Modularized integrated drilling mast system for sinking, inserting and splicing drilling rod

Abstract

A modular integrated drilling mast system for sinking, inserting and splicing a drill rod comprises a base (1), an orifice seat (2), a mast (3), a power head (4) with a clamping device (8), a drill rod bin (5) and a manipulator (6). The mast (3) and the drill rod bin (4) are both vertically arranged on the base (1), the power head (4) is hung on the mast (3), and a manipulator (6) capable of horizontally rotating is further arranged on the mast (3). Drill rods to be spliced are stored through the drill rod bin, safe operation is facilitated, and space can be saved; the drilling rod is taken and placed through the mechanical arm integrated on the mast, all-weather operation can be achieved, and higher operation convenience and safety are achieved; the integrated arrangement of the drill rod, the mast and the power system is realized through the base, and meanwhile, the drill rod bin, the mast and the manipulator are relatively independent parts, so that a brand-new modularized and integrated operation mode is realized.

Description

Technical Field

[0001] The invention relates to the field of engineering machinery, in particular to a modular integrated drilling mast system for sinking and connecting drill rods. Background Art

[0002] The drill tool and mast are the core components of the drilling rig. When in use, the mast is usually set vertically to the ground, and then the drill tool is suspended on the mast. After that, the drill tool is clamped by the power head and pulled along the mast to rotate up and down to achieve the purpose of drilling holes in the ground.

[0003] In the above working process, since the length of a single drill bit often cannot meet the requirement of drilling depth, a connected drill rod is used to extend the length of the drill bit.

[0004] At present, there are various problems in the process of using continuous drill pipe: 1. Place the drill rod randomly beside the drilling rig. When the drill rod needs to be connected, temporarily coordinate with all parties and use cranes and other lifting equipment to lift the drill rod from the ground and send it to the mast. The drilling tool connection work is achieved with the manpower cooperation of the operators (for example, manual traction of the drill rod by electric hoists, etc.). In this way, there are safety hazards such as high work intensity of the operators and disorderly placement of the drill rod.

[0005] 2. In order to improve the shortcomings of the above-mentioned operation mode, a finished drill rod box (or bracket) with horizontal drill rods has been extended. The connected drill rods are uniformly horizontally placed and stacked in the finished drill rod box. In this way, the problem caused by the disorderly placement of the connected drill rods can be solved. In addition, the finished drill rod box can be placed in a designated position, so that the route of the lifting equipment can be planned in advance during the process of connecting the drilling tools, thereby improving the utilization efficiency of the lifting equipment. However, the use of such finished drill rod boxes cannot solve the problem of high work intensity due to the need to rely on lifting equipment and human traction during the lifting process. In addition, an additional space needs to be opened up for the placement of the finished drill rod box, which is sometimes not feasible for some construction scenes with crowded spaces. In order to solve this technical problem, manipulators and related devices are also used to take drill rods, but the current manipulators are often highly automated, resulting in relatively high equipment costs and maintenance costs. The influence of harsh climate and environment will also reduce their reliability.

[0006] 3. Regardless of the above methods, it is necessary to rely on third-party lifting equipment to implement the connection of the drilling tools. In this process, it is also necessary to implement the human traction process through electric hoists and other devices. In this way, there are still great safety hazards in the entire connection process of the drilling tools and it is also affected by various objective factors such as weather and equipment coordination. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned defects and to provide a modular, integrated drilling mast system which has a compact structure, can reduce the labor intensity of operators and can realize independent operation around the clock.

[0008] In order to achieve the above object, the present invention is achieved in the following ways: A modular integrated drilling mast system for sinking and connecting drill rods, comprising a base (1), an orifice seat (2) arranged on the base (1) and provided with a limit device (9), a mast (3), a power head (4) provided with a clamping device (8), a drill rod bin (5) and a manipulator (6); the mast (3) and the drill rod bin (4) are both vertically arranged on the base (1), the power head (4) is hung on the mast (3), and a manipulator (6) capable of horizontal rotation is also provided on the mast (3); when in use, the drill rods (7) to be connected are uniformly padlocked in the drill rod bin (5) in advance; when the drill rods (7) need to be connected, the manipulator (6) is controlled to unlock and remove the drill rods (7) from the drill rod bin (5); thereafter, the manipulator (6) is continued to be controlled to transfer the removed drill rods (7) to the orifice seat (2) of the base (1); the power head (4) is controlled to move downward along the mast (3) and through the clamping device (8) Clamp the drill rod (7); after releasing the limiting device (9) of the orifice seat (2), the power head (4) further drives the drill rod (7) to continue to descend along the mast (3) and continuously feed to reach the limit depth of the single drill rod (7); a pad fork (10) is placed at the orifice seat (2) to achieve axial positioning of the drill rod (7); the clamping device (8) of the power head (4) releases the drill rod (7) and then returns to the top of the mast (3); repeat the action of the manipulator (6), extract the drill rod (7), and move the drill rod (7) to the upper end of the previous working drill rod (7); the power head (4) descends along the mast (3) to the upper end of the rear extracted drill rod (7) and clamps it through the clamping device (8), driving the drill rod (7) to continue to descend, thereby achieving the connection between the rear extracted drill rod (7) and the previous working drill rod (7); after the connection is completed, a bead is inserted into the joint of the drill rod (7) to achieve axial limiting between the two drill rods.

[0009] The drill mast system for splicing drill pipes proposed by the present invention has the following advantages and features: In the present invention, drill rods waiting to be connected are stored in a drill rod bin. Compared with the traditional method of randomly stacking drill rods, the drill rod bin is not only conducive to safe operation, but also can save working space and speed up the time of taking and placing drill rods. In the present invention, the drill rods are taken and placed from the drill rod bin by a manipulator integrated on the mast, which has higher integrity and flexibility compared with the traditional practice of relying on a third-party hoist. In addition, since the manipulator in the present invention is a rigid component of pure mechanical operation and does not rely on electronic components, it is less likely to be affected by weather and can achieve all-weather operation. Furthermore, compared with the traditional method of using a hoist to pull and hoist the drill rods, which requires multiple operators, the movement trajectory of the manipulator in the present invention is limited to a controllable range, so only fewer operators are needed to implement the drill rod splicing operation, thereby having higher operation convenience and safety. In the present invention, both the power head and the drill pipe adopt a dual-channel structure, that is, the gas and liquid channels are independently configured inside them, so that after connecting to the external gas source, the system can achieve the effect of "gas lift circulation"; In the present invention, the drill rod is temporarily fixed during the process of connecting the drill rod by the cooperation of the orifice seat, the limiting device and the pad fork. Compared with the traditional method of temporarily clamping the drill rod by relying on an independent mechanical device such as a third-party mechanical arm, the present invention has a more compact design layout and is more flexible and convenient to use.

[0010] In the present invention, the drill rod is extracted by manually rotating the drill rod bin and then operating the manipulator. Compared with the fully automated manipulator clamping and extraction solution, the degree of electrification and automation is reduced to a certain extent, and the equipment cost is effectively reduced.

[0011] Furthermore, in the present invention, a new drill rod magazine with a drill rod limiting function is proposed, which is as follows: The drill rod magazine (5) comprises a frame (11), a connecting beam (12), a rotating shaft (13) and a drill rod support (14); the frame (11) is vertically fixed on the base (1) and is also connected to the mast (3) via the connecting beam (12); the rotating shaft (13) is rotatably arranged on the frame (11); drill rod supports (14) are arranged at both ends of the rotating shaft (13); the drill rod supports (14) are used to lock the drill rod (7); thus, by rotating the rotating shaft (13), the drill rod support (14) is driven to rotate synchronously.

[0012] In the drill rod bin (5), a drill rod support (14) located above the frame (11) is in the shape of a disk, and an arc-shaped notch is provided on its edge. The opening of the notch is larger than the diameter of the drill rod (7) and is used to accommodate the drill rod (7). An axial guide plate (15) is provided along the edge of the notch. The interior of the axial guide plate (15) has an annular ridge. A corresponding shaft sleeve (16) is provided on the drill rod (7). Thus, through the cooperation between the shaft sleeve (16) and the annular ridge, the drill rod (7) is placed in the notch of the drill rod support (14) under the action of gravity. The diameter of the shaft sleeve (16) is The drill rod (7) is placed in the notch of the drill rod support (14), the drill rod (7) cannot escape from the notch and the axial guide plate (15) due to the obstruction of the shaft sleeve (16), thereby achieving the purpose of padlocking; the drill rod support (14) located below the frame (11) is disc-shaped, and a limit pin (17) is provided at a position corresponding to the arc-shaped notch, the limit pin (17) and the arc-shaped notch are on the same axis, and the bottom end of the drill rod (7) is inserted into the limit pin (7) to achieve radial positioning of the drill rod (7).

[0013] Through the above design, the drill rod magazine in the present invention limits the radial and axial displacements of the drill rod through the drill rod bracket; thus, when the drill rod magazine is set upright, the drill rod cannot escape from its horizontal and vertical positions by itself, thereby preventing the drill rod from accidentally falling out due to vibration or natural wind during the operation of the entire system; and in order to facilitate the rapid placement of the drill rod by the manipulator, a notch and a sleeve of corresponding sizes are set between the drill rod and the drill rod magazine, so that after the manipulator clamps the drill rod, it can take it out from the notch through a preset route.

[0014] Furthermore, in the present invention, the mast (3) comprises a mast body, a drive motor (19), and a transmission chain (20); the interior of the mast body is hollow and is penetrated by a transmission chain (20); the transmission chain (20) forms a closed loop and is driven by the drive motor (19); a power head (4) is hung on the transmission chain (20); thus, the drive motor (19) drives the transmission chain (20) to move, thereby realizing the up and down movement of the power head (4) along the mast body; guide wheels (21) are arranged at the top and bottom of the mast body, the transmission chain (20) passes through the guide wheels (21) to form a closed loop, and the guide wheels at the bottom of the mast body are connected to the output shaft of the drive motor (19) through a reduction gear set, thereby driving the transmission chain (20) to rotate through the drive motor (19) and the guide wheels (21); A guide rail (22) is also provided on the mast body, and the power head (4) is connected to the transmission chain (20) and hung on the guide rail (22), so that the rotation of the transmission chain (20) drives the power head (4) to operate up and down the mast body along the guide rail (22); the power head (4) is connected to the transmission chain (20) through a tensioning structure, and the tensioning structure includes an end plate (23) provided on the power head (4) and a chain segment (24) located on both sides of the end plate (23), and the chain segment (24) is connected to the end plate (23) through a bolt and nut assembly (25), and the chain segment (24) is connected to the transmission chain (20) in series, so that the tension of the transmission chain (20) and the connection with the power head (4) are adjusted by the length of the bolt and nut assembly (25).

[0015] Through the above-mentioned design of the mast, in the present invention, the driving form of the power head adopts chain drive. Compared with the traditional method of lifting the power head by towing with a winch, the chain drive is beneficial to saving the layout space of the drive system on the one hand, and has higher transmission efficiency on the other hand. Relying on the motor to drive the chain to make the power head move along the mast, it can provide the power head with more direct and efficient downward pressure and lifting force. At the same time, through the adjustable bolt and nut assembly, a connecting medium is set between the transmission chain and the power head, and it also plays a role in adjusting the tension of the transmission chain.

[0016] Furthermore, in the present invention, in order to achieve the effect of "gas lift circulation" between the power head and the drill pipe and to implement the purpose of connecting and replacing the drill pipe through the power head and the manipulator, the present invention proposes a clamping device (8), wherein the clamping device (8) is arranged at the bottom of the power head (4), and comprises an annular sleeve (26) and a limit clamping plate (27) radially arranged in the annular sleeve (26), wherein the limit clamping plate (27) is driven by a clamping plate driving cylinder (28) located outside the annular sleeve (26) to clamp or release the drill pipe. The purpose of the drill rod (7); the limit clamping plate (27) is in the form of a scissor fork or a pad fork structure, and the limit clamping plate (27) and the annular sleeve (26) are displaced by driving the clamping plate driving cylinder (28), thereby achieving the purpose of clamping or loosening the drill rod; the power head (4) is also provided with a drill rod joint at its bottom, and the drill rod joint is located between the power head (4) and the clamping device (8), and the drill rod joint has independent gas and liquid channels, and the gas and liquid channels are used to match the corresponding gas and liquid channels inside the drill rod.

[0017] Furthermore, in the present invention, a new manipulator (6) for taking and placing a drill rod and requiring only manual operation by a single person is proposed, which comprises a longitudinal guide assembly, a two-section swivel arm and a gripper (31), wherein the two-section swivel arm comprises three swivel shafts (29) and a support arm (30) rotatably connected via the swivel shafts (29), and the two ends of the two-section swivel arm are rotatably connected to the longitudinal guide assembly and the gripper (31) via the swivel shafts (29), respectively. The gripper (31) is used to take and place a drill rod (7), and the longitudinal guide assembly is used to move the entire manipulator up and down, so that after the gripper (31) grips the drill rod (7), it is lifted upward to achieve the purpose of unlocking the drill rod (7) from the drill rod bin (5).

[0018] In the above-mentioned robot (6), the longitudinal guide assembly includes a cylindrical guide rail (32), a slide seat (33) and a driving cylinder (34), wherein the slide seat (33) is sleeved on the cylindrical guide rail (32), and a driving cylinder (34) is vertically arranged at the bottom thereof, so that the slide seat (33) is driven by the driving cylinder (34) to reciprocate on the cylindrical guide rail (32).

[0019] In the above-mentioned manipulator (6), the gripper (31) includes a fixed part (311), a movable part (312), a control rod (35) and an elastic locking pin (36), wherein the fixed part (311) is fixedly connected to the support arm (30) in the two-section rotating arm, and the movable part (312) is sleeved on the rotating shaft (29) at the end of the two-section rotating arm. A groove is opened at the bottom of the movable part (312), and a control rod (35) is arranged at the bottom of the rotating shaft (29). In this way, the movable part (312) is driven by the control rod (35) to rotate along the rotating shaft (29), thereby cooperating with the fixed part (311) to achieve the purpose of taking and placing the drill rod (7); an elastic locking pin (36) is embedded at the top of the fixed part (311). The movable part (312) is provided with a resilient locking pin (36); when the movable part (312) rotates to a certain position, the resilient locking pin (36) is embedded in the notch on the bottom surface of the movable part (312), thereby locking the fixed part (311) and the movable part (312) relative to each other; a reset spring (37) and a reaction sleeve (38) are arranged between the rotary shaft (29) and the control rod (35); when the control rod (35) is pushed, the rotary shaft (29) is axially moved and the notch of the movable part (312) is driven to disengage from the resilient locking pin (36) and release the lock; after the control rod (35) is loosened, the control rod (35) and the rotary shaft (29) are reset under the action of the reset spring (37) and the reaction sleeve (38).

[0020] The above-mentioned manipulator proposed in the present invention adopts a purely mechanical structure design, which has the advantages of high reliability, low cost and easy maintenance. At the same time, the manipulator can control the entire drill rod picking and placing process only through a control rod. On this basis, an elastic locking pin is cleverly designed to control the locking and releasing actions of the manipulator, and the control of this elastic locking pin is also implemented through the control rod. In this way, the manipulator is completely new for the drill rod picking and placing operations in traditional technologies.

[0021] In the present invention, in order to achieve the purpose of modularization and integration of the entire system, the drill rod magazine, mast and other components are uniformly arranged on a base (1). At the same time, a drill rod through hole (39) is opened on the base (1), and an orifice seat (7) is arranged at the drill rod through hole (39) for allowing the drill rod (7) to pass through under the drive of the power head (4). A limit device (9) is arranged on the orifice seat (7), and the limit device (9) is used to temporarily fix the drill rod (7) during the process of connecting the drill rod (7).

[0022] Through the above-mentioned base design, the integrated arrangement of the drill rod, mast and power system is realized. At the same time, the drill rod magazine, mast and manipulator in the present invention are relatively independent components, thus realizing the original design intention of "modularization and integration". On this basis, the base is provided with an orifice seat and a drill rod through hole, which is beneficial to the later centering operation of the drill rod. Moreover, through the orifice seat and its matching limiting device, it is also beneficial to maintain the coaxiality between the upper and lower drill rods and the verticality of the entire drill rod during the drill rod connection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The structure of the drilling mast system proposed by the present invention is shown in FIG. Figure 1 .

[0024] Figure 2 The structure of the drilling mast system proposed by the present invention is shown in FIG. Figure 2 .

[0025] Figure 3 The drill rod bin structure of the present invention is shown in FIG. Figure 1 .

[0026] Figure 4 The drill rod bin structure of the present invention is shown in FIG. Figure 2 .

[0027] Figure 5 The drill rod bin structure of the present invention is shown in FIG. Figure 3 .

[0028] Figure 6 The drill rod bin structure of the present invention is shown in FIG. Figure 4 .

[0029] Figure 7 The structure of the robot in the present invention is shown in FIG. Figure 1 .

[0030] Figure 8 The structure of the robot in the present invention is shown in FIG. Figure 2 .

[0031] Fig. 9 The structure of the power head and its accessories in the present invention is shown in FIG. Figure 1 .

[0032] Fig.10 The structure of the power head and its accessories in the present invention is shown in FIG. Figure 2 .

[0033] Fig.11 The structure of the power head and its accessories in the present invention is shown in FIG. Figure 3 .

[0034] Fig.12 The structure of the power head and its accessories in the present invention is shown in FIG. Figure 4 .

[0035] Fig.13 The use of the base and its accessories in the present invention is shown in FIG. Figure 1 .

[0036] Fig.14 It is a structural schematic diagram of the base in the present invention.

[0037] Fig.15 It is a simplified structural schematic diagram of the drilling mast system in the present invention. DETAILED DESCRIPTION

[0038] The technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments in the embodiments of the present application are within the scope of protection requested by the present application.

[0039] like Figure 1 to Figure 15 A modular integrated drilling mast system for sinking and connecting drill rods comprises a base (1), an orifice seat (2) arranged on the base (1) and provided with a limiting device (9), a mast (3), a power head (4) provided with a clamping device (8), a drill rod bin (5) and a manipulator (6); the mast (3) and the drill rod bin (4) are both vertically arranged on the base (1), the power head (4) is hung on the mast (3), and a manipulator (6) capable of horizontal rotation is also arranged on the mast (3); the manipulator (6) is used to unlock and take out a drill rod (7) stored in advance from the drill rod bin, and then send the taken out drill rod to the mast, and through the mutual cooperation of the power head (4), the clamping device (9), the orifice seat (2) and its limiting device (9), the connection of the drill rod and subsequent drilling work are realized.

[0040] In the above-mentioned drilling mast system, the drill rod magazine (5) comprises a frame (11), a connecting beam (12), a rotating shaft (13) and a drill rod support (14); the frame (11) is vertically fixed on the base (1) and is also connected to the mast (3) via the connecting beam (12); the rotating shaft (13) is rotatably inserted into the frame (11); drill rod supports (14) are arranged at both ends of the rotating shaft (13); the drill rod support (14) is used to lock the drill rod (7); thus, by rotating the rotating shaft (13), the drill rod support (14) is driven to rotate synchronously.

[0041] In the drill rod bin (5), a drill rod support (14) located above the frame (11) is in the shape of a disk, and an arc-shaped notch is provided on its edge. The opening of the notch is larger than the diameter of the drill rod (7) and is used to accommodate the drill rod (7). An axial guide plate (15) is provided along the edge of the notch. The interior of the axial guide plate (15) has an annular ridge. A corresponding shaft sleeve (16) is provided on the drill rod (7). Thus, through the cooperation between the shaft sleeve (16) and the annular ridge, the drill rod (7) is placed in the notch of the drill rod support (14) under the action of gravity. The diameter of the shaft sleeve (16) is The drill rod (7) is placed in the notch of the drill rod support (14), the drill rod (7) cannot escape from the notch and the axial guide plate (15) due to the obstruction of the shaft sleeve (16), thereby achieving the purpose of padlocking; the drill rod support (14) located below the frame (11) is disc-shaped, and a limit pin (17) is provided at a position corresponding to the arc-shaped notch, the limit pin (17) and the arc-shaped notch are on the same axis, and the bottom end of the drill rod (7) is inserted into the limit pin (7) to achieve radial positioning of the drill rod (7).

[0042] In the above-mentioned drilling mast system, the mast (3) includes a mast body, a driving motor (19), and a transmission chain (20). The interior of the mast body is hollow and is penetrated by the transmission chain (20). The transmission chain (20) forms a closed loop and is driven by the driving motor (19). A power head (4) is hung on the transmission chain (20). In this way, the driving motor (19) drives the transmission chain (20) to move, thereby realizing the up and down movement of the power head (4) along the mast body. Guide wheels (21) are arranged at the top and bottom of the mast body. The transmission chain (20) passes through the guide wheels (21) to form a closed loop. The guide wheels at the bottom of the mast body are connected to the output shaft of the driving motor (19) through a reduction gear set, thereby driving the transmission chain (20) to rotate through the driving motor (19) and the guide wheels (21). A guide rail (22) is also provided on the rod body, and the power head (4) is connected to the transmission chain (20) and hung on the guide rail (22), so that the rotation of the transmission chain (20) drives the power head (4) to operate up and down the mast body along the guide rail (22); the power head (4) is connected to the transmission chain (20) through a tensioning structure, and the tensioning structure includes an end plate (23) provided on the power head (4) and a chain segment (24) located on both sides of the end plate (23), and the chain segment (24) is connected to the end plate (23) through a bolt and nut assembly (25), and the chain segment (24) is connected to the transmission chain (20) in series, so that the tension of the transmission chain (20) and the connection with the power head (4) are adjusted by the length of the bolt and nut assembly (25).

[0043] In the above-mentioned drilling mast system, the power head (4) is modular, and further comprises a clamping device (8). The clamping device (8) is arranged at the bottom of the power head (4), and comprises an annular sleeve (26) and a limiting clamping plate (27) radially arranged in the annular sleeve (26). The limiting clamping plate (27) is driven by a clamping plate driving oil cylinder (28) located outside the annular sleeve (26) to achieve the purpose of clamping or loosening the drill rod (7). The limiting clamping plate (27) is in the form of a scissor fork or a pad fork structure. The limiting clamping plate (27) and the annular sleeve (26) are displaced by the driving of the clamping plate driving oil cylinder (28), thereby achieving the purpose of clamping or loosening the drill rod. The power head (4) is further provided with a drill rod joint at its bottom. The drill rod joint is located between the power head (4) and the clamping device (8). The drill rod joint has independent gas and liquid channels respectively. The gas and liquid channels are used to match the corresponding gas and liquid channels inside the drill rod.

[0044] In the above-mentioned drilling mast system, the manipulator (6) includes a longitudinal guide assembly, a two-section swivel arm and a gripper (31), wherein the two-section swivel arm includes three swivel shafts (29) and a support arm (30) rotatably connected via the swivel shafts (29), and the two ends of the two-section swivel arm are rotatably connected to the longitudinal guide assembly and the gripper (31) via the swivel shafts (29), respectively. The gripper (31) is used to take and place the drill rod (7), and the longitudinal guide assembly is used to move the entire manipulator up and down, so that after the gripper (31) grips the drill rod (7), it is lifted upward to achieve the purpose of unlocking the drill rod (7) from the drill rod magazine (5).

[0045] In the above-mentioned robot (6), the longitudinal guide assembly includes a cylindrical guide rail (32), a slide seat (33) and a driving cylinder (34), wherein the slide seat (33) is sleeved on the cylindrical guide rail (32), and a driving cylinder (34) is vertically arranged at the bottom thereof, so that the slide seat (33) is driven by the driving cylinder (34) to reciprocate on the cylindrical guide rail (32).

[0046] In the above-mentioned manipulator (6), the gripper (31) includes a fixed part (311), a movable part (312), a control rod (35) and an elastic locking pin (36), wherein the fixed part (311) is fixedly connected to the support arm (30) in the two-section rotating arm, and the movable part (312) is sleeved on the rotating shaft (29) at the end of the two-section rotating arm. A groove is opened at the bottom of the movable part (312), and a control rod (35) is arranged at the bottom of the rotating shaft (29). In this way, the movable part (312) is driven by the control rod (35) to rotate along the rotating shaft (29), thereby cooperating with the fixed part (311) to achieve the purpose of taking and placing the drill rod (7); an elastic locking pin (36) is embedded at the top of the fixed part (311). The movable part (312) is provided with a resilient locking pin (36); when the movable part (312) rotates to a certain position, the resilient locking pin (36) is embedded in the notch on the bottom surface of the movable part (312), thereby locking the fixed part (311) and the movable part (312) relative to each other; a reset spring (37) and a reaction sleeve (38) are arranged between the rotary shaft (29) and the control rod (35); when the control rod (35) is pushed, the rotary shaft (29) is axially moved and the notch of the movable part (312) is driven to disengage from the resilient locking pin (36) and release the lock; after the control rod (35) is loosened, the control rod (35) and the rotary shaft (29) are reset under the action of the reset spring (37) and the reaction sleeve (38).

[0047] In order to facilitate the manipulator (6) to clamp the drill rod (7) and prevent the drill rod (7) from axially sliding off the manipulator (6) during the clamping process, an outwardly protruding limit ring (18) is provided on the rod body of the drill rod (7). When the manipulator (6) clamps the drill rod (7), the limit ring (18) on the surface of the drill rod (7) is directly clamped by the clamping hand (31), and the limit ring (18) is embedded in the gap of the clamping hand (31), thereby preventing the drill rod (7) from axially sliding off the clamping hand (31).

[0048] In the above-mentioned drilling mast system, a drill rod through hole (39) is provided on the base (1), and an orifice seat (7) is provided at the drill rod through hole (39) for allowing the drill rod (7) to pass through under the drive of the power head (4), and a limit device (9) is provided on the orifice seat (7), and the limit device (9) is used to temporarily fix the drill rod (7) during the process of connecting the drill rod (7).

[0049] In the base (1), the orifice seat (39) and the limiting device (9) thereof are conducive to maintaining the coaxiality between the upper and lower drill rods (7) and the verticality of the entire drill rod (7) during the process of connecting the drill rods (7).

[0050] The specific method of using the modular integrated drill mast system for sinking and connecting drill pipes is as follows: When in use, the drill rods (7) to be connected are uniformly locked in the drill rod bin (5) in advance; when the drill rods (7) need to be connected, the manipulator (6) is controlled to unlock and remove the drill rods (7) from the drill rod bin (5); then the manipulator (6) is continued to be controlled to transfer the removed drill rods (7) to the orifice seat (2) of the base (1); the power head (4) is controlled to move downward along the mast (3) and clamp the drill rods (7) through the clamping device (8); after releasing the limit device (9) of the orifice seat (2), the power head (4) further drives the drill rods (7) to continue to move downward along the mast (3) and continuously feed until the limit depth of a single drill rod (7) is reached; at the orifice seat (2 ) to achieve axial positioning of the drill rod (7); the clamping device (8) of the power head (4) releases the drill rod (7) and returns to the top of the mast (3); the action of the manipulator (6) is repeated to extract the drill rod (7) and move the drill rod (7) to the upper end of the previous working drill rod (7); the power head (4) descends along the mast (3) to the upper end of the rear extracted drill rod (7) and is clamped by the clamping device (8), driving the drill rod (7) to continue to descend, thereby achieving the connection between the rear extracted drill rod (7) and the previous working drill rod (7); after the connection is completed, a bead is inserted into the joint of the drill rod (7) to achieve axial limit between the two drill rods.

[0051] The above embodiment is an example proposed by the present invention. In fact, there are many other options that can be implemented: for example, in the drill rod magazine (5), it is directly connected to the rotating shaft (13) through the connecting beam (12), thereby eliminating the frame (11). For another example, in the clamping device (8) part of the power head (4), the annular sleeve (26) is designed to be a two-petal opening and closing type, and then the oil cylinder (28) is directly driven to drive one petal sleeve body to open and close with the other petal sleeve body, so as to achieve the clamping of the drill rod (7). Therefore, this embodiment is only an example provided by the present application and is not used to limit the present application. Although the present application is described in detail with reference to the embodiment, for those skilled in the art, it is still possible to modify the technical solution recorded in the above embodiment, or to replace some of the technical features therein by equivalents. However, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A modular integrated drill mast system for sinking and connecting drill pipes, characterized by: The invention comprises a base (1), an orifice seat (2) arranged on the base (1), a mast (3), a power head (4) with a clamping device (8), a drill rod bin (5) and a manipulator (6); the mast (3) and the drill rod bin (4) are both vertically arranged on the base (1), the power head (4) is hung on the mast (3), and a manipulator (6) capable of horizontal rotation is also arranged on the mast (3); when in use, the drill rods (7) to be connected are uniformly padlocked in the drill rod bin (5) in advance; when the drill rods (7) need to be connected, the manipulator (6) is controlled to unlock and remove the drill rods (7) from the drill rod bin (5); thereafter, the manipulator (6) is continued to be controlled to transfer the removed drill rods (7) to the orifice seat (2) of the base (1); the power head (4) is controlled to move downward along the mast (3) and clamp the drill rods through the clamping device (8) (7); the power head (4) further drives the drill rod (7) to continue to descend along the mast (3) and continuously feeds to reach the limit depth of a single drill rod (7); a pad fork (10) is placed at the orifice seat (2) to achieve axial positioning of the drill rod (7); the clamping device (8) of the power head (4) releases the drill rod (7) and then returns to the top of the mast (3); the action of the manipulator (6) is repeated to extract the drill rod (7) and move the drill rod (7) to the upper end of the previous working drill rod (7); the power head (4) descends along the mast (3) to the upper end of the rear extracted drill rod (7) and is clamped by the clamping device (8), driving the drill rod (7) to continue to descend, thereby achieving the plug-in connection between the rear extracted drill rod (7) and the previous working drill rod (7); after the plug-in connection is completed, a string of beads is inserted into the joint of the drill rod (7) to achieve the connection between the two drill rods.

2. The modular integrated drill mast system for sinking and connecting drill rods according to claim 1 is characterized by: The drill rod magazine (5) comprises a frame (11), a connecting beam (12), a rotating shaft (13) and a drill rod support (14); the frame (11) is vertically fixed on the base (1) and is also connected to the mast (3) via the connecting beam (12); the rotating shaft (13) is rotatably arranged on the frame (11); drill rod supports (14) are arranged at both ends of the rotating shaft (13); the drill rod supports (14) are used to lock the drill rod (7); thus, by rotating the rotating shaft (13), the drill rod support (14) is driven to rotate synchronously.

3. The modular, integrated drilling mast system according to claim 2, characterized in that: A drill rod support (14) located above the frame (11) is in the shape of a disk and has an arc-shaped notch on its edge. The opening of the notch is larger than the diameter of the drill rod (7) and is used to accommodate the drill rod (7). An axial guide plate (15) is arranged along the edge of the notch. The interior of the axial guide plate (15) has an annular ridge. A corresponding shaft sleeve (16) is arranged on the drill rod (7). The shaft sleeve (16) cooperates with the annular ridge so that the drill rod (7) is placed in the notch of the drill rod support (14) under the action of gravity. The diameter of the shaft sleeve (16) is larger than the diameter of the axial guide plate. The plate (15) is provided with an opening, so that when the drill rod (7) is placed in the notch of the drill rod support (14), the drill rod (7) cannot be removed from the notch and the axial guide plate (15) due to the obstruction of the shaft sleeve (16), thereby achieving the purpose of padlocking; the drill rod support (14) located below the frame (11) is in the shape of a disc, and a limit pin (17) is provided at a position corresponding to the arc-shaped notch, the limit pin (17) and the arc-shaped notch are on the same axis, and the bottom end of the drill rod (7) is inserted into the limit pin (7) to achieve radial positioning of the drill rod (7).

4. The modular integrated drill mast system for sinking and connecting drill rods according to claim 1 is characterized by: The mast (3) comprises a mast body, a driving motor (19), and a transmission chain (20). The interior of the mast body is hollow and is penetrated by the transmission chain (20). The transmission chain (20) forms a closed loop and is driven by the driving motor (19). A power head (4) is hung on the transmission chain (20). Thus, the driving motor (19) drives the transmission chain (20) to move, thereby realizing the up and down movement of the power head (4) along the mast body.

5. The modular integrated drilling mast system for sinking and connecting drill rods according to claim 4 is characterized in that: Guide wheels (21) are arranged at the top and bottom of the mast body, and a transmission chain (20) passes through the guide wheels (21) to form a closed loop. The guide wheels at the bottom of the mast body are connected to the output shaft of the drive motor (19) through a reduction gear set, so that the drive motor (19) and the guide wheels (21) drive the transmission chain (20) to rotate. A guide rail (22) is also arranged on the mast body, and the power head (4) is connected to the transmission chain (20) and hung on the guide rail (22). In this way, the rotation of the transmission chain (20) drives the power head (4) along the guide rail (22) and moves on the mast. The rod body operates up and down; the power head (4) is connected to the transmission chain (20) through a tensioning structure, and the tensioning structure includes an end plate (23) arranged on the power head (4) and a chain segment (24) located on both sides of the end plate (23), and the chain segment (24) is connected to the end plate (23) through a bolt and nut assembly (25), and the chain segment (24) is connected to the transmission chain (20) in series, so that the tension of the transmission chain (20) is adjusted and connected to the power head (4) through the length of the bolt and nut assembly (25).

6. The modular integrated drill mast system for sinking and connecting drill rods according to claim 1 is characterized by: The clamping device (8) is arranged at the bottom of the power head (4), and comprises an annular sleeve (26) and a limiting clamping plate (27) radially arranged in the annular sleeve (26); the limiting clamping plate (27) is driven by a clamping plate driving oil cylinder (28) located outside the annular sleeve (26) to achieve the purpose of clamping or loosening the drill rod (7); the limiting clamping plate (27) is in the form of a scissor fork or a pad fork structure; the limiting clamping plate (27) and the annular sleeve (26) are displaced by the clamping plate driving oil cylinder (28) to achieve the purpose of clamping or loosening the drill rod; the power head (4) is also provided with a drill rod joint at its bottom, the drill rod joint is located between the power head (4) and the clamping device (8), and the drill rod joint has independent gas and liquid channels respectively, and the gas and liquid channels are used to match the corresponding gas and liquid channels inside the drill rod.

7. The modular integrated drill mast system for sinking and connecting drill rods according to claim 1 is characterized by: The manipulator (6) comprises a longitudinal guide assembly, a two-section swivel arm and a gripper (31), wherein the two-section swivel arm comprises three swivel shafts (29) and a support arm (30) rotatably connected via the swivel shafts (29), and both ends of the two-section swivel arm are rotatably connected to the longitudinal guide assembly and the gripper (31) via the swivel shafts (29), respectively. The gripper (31) is used to take and place a drill rod (7), and the longitudinal guide assembly is used to move the entire manipulator up and down, so that after the gripper (31) grips the drill rod (7), it is lifted upward, thereby achieving the purpose of unlocking the drill rod (7) from the drill rod bin (5).

8. The modular integrated drill mast system for sinking and connecting drill rods according to claim 7 is characterized by: The longitudinal guide assembly comprises a columnar guide rail (32), a slide seat (33) and a driving oil cylinder (34); the slide seat (33) is sleeved on the columnar guide rail (32), and a driving oil cylinder (34) is vertically arranged at the bottom thereof, so that the slide seat (33) is driven by the driving oil cylinder (34) to reciprocate on the columnar guide rail (32).

9. The modular integrated drill mast system for sinking and connecting drill rods according to claim 7 is characterized by: The gripper (31) comprises a fixed portion (311), a movable portion (312), a control rod (35) and an elastic locking pin (36); the fixed portion (311) is fixedly connected to the support arm (30) in the two-section rotating arm; the movable portion (312) is sleeved on the rotating shaft (29) at the end of the two-section rotating arm; a groove is formed at the bottom of the movable portion (312); a control rod (35) is arranged at the bottom of the rotating shaft (29); in this way, the movable portion (312) is driven by the control rod (35) to rotate along the rotating shaft (29), thereby cooperating with the fixed portion (311) to achieve the purpose of taking and placing the drill rod (7); an elastic locking pin (36) is embedded at the top of the fixed portion (311) Thus, when the movable part (312) rotates to a certain position, the elastic locking pin (36) is embedded in the notch on the bottom surface of the movable part (312), thereby locking the fixed part (311) and the movable part (312) relative to each other; a reset spring (37) and a reaction sleeve (38) are arranged between the rotary shaft (29) and the control rod (35), so that the rotary shaft (29) moves axially by pushing the control rod (35) and drives the notch of the movable part (312) to disengage from the elastic locking pin (36) and release the lock; after the control rod (35) is loosened, the control rod (35) and the rotary shaft (29) are reset under the action of the reset spring (37) and the reaction sleeve (38).

10. The modular integrated drill mast system for sinking and connecting drill rods according to claim 1, characterized in that: A drill rod through hole (39) is provided on the base (1), and an orifice seat (7) is provided at the drill rod through hole (39) for allowing the drill rod (7) to pass through under the drive of the power head (4). A limiting device (9) or a pad fork (10) is provided on the orifice seat (7), and the limiting device (9) or the pad fork (10) is used to temporarily fix the drill rod (7) during the process of connecting the drill rod (7).

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