting seat 201 of the front angle adjusting assembly 2 is fixedly connected with the rig track vehicle body 5 by bolts. The feed device 6 is movably connected with the front cross beam assembly 204 of the front angle adjusting assembly 2 and the rear cross beam assembly 104 of the rear angle adjusting assembly 1 through a hinge shaft.

[0074] In this embodiment, the front diagonal strut angle adjusting oil cylinder mounting seat 401 of the front diagonal strut assembly 4 is fixedly connected with the rig track vehicle body 5 by bolts, and the cylinder rod of the front diagonal strut angle adjusting oil cylinder 402 is hingedly connected with the feed device 6. When the front multi-stage angle adjusting oil cylinder 205 reaches the maximum stroke, the front diagonal strut angle adjusting oil cylinder 402 performs progressive angle adjustment to drive the feed device 6, the front multi-stage angle adjusting oil cylinder 205, the front multi-stage angle adjusting oil cylinder mounting member 203, and the front cross beam assembly 204 to move along the front diagonal strut upright 202, thereby realizing large-range angle adjustment of the rig elevation angle.

[0075] In this embodiment, the rear diagonal strut angle adjusting oil cylinder mounting seat 301 of the rear diagonal strut assembly 3 is fixedly connected with the rig track vehicle body 5 by bolts, and the cylinder rod of the rear diagonal strut angle adjusting oil cylinder 302 is hingedly connected with the feed device 6. When the rear multi-stage angle adjusting oil cylinder 105 reaches the maximum stroke, the rear diagonal strut angle adjusting oil cylinder 302 performs progressive angle adjustment to drive the feed device 6, the rear multi-stage angle adjusting oil cylinder 105, the rear multi-stage angle adjusting oil cylinder mounting member 103, and the rear cross beam assembly 104 to move along the rear diagonal strut upright 102, thereby realizing large-range angle adjustment of the rig depression angle.

[0076] As a specific scheme of this embodiment, as shown in Figure 5As shown in the figure, the feeding device 6 comprises a feeding body 601, a pair of rails 602 are arranged on the top surface of the feeding body 601 respectively, and a pair of rails 602 are movably installed with a supporting plate 603; the longitudinal front part of the feeding body 601 is provided with a feeding oil cylinder 604, the cylinder barrel of the feeding oil cylinder 604 is fixedly connected with the feeding body 601, and the cylinder rod of the feeding oil cylinder 604 is connected with the supporting plate 603.

[0077] In the embodiment, the rails 602 are fixedly connected with the feeding body 601 by bolts; the cylinder rod of the feeding oil cylinder 604 is connected with the supporting plate 603 through a pin shaft, the cylinder barrel of the feeding oil cylinder 604 is fixedly connected with the feeding body 601, and the feeding oil cylinder 604 can drive the supporting plate 603 to move linearly along the rails 602.

[0078] As a specific scheme of the embodiment, as shown in the figure, Figure 5 the longitudinal rear end of the feeding body 601 is provided with a pair of rear connecting ear plates 605, the rear connecting ear plates 605 are installed on the rear cross beam assembly 104; the longitudinal front end of the feeding body 601 is provided with a pair of front connecting ear plates 606, the front connecting ear plates 606 are installed on the front cross beam assembly 204; the bottom surface of the feeding body 601 is provided with a plurality of groups of lower connecting ear plates 607, and the rear inclined support angle adjusting oil cylinder 302 and the front inclined support angle adjusting oil cylinder 402 are respectively installed in the plurality of groups of lower connecting ear plates 607.

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

[0080] As a specific scheme of the embodiment, as shown in the figure, Figure 6 the longitudinal front side and the longitudinal rear side of the directional drilling rig are further provided with stable supports 9 for stabilizing the directional drilling rig.

[0081] As a specific scheme of the embodiment, as shown in the figure, Figure 6 the crane 10 is installed on the drilling rig crawler vehicle body 5.

[0082] The working process of the directional drilling rig with the progressive angle adjusting device with the main shaft inclination angle locking function is as follows:

[0083] First, horizontal construction (as shown in the figure): Figure 6

[0084] The feeding device 6, the drilling rig power head 7 and the gripper 8 are all in a horizontal position, the drill rod 50 and the tool string are lowered into the borehole 49 through the drill rod adding device, and the directional drilling rig is constructed horizontally.

[0085] Second, the opening height is adjusted, and high-position hole construction is performed (as shown in the figure) Figure 7 ​As shown):

[0086] High-pressure oil is injected into the front multi-stage angle-adjusting cylinder 205 and the front inclined support angle-adjusting cylinder 402, causing the front end of the feed device 6 to rise or fall to the designed height. Subsequently, high-pressure oil enters the rear multi-stage angle-adjusting cylinder 105 and the rear inclined support angle-adjusting cylinder 302, causing the longitudinal rear part of the feed device 6 to rise or fall 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 hydraulic drive chuck 10405 to clamp the front inclined support column 202 and the rear inclined 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 extension device to carry out the high-level hole construction of the directional drilling rig.

[0087] Third, adjust the elevation angle to carry out construction at a large elevation angle (e.g., Figure 8 As shown):

[0088] High-pressure oil is input into the front multi-stage angle adjustment cylinder 205 and the front inclined support angle adjustment cylinder 402. The front multi-stage angle adjustment cylinder 205 provides sufficient driving force to raise the front end of the feed device 6 to the preset elevation angle. When the drilling rig is in the initial position and the preset elevation angle is relatively large, 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 its maximum stroke and stops. Then, the front inclined support angle adjustment cylinder 402 performs progressive angle adjustment, driving the front end of the feed device 6 to rise and causing 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 inclined support column 202 until the drilling rig reaches the preset elevation angle. If the drilling rig is not in its initial position, high-pressure oil enters the front multi-stage angle-adjusting cylinder 205 and the front inclined 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, high-pressure oil drives the crossbeam cylinder 10404 to move the hydraulic chuck 10405 to clamp the front inclined support column 202. After the position of the feed device 6 is adjusted, the drill rod 50 and tool string are lowered into the borehole 49 through the drill rod extension device to carry out directional drilling at a large elevation angle.

[0089] Third, adjust the downward angle to carry out large downward angle construction (such as...). Figure 9 As shown):

[0090] The high-pressure oil is input into the rear multi-stage angle adjusting oil cylinder 105 and the rear inclined support angle adjusting oil cylinder 302, and the rear multi-stage angle adjusting oil cylinder 105 provides sufficient driving force to drive the rear end of the feeding device 6 to rise to a preset tilt angle. When the drilling machine is located at the initial position and the preset tilt angle is at a large angle, the position of the rear end of the feeding device 6 is first adjusted by the rear multi-stage angle adjusting oil cylinder 105, until the rear multi-stage angle adjusting oil cylinder 105 reaches the maximum stroke and stops, and then the rear inclined support angle adjusting oil cylinder 302 performs progressive angle adjustment, drives the rear end of the feeding device 6 to rise and drives the rear beam assembly 104, the rear multi-stage angle adjusting oil cylinder 105, the rear multi-stage angle adjusting oil cylinder mounting 103 to move upward along the rear inclined support column 102, until the drilling machine reaches the preset tilt angle. If the drilling machine is not at the initial position, the high-pressure oil is input into the rear multi-stage angle adjusting oil cylinder 105 and the rear inclined support angle adjusting oil cylinder 302, to drive the rear end of the feeding device 6 to rise or fall, until the drilling machine reaches the preset tilt angle; when the drilling machine reaches the preset tilt angle, the high-pressure oil drives the beam oil cylinder 10404 to drive the hydraulic drive chuck 10405 to clamp the rear inclined support column 102. After the position of the feeding device 6 is adjusted, the drill pipe 50 and the tool string are lowered into the borehole 49 by the drill pipe adding device, and directional drilling machine large tilt angle construction is performed.

[0091] The directional drilling machine with the progressive angle adjusting device with the main shaft tilt angle locking function is suitable for coal mine directional drilling machine angle adjusting construction. When the large-power automatic directional drilling machine adjusts the angle, the multi-stage angle adjusting oil cylinder assembly first applies a vertical upward force to the main machine to lift the main machine, which avoids the problem that the upward component force of the inclined support angle adjusting oil cylinder is insufficient to lift the main machine due to the low height of the angle adjusting device. When the multi-stage angle adjusting oil cylinder reaches the maximum stroke, the inclined support angle adjusting oil cylinder performs progressive lifting, and the multi-stage angle adjusting oil cylinder assembly as a whole moves upward along the two side inclined support column assemblies to the designed main shaft tilt angle or hole opening height position. When the drilling machine reaches the designed main shaft tilt angle or hole opening height position, the hydraulic drive chuck body automatically clamps the inclined support column assembly, which improves the stability and safety of the drilling machine construction. The design of the progressive angle adjusting device can ensure that the large-power automatic directional drilling machine has a small hole opening height and profile height, and can also realize low-position hole, large angle, and large height range attitude adjustment.

[0092] Embodiment 3:

[0093] The embodiment provides an angle and amplitude adjusting control construction system of a near-horizontal directional drilling machine. The system is used to control the directional drilling machine with the progressive angle adjusting device with the main shaft tilt angle locking function in embodiment 2. Figure 5 and Figure 11 As shown in the drawings, the system comprises a handheld terminal, a controller, an oil path switching multi-way valve, a linkage valve block, and a displacement sensor 11 and a tilt angle sensor 12 installed on the feeding device 6.

[0094] In the embodiment, the handheld terminal is configured to receive preset values of parameters, the controller is configured to receive data from the displacement sensor 11 and the inclination sensor 12, compare preset values and actual measured values of the data, and send signals to the linkage valve block; the oil path switching multi-way valve is configured to control the high-pressure oil to enter the linkage valve block from different oil inlet ends; the linkage valve block is configured to control the action of the oil cylinder of the progressive angle adjusting device; the inclination sensor 12 is configured to measure the inclination angle of the main shaft of the drilling rig, including the elevation angle and the depression angle; and the displacement sensor 11 is configured to detect the displacement of the front end of the feeding device 6 relative to the body 5 of the track carrier, and further obtain the horizontal opening height of the drilling rig.

[0095] In the embodiment, the relationship between the displacement measured by the displacement sensor 11 and the horizontal opening height of the drilling rig is as follows: the horizontal opening 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 axis of the main shaft of the power head of the drilling rig + the distance from the track carrier to the ground, i.e., the opening height is the displacement of the displacement sensor + a fixed value. The fixed value does not change after the structure is designed, and the displacement sensor 11 is installed at the front end of the feeding device. When the drilling rig needs to be adjusted to the required design opening height, the displacement of the sensor should be the opening height minus the fixed value. In the angle adjusting process, first, the displacement of the displacement sensor reaches the requirement, at this time, the displacement sensor is in an inclined state, and the opening height requirement is not met. Then, the rear oil cylinder of the feeding device is actuated to adjust the rear end of the feeding device to the same height as the front end, i.e., the feeding device is in a horizontal position, at this time, the displacement sensor is in a vertical state, which can be considered as the horizontal opening height of the drilling rig.

[0096] As a specific scheme of the embodiment, as shown in Figure 10 the linkage valve block includes a first main oil path 13, a second main oil path 14, a third main oil path 15, a fourth main oil path 16, a fifth main oil path 17, and a sixth main oil path 18; and the oil path switching multi-way valve is arranged between the oil inlet ends of the first main oil path 13, the second main oil path 14, the third main oil path 15, the fourth main oil path 16, the fifth main oil path 17, and the sixth main oil path 18 and the oil source.

[0097] As a specific scheme of the embodiment, as shown in Figure 10As shown, the oil outlet end of the first main oil line 13 is communicated with the cross beam oil cylinder 10404 of the front cross beam assembly 204, and the first electromagnetic reversing valve 19 and the first hydraulic control check valve 20 are arranged on the first main oil line 13; the oil outlet end of the second main oil line 14 is communicated with the oil inlet ends of the first branch 21 and the second branch 22, the oil outlet end of the first branch 21 is communicated with the front multi-stage angle adjusting oil cylinder 205, and the oil outlet end of the second branch 22 is communicated with the front diagonal brace angle adjusting oil cylinder 402; the first hydraulic control reversing valve 23 is arranged on the second main oil line 14, the first shunt valve 24 is arranged on the first branch 21, and the second shunt valve 25 is arranged on the second branch 22; the oil outlet end of the third main oil line 15 is communicated with the oil inlet ends of the third branch 26 and the fourth branch 27, the oil outlet end of the third branch 26 is communicated with the front diagonal brace angle adjusting oil cylinder 402, and the oil outlet end of the fourth branch 27 is communicated with the front multi-stage angle adjusting oil cylinder 205; the second hydraulic control reversing valve 28 is arranged on the third main oil line 15, the third shunt valve 29 is arranged on the third branch 26, and the fourth shunt valve 30 is arranged on the fourth branch 27; the first connecting oil line 31 is further communicated with the oil inlet end of the first main oil line 13, the oil inlet end of the first connecting oil line 31 is located between the first electromagnetic reversing valve 19 and the first hydraulic control check valve 20, the oil outlet end of the first connecting oil line 31 is respectively communicated with the first hydraulic control reversing valve 23 and the second hydraulic control reversing valve 28, and the first shuttle valve 33 is further arranged on the second main oil line 14 and the third main oil line 15; the oil inlet end of the first shuttle valve 33 is respectively communicated with the second main oil line 14 and the third main oil line 15, and the oil outlet end of the first shuttle valve 33 is communicated with the first hydraulic control check valve 20 through the first hydraulic control check valve control pipeline 32.

[0098] As a specific scheme of the embodiment, as shown in Figure 10As shown, the oil outlet end of the sixth main oil line 18 is communicated with the cross beam oil cylinder 10404 of the rear cross beam assembly 104, and the second electromagnetic reversing valve 34 and the second hydraulic control check valve 35 are sequentially arranged on the sixth main oil line 18 along the oil conveying direction; the oil outlet end of the fourth main oil line 16 is communicated with the oil inlet end of the fifth branch line 36 and the sixth branch line 37, the oil outlet end of the fifth branch line 36 is communicated with the rear multi-stage angle adjusting oil cylinder 105, and the oil outlet end of the sixth branch line 37 is communicated with the rear diagonal brace angle adjusting oil cylinder 302; the third hydraulic control reversing valve 38 is arranged on the fourth main oil line 16, the fifth branch line 36 is provided with the fifth flow divider 39, and the sixth branch line 37 is provided with the sixth flow divider 40; the oil outlet end of the fifth main oil line 17 is communicated with the oil inlet end of the seventh branch line 41 and the eighth branch line 42, the oil outlet end of the seventh branch line 41 is communicated with the rear diagonal brace angle adjusting oil cylinder 302, and the oil outlet end of the eighth branch line 42 is communicated with the rear multi-stage angle adjusting oil cylinder 105; the fourth hydraulic control reversing valve 43 is arranged on the fifth main oil line 17, the seventh branch line 41 is provided with the seventh flow divider 44, and the eighth branch line 42 is provided with the eighth flow divider 45; the fourth main oil line 16 and the fifth main oil line 17 are communicated through the fourth connecting oil line 47, and the second shuttle valve 48 is arranged on the fourth connecting oil line 47; the second shuttle valve 48 and the second hydraulic control check valve 35 are communicated through a pipeline; the oil inlet end of the third connecting oil line 46 is further communicated with the sixth main oil line 18, the oil inlet end of the third connecting oil line 46 is located between the second electromagnetic reversing valve 34 and the second hydraulic control check valve 35, and the oil outlet end of the third connecting oil line 46 is respectively communicated with the third hydraulic control reversing valve 38 and the fourth hydraulic control reversing valve 43; the second shuttle valve 48 is further arranged on the fourth main oil line 16 and the fifth main oil line 17, the oil inlet end of the second shuttle valve 48 is respectively communicated with the fourth main oil line 16 and the fifth main oil line 17, and the oil outlet end of the second shuttle valve 48 is communicated with the second hydraulic control check valve 35 through the second hydraulic control check valve control pipeline 47.

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

[0100] (A)As shown in Figure 10 and Figure 11 , the first main oil line 13 is an A3 oil line; the second main oil line 14, the first branch line 21 and the second branch line 22 jointly constitute an A1 oil line; the third main oil line 15, the third branch line 26 and the fourth branch line 27 jointly constitute a B1 oil line; the fourth main oil line 16, the fifth branch line 36 and the sixth branch line 37 jointly constitute an A2 oil line; the fifth main oil line 17, the seventh branch line 41 and the eighth branch line 42 jointly constitute a B2 oil line; and the sixth main oil line 18 is an A4 oil line. After high-pressure oil flows out from a high-pressure oil source, when the oil flows through the oil line switching multi-way valve, the high-pressure oil is controlled by the oil line switching multi-way valve to enter different oil lines, so as to realize the control of the action of the oil cylinder.

[0101] When the inclination angle or the height of the opening reaches the design value, the inclination sensor 12 or the displacement sensor 11 feeds back a signal to the controller, the controller controls the first electromagnetic reversing valve 19 and the second electromagnetic reversing valve 34 to act, and the high-pressure oil enters the cross beam oil cylinder 10404 through A3 and A4, so that the liquid drive chuck 10405 clamps the front inclined support column 202 and the rear inclined support column 102 under the action of the cross beam oil cylinder 10404; at the same time, the high-pressure oil drives the first hydraulic control reversing valve 23, the second hydraulic control reversing valve 28, the third hydraulic control reversing valve 38 and the fourth hydraulic control reversing valve 43 in the A1 / B1 and A2 / B2 oil paths to act, and cuts off the A1 / B1 and A2 / B2 oil paths, thereby enhancing the stability of the drilling rig.

[0102] (B) The A3 oil path is used to control the action of the cross beam oil cylinder 10404 of the front cross beam assembly 204, and the specific process is as follows: the controller drives the first electromagnetic reversing valve 19 to reverse, so that the first main oil path 13 is connected, and then the high-pressure oil enters the A3 oil path from the left end of the first main oil path 13, the high-pressure oil flows into the cross beam oil cylinder 10404 of the front cross beam assembly 204 through the first main oil path 13, drives the cylinder rod of the cross beam oil cylinder 10404 of the front cross beam assembly 204 to extend, and drives the liquid drive chuck 10405 to approach the fixed chuck 10403 and clamp the front inclined 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 path 31, drives 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 adjusting oil cylinder 205 and the front inclined support angle adjusting oil cylinder 402 do not act.

[0103] (C) The A1 / B1 oil path is used to control the action of the front inclined support angle adjusting oil cylinder 402 and the front multi-stage angle adjusting oil cylinder 205. Taking the case that the high-pressure oil enters B1 from the third main oil path 15 as an example, the specific process is as follows:

[0104] When the high-pressure oil enters the B1 oil path from the left end of the third main oil path 15, the second hydraulic control reversing valve 28 is in an initial state, at this time the third main oil path 15 is in a connected state, the high-pressure oil enters the rodless cavity of the front inclined support angle adjusting oil cylinder 402 through the third main oil path 15 and the third branch 26, the oil in the rod cavity of the front inclined support angle adjusting oil cylinder 402 flows out of the linkage valve block through the second branch 22 and the second main oil path 14, and the cylinder rod of the front inclined support angle adjusting oil cylinder 402 extends under the drive of the high-pressure oil; the high-pressure oil enters the rodless cavity of the front multi-stage angle adjusting oil cylinder 205 through the third main oil path 15 and the fourth branch 27, the oil in the rod cavity of the front multi-stage angle adjusting oil cylinder 205 flows out of the linkage valve block through the first branch 21 and the second main oil path 14, and the cylinder rod of the front multi-stage angle adjusting oil cylinder 205 extends under the drive of the high-pressure oil; under the action of the first shunt valve 24, the second shunt valve 25, the third shunt valve 29 and the fourth shunt valve 30, the actions of the front inclined support angle adjusting oil cylinder 402 and the front multi-stage angle adjusting oil cylinder 205 are synchronized.

[0105] Meanwhile, high pressure oil from B1 enters the third main oil line 15, flows to the first shuttle valve 33, then flows to the first hydraulic control check valve 20 through the first hydraulic control check valve control pipeline 32, and drives the first hydraulic control check valve 20 to open. The oil in the cross beam oil cylinder 10404 of the front cross beam assembly 204 flows to the first hydraulic control check valve 20 through the first main oil line 13, and then flows back to the oil tank. At this time, the rod of the cross beam oil cylinder 10404 of the front cross beam assembly 204 retracts, drives the liquid drive chuck 10405 away from the fixed chuck 10403 and loosens the front diagonal strut column 202, and ensures that the angle adjustment action is smoothly performed.

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

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

[0108] (E) The A2 / B2 oil line is used to control the action of the rear diagonal strut angle adjustment oil cylinder 302 and the rear multi-stage angle adjustment oil cylinder 105. Taking the case of 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 path from the left end of the fifth main oil path 17, the fourth hydraulic control reversing valve 43 is in the initial state, at this time the fifth main oil path 17 is in the communication state, the high pressure oil enters the rodless cavity of the rear diagonal brace angle adjusting cylinder 302 through the fifth main oil path 17 and the seventh branch path 41, the oil in the rod cavity of the rear diagonal brace angle adjusting cylinder 302 flows out of the linkage valve block through the sixth branch path 37 and the fourth main oil path 16, under the drive of the high pressure oil, the cylinder rod of the rear diagonal brace angle adjusting cylinder 302 extends out; the high pressure oil enters the rodless cavity of the rear multi-stage angle adjusting cylinder 105 through the fifth main oil path 17 and the eighth branch path 42, the oil in the rod cavity of the rear multi-stage angle adjusting cylinder 105 flows out of the linkage valve block through the fifth branch path 36 and the fourth main oil path 16, under the drive of the high pressure oil, the cylinder rod of the rear multi-stage angle adjusting cylinder 105 extends out, under the action of the fifth flow divider valve 39, the sixth flow divider valve 40, the seventh flow divider valve 44 and the eighth flow divider valve 45, the synchronous action of the rear diagonal brace angle adjusting cylinder 302 and the rear multi-stage angle adjusting cylinder 105 is ensured.

[0110] Meanwhile, the high pressure oil entering from B2 flows to the second shuttle valve 48 through the fifth main oil path 17, then flows to the second hydraulic control check valve 35 through the second hydraulic control check valve control pipeline 47, then drives the second hydraulic control check valve 35 to open, the oil in the beam cylinder 10404 of the rear beam assembly 104 drives the second hydraulic control check valve 35 to open, the oil in the beam cylinder 10404 of the rear beam assembly 104 flows to the second hydraulic control check valve 35 through the sixth main oil path 18, and then flows back to the oil tank, at this time the cylinder rod of the beam cylinder 10404 of the rear beam assembly 104 retracts, drives the liquid drive chuck 10405 away from the fixed chuck 10403 and loosens the rear diagonal brace column 102, and ensures that the angle adjusting action is smoothly performed.

[0111] If the high pressure oil enters from A2, the cylinder rods of the rear diagonal brace angle adjusting cylinder 302 and the rear multi-stage angle adjusting cylinder 105 are retracted, and the specific principle is the same as above.

[0112] As shown in Figure 11 The working process of the angle and amplitude control construction system of the near horizontal directional drilling rig is as follows:

[0113] The preset opening height is input on the handheld terminal, the controller sends a signal to the electromagnetic reversing valve controlling the angle to make the oil enter one group of angle adjusting cylinders first and drive one end of the feeding device 6 to reach the designed height, then the oil enters the other group of angle adjusting cylinders and drives the other end of the feeding device 6 to rise or fall until the tilt angle sensor 12 sends a signal that the feeding device 6 is in the horizontal position, then stop, at this time the drilling rig reaches the preset opening height.

[0114] The designed main shaft inclination angle is input on the handheld terminal, the controller sends a signal to the electromagnetic reversing valve controlling the angle to make the oil enter one group of angle adjusting cylinders first and drive one end of the feeding device 6 to rise or fall until the tilt angle sensor 12 sends a signal that the designed main shaft inclination angle is reached.

[0115] When the drilling rig reaches the preset opening height or the main shaft inclination angle, the controller sends a signal to the electromagnetic reversing valve controlling the cross beam oil cylinder 10404, so that the oil enters the cross beam oil cylinder 10404, and the hydraulic drive chuck 10405 clamps the inclined support column, enhancing the stability and safety of the drilling rig construction.

[0116] When the drilling rig is adjusted in opening height or main shaft inclination angle, the hydraulic linkage is realized by the linkage valve block, that is, when the angle adjusting oil cylinder is actuated, the cross beam oil cylinder 10404 is at the minimum stroke, and the hydraulic drive chuck 10405 is fully retracted, ensuring the smooth operation of the angle and height adjusting actions. When the angle or height adjusting action is completed, the inclination or displacement sensor 11 sends a signal, and the controller controls the cross beam oil cylinder 10404 to act, and the hydraulic drive chuck 10405 fully clamps the inclined support column. The linkage valve block and the sensor realize the interlocking function of the angle adjusting oil cylinder and the cross beam oil cylinder 10404, ensuring the safety of the drilling rig construction.

[0117] Example 4:

[0118] This embodiment gives a kind of near horizontal directional drilling rig's angle adjusting amplitude control construction method, this method uses the directional drilling rig with the progressive angle adjusting device with main shaft inclination locking function of embodiment 2 and the angle adjusting amplitude control construction system of near horizontal directional drilling rig of embodiment 3 is realized;The method is as follows:

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

[0120] The preset 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 reverse, and high pressure oil enters the front multi-stage angle adjusting oil cylinder 205 and the front inclined support angle adjusting oil cylinder 402, so that the front end of the feeding device 6 rises or falls to the design height;Subsequently, the controller controls the second electromagnetic reversing valve 34 to reverse, and high pressure oil enters the rear multi-stage angle adjusting oil cylinder 105 and the rear inclined support angle adjusting oil cylinder 302, so that the longitudinal rear part of the feeding device 6 rises or falls to the design height;When the inclination sensor 12 determines that the feeding device 6 is in a horizontal position, the drilling rig reaches the preset opening height.

[0121] When the angle adjusting cylinder is in action, the liquid drive clamp 10405 is always in the loosened state due to the linkage of the valve block, ensuring the front cross beam assembly 204 and the rear cross beam assembly 104 to drive the feeding device 6 to move along the axial direction of the front and rear diagonal support columns 102 and 202 smoothly; when the drilling machine reaches the preset opening height, the inclination sensor 12 sends a signal to stop the rear and front multi-stage angle adjusting cylinders 105 and 205, the controller controls the first and second electromagnetic reversing valves 19 and 34 to reverse, and the high-pressure oil drives the cross beam cylinder 10404 to drive the liquid drive clamp 10405 to clamp the front and rear diagonal support columns 102 and 202, ensuring the stability and safety of the drilling machine construction.

[0122] Second, the elevation angle adjustment (as shown in Figure 13

[0123] The preset elevation angle is input through the handheld terminal, when the drilling machine is at the initial position and the preset elevation angle is at a small angle, the controller controls the first electromagnetic reversing valve 19 to reverse, the high-pressure oil enters the front multi-stage angle adjusting cylinder 205 and the front diagonal support angle adjusting cylinder 402, and the front multi-stage angle adjusting 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 machine is at the initial position and the preset elevation angle is at a large angle, the front end position of the feeding device 6 is first adjusted by the front multi-stage angle adjusting cylinder 205 until the front multi-stage angle adjusting cylinder 205 reaches the maximum stroke and stops, and then the front diagonal support angle adjusting cylinder 402 performs progressive angle adjustment to drive the front end of the feeding device 6 to rise and drive the front cross beam assembly 204, the front multi-stage angle adjusting cylinder 205, and the front multi-stage angle adjusting cylinder mounting 203 to move upward along the front diagonal support column 202 until the drilling machine reaches the preset elevation angle.

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

[0126] When the angle adjusting cylinder is in action, the liquid drive clamp 10405 is always in the loosened state due to the linkage of the valve block, ensuring the front cross beam assembly 204 to drive the feeding device 6 to move along the axial direction of the front diagonal support column 202 smoothly; when the drilling machine reaches the preset elevation angle, the inclination sensor 12 sends a signal to stop the angle adjusting cylinder, the controller controls the first electromagnetic reversing valve 19 to reverse, and the high-pressure oil drives the cross beam cylinder 10404 to drive the liquid drive clamp 10405 to clamp the front diagonal support column 202, ensuring the stability and safety of the drilling machine construction.

[0127] Third, the depression angle adjustment (as shown in Figure 14 ​shown) :

[0128] When the drilling rig is at the initial position and the preset inclination angle is at a small angle, the controller controls the second electromagnetic reversing valve 34 to reverse, and high-pressure oil enters the rear multi-stage angle adjusting cylinder 105 and the rear diagonal brace angle adjusting cylinder 302. The rear multi-stage angle adjusting cylinder 105 provides sufficient driving force to drive the rear end of the feeding device 6 to rise to the preset inclination angle.

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

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

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

Claims

1. A near-horizontal directional drilling rig's angle and amplitude adjustment control construction system, characterized in that, This system is used to control directional drilling rigs equipped with progressive angle adjustment devices that have a spindle tilt locking function; The directional drilling rig with a progressive angle adjustment device having a main shaft tilt locking function includes a drilling rig track vehicle body (5), a rear angle adjustment component (1) is fixedly installed on the longitudinal rear side of the drilling rig track vehicle body (5), and a front angle adjustment component (2) is fixedly installed on the longitudinal front side of the drilling rig track vehicle body (5); a pair of rear inclined bracing components (3) and a pair of front inclined bracing components (4) are hinged on the top surface of the drilling rig track vehicle body (5); a feeding device (6) is provided above the drilling rig track vehicle 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 a pair of rear inclined bracing components (3) and a pair of front inclined bracing components (4); The rear angle adjustment assembly (1) includes a rear crossbeam assembly (104) and a rear multi-stage angle adjustment cylinder (105); the front angle adjustment assembly (2) includes a front crossbeam assembly (204) and a front multi-stage angle adjustment cylinder (205); the rear crossbeam assembly (104) and the front crossbeam assembly (204) each include a crossbeam cylinder (10404); the rear diagonal brace assembly (3) includes a rear diagonal brace angle adjustment cylinder (302); and the front diagonal brace assembly (4) includes a front diagonal brace angle adjustment cylinder (402). The angle and amplitude 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 (11) and an inclination sensor (12) installed on the feed device (6); The tilt sensor (12) is used to measure the tilt angle of the main shaft of a directional drilling rig with a progressive tilt adjustment device having a main shaft tilt locking function, including the elevation angle and the depression angle. The displacement sensor (11) is used to detect the displacement of the front end of the feed device (6) relative to the crawler body (5) of the drilling rig; The controller is used to receive data from the displacement sensor (11) and the tilt sensor (12), and compare the preset value of the data with the actual measured value; 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 operation of the rear multi-stage angle adjustment cylinder (105), the front multi-stage angle adjustment cylinder (205), the crossbeam cylinder (10404), the rear diagonal brace angle adjustment cylinder (302), and the front diagonal brace angle adjustment cylinder (402).

2. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, 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 set between the oil inlet end 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) and the oil source; The oil outlet of the first main oil circuit (13) is connected to the crossbeam cylinder (10404) of the front crossbeam assembly (204). The first main oil circuit (13) is equipped with a first electromagnetic reversing valve (19) and a first hydraulic control check valve (20). The oil outlet of the second main oil circuit (14) is connected to the oil inlet of the first branch (21) and the second branch (22). The oil outlet of the first branch (21) is connected to the front multi-stage angle adjustment cylinder (205), and the oil outlet of the second branch (22) is connected to the front inclined support angle adjustment cylinder (402). A first hydraulic control directional valve (23) is provided on the second main oil circuit (14), a first diverter valve (24) is provided on the first branch (21), and a second diverter valve (25) is provided on the second branch (22). The oil outlet of the third main oil circuit (15) is connected to the oil inlet of the third branch (26) and the fourth branch (27). The oil outlet of the third branch (26) is connected to the front inclined support angle adjustment cylinder (402), and the oil outlet of the fourth branch (27) is connected to the front multi-stage angle adjustment cylinder (205). A second hydraulic control directional valve (28) is provided on the third main oil circuit (15), a third diverter valve (29) is provided on the third branch (26), and a fourth diverter valve (30) is provided on the fourth branch (27). The first main oil circuit (13) is also connected to the oil inlet of the first connecting oil circuit (31). The oil inlet of the first connecting oil circuit (31) is located between the first electromagnetic reversing valve (19) and the first hydraulic control check valve (20). The oil outlet of the first connecting oil circuit (31) is connected to the first hydraulic control reversing valve (23) and the second hydraulic control reversing valve (28) respectively. The second main oil circuit (14) and the third main oil circuit (15) are also equipped with a first shuttle valve (33). The oil inlet end of the first shuttle valve (33) is connected to the second main oil circuit (14) and the third main oil circuit (15) respectively. The oil outlet end of the first shuttle valve (33) is connected to the first hydraulic control check valve (20) through the first hydraulic control check valve control pipe (32). The oil outlet of the sixth main oil circuit (18) is connected to the crossbeam cylinder (10404) of the rear crossbeam assembly (104). The sixth main oil circuit (18) is provided with a second electromagnetic reversing valve (34) and a second hydraulic control check valve (35) in sequence along the oil delivery direction. The oil outlet of the fourth main oil circuit (16) is connected to the oil inlet of the fifth branch (36) and the sixth branch (37). The oil outlet of the fifth branch (36) is connected to the rear multi-stage angle adjustment cylinder (105), and the oil outlet of the sixth branch (37) is connected to the rear inclined support angle adjustment cylinder (302). A third hydraulic control directional valve (38) is provided on the fourth main oil circuit (16), a fifth diverter valve (39) is provided on the fifth branch (36), and a sixth diverter valve (40) is provided on the sixth branch (37). The oil outlet of the fifth main oil circuit (17) is connected to the oil inlet of the seventh branch (41) and the eighth branch (42). The oil outlet of the seventh branch (41) is connected to the rear inclined support angle adjustment cylinder (302), and the oil outlet of the eighth branch (42) is connected to the rear multi-stage angle adjustment cylinder (105). A fourth hydraulic control directional valve (43) is provided on the fifth main oil circuit (17), a seventh diverter valve (44) is provided on the seventh branch (41), and an eighth diverter valve (45) is provided on the eighth branch (42). The fourth main oil circuit (16) and the fifth main oil circuit (17) are connected by a fourth connecting oil circuit, and a second shuttle valve (48) is provided on the fourth connecting oil circuit; the second shuttle valve (48) and the second hydraulic check valve (35) are connected by a pipeline; The sixth main oil circuit (18) is also connected to the inlet of the third connecting oil circuit (46). The inlet of the third connecting oil circuit (46) is located between the second electromagnetic directional valve (34) and the second hydraulic control check valve (35). The outlet of the third connecting oil circuit (46) is connected to the third hydraulic control directional valve (38) and the fourth hydraulic control directional valve (43) respectively. The fourth main oil circuit (16) and the fifth main oil circuit (17) are also equipped 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. The oil outlet end of the second shuttle valve (48) is connected to the second hydraulic control check valve (35) through the second hydraulic control check valve control pipe (47).

3. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, The rear angle adjustment assembly (1) includes a pair of rear column mounting seats (101), each rear column mounting seat (101) having a movably mounted rear diagonal support column (102) arranged vertically; each rear diagonal support column (102) is respectively mounted with a rear multi-stage angle adjustment cylinder mounting component (103), the pair of rear multi-stage angle adjustment cylinder mounting components (103) being arranged opposite to each other; a rear crossbeam assembly (104) is mounted on the pair of rear diagonal support columns (102), the rear crossbeam assembly ( 104) The rear crossbeam assembly (104) is positioned above the rear multi-stage angle adjustment cylinder mounting component (103) along the lateral direction; the cylinder barrel of the rear multi-stage angle adjustment cylinder mounting component (103) is movably connected to the cylinder barrel of the rear multi-stage angle adjustment cylinder (105), and the cylinder rod of 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 positioned below the rear multi-stage angle adjustment cylinder mounting component (103).

4. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, The aforementioned front angle adjustment assembly (2) includes a pair of front column mounting seats (201), each front column mounting seat (201) having a front diagonal brace column (202) movably mounted therein, the front diagonal brace columns (202) being arranged vertically; each front diagonal brace column (202) is respectively mounted with a front multi-stage angle adjustment cylinder mounting component (203), the pair of front multi-stage angle adjustment cylinder mounting components (203) being arranged opposite to each other; a front crossbeam assembly (204) is mounted on the pair of front diagonal brace columns (202), the front crossbeam assembly ( 204) Along the lateral direction, the front crossbeam assembly (204) is located above the front multi-stage angle adjustment cylinder mounting part (203); the cylinder barrel of the front multi-stage angle adjustment cylinder mounting part (203) is movably connected to the cylinder barrel of the front multi-stage angle adjustment cylinder (205), and the cylinder rod of 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 part (203).

5. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, The rear brace assembly (3) includes a pair of rear brace angle adjustment cylinder mounting seats (301), and a rear brace angle adjustment cylinder (302) is movably connected in each rear brace angle adjustment cylinder mounting seat (301).

6. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, The front brace assembly (4) includes a pair of front brace angle adjustment cylinder mounting seats (401), and a front brace angle adjustment cylinder (402) is movably connected in each front brace angle adjustment cylinder mounting seat (401).

7. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in 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) includes a crossbeam assembly housing (10401), which is arranged in the transverse direction, and a clamp housing (10402) is fixedly arranged at each of the transverse ends of the crossbeam assembly housing (10401); a fixing clamp (10403) is arranged on the transverse outer side of the clamp housing (10402); the rear crossbeam assembly housing (10401) has the same structure as the front crossbeam assembly (204). 1) A crossbeam cylinder (10404) is installed inside, and a hydraulic chuck (10405) is movably installed inside the chuck housing (10402). The two hydraulic chucks (10405) are respectively connected to the two transverse ends of the crossbeam cylinder (10404). The inner surfaces of the hydraulic chuck (10405) and the fixed chuck (10403) are the mating surfaces of the diagonal support column. The space enclosed by the hydraulic chuck (10405) and the fixed chuck (10403) is the through hole (10406) of the diagonal support column.

8. The angle and amplitude adjustment control construction system for near-horizontal directional drilling rigs as described in claim 1, characterized in that, The feeding device (6) includes a feeding body (601), and a guide rail (602) is respectively provided on the two transverse sides of the top surface of the feeding body (601). A support plate (603) is movably installed on a pair of guide rails (602). A feeding cylinder (604) is provided at the longitudinal front 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 adjustment control construction system for near-horizontal directional drilling rigs as described in claim 8, characterized in that, The feed machine body (601) is provided with a pair of rear connecting lugs (605) on its longitudinal rear end, and the rear connecting lugs (605) are mounted on the rear crossbeam assembly (104); the feed machine body (601) is provided with a pair of front connecting lugs (606) on its longitudinal front end, and the front connecting lugs (606) are mounted on the front crossbeam assembly (204); the bottom surface of the feed machine body (601) is provided with multiple sets of lower connecting lugs (607), and the multiple sets of lower connecting lugs (607) are respectively equipped with a rear diagonal brace adjustment cylinder (302) and a front diagonal brace adjustment cylinder (402).

10. A method for controlling the angle and amplitude of a near-horizontal directional drilling rig, characterized in that, The method employs the angle and amplitude 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 equipped with a progressive angle adjustment device having a spindle tilt locking function.

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