High-precision guiding double-arm inclined shaft drilling machine

Abstract

The invention discloses a high-precision guiding double-arm inclined shaft drilling machine, and relates to the technical field of inclined shaft construction, the high-precision guiding double-arm inclined shaft drilling machine comprises a large power head, a small power head, a drilling frame, a manipulator, a clamp holder, a walking frame and a drilling rod, a laser transmitter is arranged in the drilling rod at the lowest end, laser guiding is carried out through the laser linear propagation principle, and the precision is controlled through receiver imaging; the precision and the efficiency of the guide hole are greatly improved, meanwhile, a screw motor and a laser transmitter are not needed to be close to the front tricone bit, the lag problem does not exist, and therefore the precision is higher; a transmission mode of direct drive of the oil cylinder is adopted, and the defect that a traditional drilling machine cannot provide pressing load is overcome; a double-power-head driving mode is adopted, the outer drill rod is used for deflecting, the inner drill rod directly drives the tricone bit at the front end to break rocks, the inner drill rod is used for directly driving through mechanical transmission, and the efficiency is higher; and the manipulator has adjusting angles in multiple dimensions and directions, so that the mounting requirement of an incident angle of 15-90 degrees is met.

Description

Technical Field

[0001] The invention relates to the technical field of inclined well construction, in particular to a high-precision guided double-arm inclined well drilling rig. Background Art

[0002] With the continuous increase in my country's demand for energy, the exploration and development of oil, natural gas and coalbed methane is moving towards areas with limited well site areas such as Gobi sand beaches, muddy grasslands, seashores, mountains and hills. The development of shallow oil and gas resources in the above-mentioned areas requires the use of various inclined vertical wells, inclined directional wells, inclined cluster wells and other methods. In addition, water conservancy and hydropower projects, mountain pipeline crossings and other projects often require inclined and vertical sections of water diversion, drainage and ventilation culverts.

[0003] When drilling, the oil rig controls the feeding speed of the drill bit through the brake mechanism, and applies the weight of the drill bit as the drilling pressure to the drill bit to achieve crushing drilling, but it does not have a downward pressure function. Inclined well drilling rigs have downward pressure loads, and can be equipped with a guide positioning system for guided drilling, which is the current mainstream construction solution. However, the position accuracy of the positioning system causes deviations in the guide hole, which has a certain offset, which is more obvious in the inclined long guide hole. In some water conservancy and hydropower projects where the guide hole accuracy requirements are high, its use is limited.

[0004] At present, screw motors are used to drive three-cone drill bits for drilling. A large amount of water is needed to drive the screw motors, which will generate a lot of transportation costs in areas where water resources are scarce. At the same time, screw motors generally need to be repaired after 200 hours of use, which is costly. In addition, the positioning system is located at the back of the screw motor, at least 5 meters away from the front three-cone drill bit, which reduces the positioning accuracy when guiding the hole. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a high-precision guided double-arm inclined well drilling rig, comprising a drilling mechanism, a crawler chassis for driving the drilling mechanism to move to a drilling location, a ground anchor plate for fixing the drilling mechanism at the drilling location, a drilling frame for adjusting the inclination angle of the drilling mechanism, a manipulator for placing a drill rod into the drilling mechanism, a clamp for installing and removing the drill rod, and a power station for providing power to the drilling rig; a traveling frame is slidably connected to the drilling frame along its own length direction, and the drilling mechanism is installed on the traveling frame; The drilling mechanism comprises a large power head and a small power head which are arranged at intervals along the length direction of the traveling frame, and the large power head is located below the small power head. The large power head comprises a first box body fixed on the traveling frame, an outer rod connected to the drill pipe, and a first hydraulic motor driving the outer rod to rotate; the small power head comprises a second box body, an inner rod connected to the drill pipe, and a second hydraulic motor driving the inner rod to rotate, the inner rod is coaxially arranged with the outer rod, and the inner rod passes through the inner part of the outer rod; The lower end of the outer rod is connected to a guide device for drilling and deflection, the guide device includes a plurality of drill rods coaxially connected in sequence along the length direction of the outer rod, the drill rod includes an outer drill rod and an inner drill rod coaxially arranged in the outer drill rod, the outer drill rod is respectively connected to the outer drill rods on the upper and lower adjacent drill rods, and the inner drill rod is respectively connected to the inner drill rods on the upper and lower adjacent drill rods; wherein the outer drill rod and the inner drill rod at the uppermost end are respectively coaxially connected to the lower ends of the outer rod and the inner rod, the lowermost inner drill rod is coaxially connected to a three-cone drill bit, and a laser channel is coaxially opened inside the lowermost inner drill rod, and a laser transmitter for laser guidance is provided in the laser channel away from the three-cone drill bit.

[0006] The technical solution further defined in the present invention is: Furthermore, a rotary joint sleeved on the outer rod for conveying water into the drill rod is fixed on the first box.

[0007] As described above, a high-precision guided double-arm inclined well drilling rig is provided with a first driving gear and a first driven gear that mesh with each other in the first housing, the first driving gear is connected to the output end of the first hydraulic motor, and the first driven gear is coaxially fixed to the outer rod; a second driving gear and a second driven gear that mesh with each other are provided in the second housing, the second driving gear is connected to the output end of the second hydraulic motor, and the second driven gear is coaxially fixed to the inner rod.

[0008] As mentioned above, a high-precision guided double-arm inclined well drilling rig, the manipulator includes a main frame rotatably connected to one side of the drill frame in the width direction, the main frame approaches or moves away from the clamp by rotating itself, the main frame is connected to a base slidingly along its own length direction on the side away from the drill frame, the base is rotatably connected to a rotating seat on the side away from the main frame, the rotating axis of the rotating seat is perpendicular to the rotating axis of the main frame, the rotating seat is rotatably connected to two grippers arranged symmetrically at intervals on the side away from the base, the rotating axis of the grippers is horizontal to the rotating axis of the main frame, and the two grippers are used to clamp the two ends of the drill pipe respectively.

[0009] As described above, in a high-precision guided double-arm inclined well drilling rig, a limit plate for contacting the end of the drill pipe is fixed on the gripper on the side of the manipulator close to the clamp.

[0010] As described above, a high-precision guided double-arm inclined well drilling rig, the clamp is slidably connected to the drill frame along the length direction of the drill frame and is located below the drilling mechanism, the clamp includes a front clamp body and a rear clamp body connected to each other, the front clamp body is arranged below the rear clamp body, and a rear clamp moving cylinder is connected between the two for driving the rear clamp body to approach or move away from the front clamp body, the front clamp body and the rear clamp body are both provided with a cava seat for clamping the drill pipe and a clamping cylinder for driving the cava seat to clamp or release the drill pipe, the cava seat is coaxially arranged with the inner rod, and the rear clamp body is provided with a shackle cylinder for driving the cava seat to rotate along the circumferential direction of the drill pipe.

[0011] As described above, in a high-precision guided double-arm inclined well drilling rig, the inner wall of the slip seat is provided with a plurality of slip strips along its circumferential direction for contacting with the drill pipe.

[0012] As described above, a high-precision guided double-arm inclined well drilling rig, the upper ends of the front clamp body and the rear clamp body are rotatably connected to pull rods, the pull rods are arranged above the cava seat, one end of the pull rod is hinged to the corresponding clamp body, and the other end is vertically penetrated by a detachable clamp pin, and the clamp pin is also penetrated by the corresponding clamp body. The pull rod closes and opens the opening above the cava seat by its own rotation and the insertion and withdrawal of the clamp pin.

[0013] As described above, a high-precision guided double-arm inclined well drilling rig, the drill frame includes a lower drill frame body connected to the crawler chassis for vertical rotation, the lower drill frame body is slidably connected to the upper drill frame body along its own length direction, the upper drill frame body includes a mounting platform fixed to the bottom of the walking frame and a main cylinder for driving the mounting platform to slide along the length direction of the drill frame.

[0014] As described above, in the high-precision guided double-arm inclined well drilling rig, a slide tower cylinder for driving the upper drill frame body to slide is provided on the drill frame.

[0015] As described above, a high-precision guided double-arm inclined well drilling rig has a ground anchor pin shaft arranged along the width direction of the drill frame at the bottom end of the upper drill frame body, the ground anchor pin shaft is rotatably connected to the ground anchor plate, and the ground anchor plate is provided with a U-shaped ring sleeved on the ground anchor pin shaft.

[0016] As mentioned above, a high-precision guided double-arm inclined well drilling rig has two threaded sleeves between the ground anchor plate and the bottom end of the upper drill frame, the threaded sleeves are symmetrically arranged at both ends of the ground anchor pin shaft in the length direction, and the two ends of the threaded sleeves are symmetrically threadedly connected with screw shafts, and the ends of the two screw shafts that are away from each other are respectively hinged to the ground anchor plate and the bottom end of the upper drill frame.

[0017] As described above, a high-precision guided double-arm inclined well drilling rig, the crawler chassis includes a walking crawler for moving the drilling rig, a drilling tower support hinged to the bottom of the drilling frame, and a tower lifting cylinder for driving the drilling frame to rotate up and down.

[0018] As described above, a high-precision guided double-arm inclined well drilling rig has two front support leg plates symmetrically arranged on the side of the crawler chassis supported by the drilling tower, and a front hydraulic rod that rotates up and down is hinged on the front support leg plate, and a front support plate for contacting the ground is hinged at the bottom of the front hydraulic rod; two vertical rear support legs are symmetrically arranged on the side of the crawler chassis away from the drilling tower support, and a telescopic column is slidably connected in the vertical direction inside the rear support legs, and a rear support plate for contacting the ground is provided at the bottom of the telescopic column.

[0019] As described above, a high-precision guided double-arm inclined well drilling rig has a front hydraulic rod and a linkage rod hinged on the front leg plate from top to bottom, and the bottom of the linkage rod is hinged to the front support plate and is hinged to the front hydraulic rod at the same hinge point.

[0020] The beneficial effects of the present invention are: (1) In the present invention, a direct-drive transmission method using a hydraulic cylinder is adopted, which overcomes the drawback that a conventional drilling rig cannot provide a downward pressure load; a dual-power head drive method is adopted, the outer drill rod is used to create an inclination, and the inner drill rod directly drives the front three-cone drill bit to break the rock. The inner drill rod is directly driven by mechanical transmission, which is more efficient and does not require a large amount of mud to drive the screw motor, which is less expensive. This overcomes the problem of insufficient transmission torque caused by leakage, wear, etc. in the prior art when a screw motor is used for driving; (2) In the present invention, a laser transmitter is provided in the inner drill rod at the bottom, and laser guidance is performed by the principle of laser linear propagation, and its accuracy is controlled by receiver imaging, which greatly improves the accuracy and efficiency of the guide hole; (3) In the present invention, a screw motor is not required, and the laser transmitter is close to the front three-cone drill bit, so there is no lag problem, so the accuracy is higher, which overcomes the problem that the received signal has lag because the carbon rod chamber of the traditional pilot drill bit is connected to the rear side of the screw motor and the three-cone drill bit is arranged in front of the screw motor; (4) In the present invention, the manipulator has adjustment angles in multiple dimensions and directions, thereby meeting the installation requirements of 15-90° incident angles, overcoming the problem that traditional manipulators have fewer degrees of freedom and cannot adapt to different incident angle requirements; (5) In the present invention, the detachable clamp pin and opening design at the upper end of the clamp make the installation and removal of the drill rod more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of a drilling mechanism in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a large power head in an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a small power head in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a guide device in an embodiment of the present invention; Figure 6 A schematic diagram of the connection of a drill rod in an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a drill rod in an embodiment of the present invention; Figure 8It is a structural schematic diagram of a crawler chassis in an embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a drilling frame in an embodiment of the present invention; Fig.10 It is a schematic diagram of the structure of the ground anchor plate in an embodiment of the present invention; Fig.11 A schematic diagram of the structure of a manipulator in an embodiment of the present invention; Fig.12 Schematic diagram of the structure of the clamp in the embodiment of the present invention.

[0022] Among them: 1. Drilling mechanism; 11. Large power head; 111. First box; 112. External rod; 113. First hydraulic motor; 114. Rotary joint; 115. First driving gear; 116. First driven gear; 12. Small power head; 121. Second box; 122. Internal rod; 123. Second hydraulic motor; 124. Second driving gear; 125. Second driven gear; 2. Track chassis; 21. Walking track; 22. Drilling tower support; 23. Tower lifting cylinder; 24. Front outrigger plate; 25. Front hydraulic rod; 26. Front support plate; 27. Rear outrigger; 28. Telescopic column; 29. ​​Rear support plate; 30. Linkage rod; 3. Ground anchor plate; 31. U-shaped ring; 32. Threaded sleeve; 33 , screw shaft; 4, drilling frame; 41, lower drilling frame body; 42, upper drilling frame body; 43, mounting table; 44, main cylinder; 45, slide tower cylinder; 46, anchor pin shaft; 5, manipulator; 51, main frame; 52, base; 53, rotating seat; 54, gripper; 55, limit plate; 6, clamp; 61, front clamp body; 62, rear clamp body; 63, rear clamp moving cylinder; 64, slip seat; 641, slip bar; 65, clamping cylinder; 66, shackle cylinder; 67, pull rod; 68, clamp pin shaft; 7, power station; 8, walking frame; 9, guide device; 91, drill rod; 911, outer drill rod; 912, inner drill rod; 92, three-cone drill bit; 93, laser channel; 94, laser transmitter. DETAILED DESCRIPTION

[0023] This embodiment provides a high-precision directional double-arm inclined well drilling rig, such as Figure 1 As shown, it includes a drilling mechanism 1, a crawler chassis 2 for driving the drilling mechanism 1 to move to the drilling site, a ground anchor plate 3 for fixing the drilling mechanism at the drilling site, a drill rig 4 for adjusting the inclination angle of the drilling mechanism 1, a manipulator 5 for placing a drill rod 91 into the drilling mechanism 1, a clamp 6 for installing and removing the drill rod 91, and a power station 7 for providing power to the drilling rig; a traveling frame 8 is slidably connected to the drilling rig 4 along its own length direction, and the drilling mechanism is installed on the traveling frame 8.

[0024] like Figure 1 to Figure 2As shown, the drilling mechanism 1 includes a large power head 11 and a small power head 12 arranged at intervals along the length direction of the traveling frame 8, and the large power head 11 is located below the small power head 12; Figure 3 As shown, the large power head 11 includes a first box body 111 fixed on the walking frame 8, an outer rod 112 connected to the drill rod 91, and a first hydraulic motor 113 driving the outer rod 112 to rotate. A rotary joint 114 sleeved on the outer rod 112 is fixed on the first box body 111. A first driving gear 115 and a first driven gear 116 that mesh with each other are provided in the first box body 111. The first driving gear 115 is connected to the output end of the first hydraulic motor 113, and the first driven gear 116 is coaxially fixed to the outer rod 112. When the first hydraulic motor 113 is started, the first driving gear 115 is driven to rotate, thereby driving the first driven gear 116 and the outer rod 112 to rotate. During the rotation of the outer rod 112, water is transported into the drill rod 91 through the rotary joint 114.

[0025] like Figure 4 As shown, the small power head 12 includes a second box body 121, an inner rod 122 connected to the drill rod 91, and a second hydraulic motor 123 that drives the inner rod 122 to rotate. The inner rod 122 is coaxially arranged with the outer rod 112, and the inner rod 122 passes through the inner rod 112. A second driving gear 124 and a second driven gear 125 that mesh with each other are provided in the second box body 121. The second driving gear 124 is connected to the output end of the second hydraulic motor 123, and the second driven gear 125 is coaxially fixed to the inner rod 122; when the second hydraulic motor 123 is started, the second driving gear 124 is driven to rotate, thereby driving the second driven gear 125 and the inner rod 122 to rotate.

[0026] like Figures 5 to 7 As shown, the lower end of the outer rod 112 is connected to a guide device 9 for drilling and deflection, and the guide device 9 includes a plurality of drill rods 91 coaxially connected in sequence along the length direction of the outer rod 112, and the number of drill rods 91 is determined according to the length of the project; the drill rod 91 includes an outer drill rod 911 and an inner drill rod 912 coaxially arranged in the outer drill rod 911, and the outer drill rod 911 is respectively connected to the outer drill rods 911 on the upper and lower adjacent drill rods 91, and the inner drill rod 912 is respectively connected to the inner drill rods 912 on the upper and lower adjacent drill rods 91; wherein The outer drill rod 911 and the inner drill rod 912 at the uppermost end are coaxially connected to the lower ends of the outer rod 112 and the inner rod 122 respectively; the outer drill rod 911 at the lowermost end is connected to a bearing box; the inner drill rod 912 at the lowermost end is coaxially connected to a three-cone drill bit 92; the force of the outer drill rod 911 pushing forward is transmitted to the three-cone drill bit 92 at the lowermost end through the bearing box; a laser channel 93 is coaxially opened inside the inner drill rod 912 at the lowermost end; the laser channel 93 is away from the three-cone drill bit 92 and a laser emitter 94 for laser guidance is provided.

[0027] When it is necessary to make an inclination, only the inner rod 122 rotates, and the inner drill rod 912 at the lowest end drives the three-cone drill bit 92 to make an inclination; when it is necessary to break the rock, the outer rod 112 and the inner rod 122 rotate at the same time, respectively driving the outer drill rod 911 and the inner drill rod 912 to rotate, and the inner drill rod 912 at the lowest end drives the three-cone drill bit 92 to break the rock, and drives the upper drill frame body 42 to slide downward through the main cylinder 44, and the sliding of the upper drill frame body 42 drives the mounting platform 43 and the walking frame 8 to slide downward, that is, drives the large power head 11 and the small power head 12 to slide downward, thereby driving the three-cone drill bit 92 to drill; in the prior art, a screw motor is used for driving, which will cause insufficient transmission torque due to leakage, wear and the like, while the drilling rig of this embodiment is directly driven by the inner drill rod 912 through mechanical transmission, which is more efficient, does not require a large amount of mud to drive the screw motor, and has lower cost; the use of a direct-drive transmission method of an oil cylinder overcomes the disadvantage that the traditional drilling rig cannot provide a downward pressure load.

[0028] In the prior art, the guidance of traditional drilling rigs is to calculate the guidance position through positioning instruments and a series of algorithms, which has certain errors in itself, and the offset will increase with the increase of depth; while in the process of deflection and rock breaking of the drilling rig in this embodiment, the laser transmitter 94 in the lowermost inner drill rod 912 performs laser guidance through the principle of laser linear propagation, and its accuracy is controlled by receiver imaging, which greatly improves the accuracy and efficiency of the guide hole.

[0029] At the same time, the carbon rod compartment of the traditional guide drill bit is connected to the rear side of the screw motor, and the three-cone drill bit 92 is arranged in front of the screw motor, so the received signal has a lag; the drilling rig of this embodiment does not need a screw motor, and the laser transmitter 94 is adjacent to the front three-cone drill bit 92, so there is no lag problem, so the accuracy is higher.

[0030] like Figure 8 As shown, the crawler chassis 2 includes a walking crawler 21 for moving the drilling rig, a drilling tower support 22 hinged to the bottom of the drilling tower 4, and a tower cylinder 23 for driving the drilling tower 4 to rotate up and down; two front support leg plates 24 are symmetrically provided on the crawler chassis 2 on one side of the drilling tower support 22, and a front hydraulic rod 25 and a linkage rod 30 that rotate up and down are hinged on the front support leg plates 24 from top to bottom in sequence, and a front support plate 26 for contacting the ground is hinged to the bottom of the front hydraulic rod 25, and the bottom of the linkage rod 30 is also hinged to the front support plate 26, and is hinged to the same hinge point as the front hydraulic rod 25; two vertical rear support legs 27 are symmetrically provided on the side of the crawler chassis 2 away from the drilling tower support 22, and a telescopic column 28 is slidably connected in the rear support leg 27 along the vertical direction, and a rear support plate 29 for contacting the ground is provided at the bottom of the telescopic column 28.

[0031] When the drilling rig is ready to work, the walking crawler 21 is first driven to drive the entire drilling rig to move until it reaches the designated position, and then the front hydraulic rod 25 is driven to extend. During the extension process, the front hydraulic rod 25 and the linkage rod 30 rotate downward at the same time, thereby driving the front support plate 26 to move downward until it is in contact with the ground and fixed; at the same time, the telescopic column 28 also slides downward, driving the rear support plate 29 to contact and fix with the ground, thereby firmly fixing the crawler chassis 2 and the entire drilling rig at the designated working position.

[0032] like Figures 9 and 10 As shown, the drilling frame 4 includes a lower drilling frame body 41 which is connected to the crawler chassis 2 for rotation up and down, and an upper drilling frame body 42 is connected to the lower drilling frame body 41 for sliding along its own length direction. The drilling frame 4 is also provided with a slide tower cylinder 45 for driving the upper drilling frame body 42 to slide. The upper drilling frame body 42 includes a mounting platform 43 fixed to the bottom of the walking frame 8 and a main cylinder 44 for driving the mounting platform 43 to slide along the length direction of the drilling frame 4; the bottom end of the upper drilling frame body 42 is provided with a main cylinder 44 arranged along the width direction of the drilling frame 4 The ground anchor pin 46 is rotatably connected to the ground anchor plate 3. The ground anchor plate 3 is provided with a U-shaped ring 31 sleeved on the ground anchor pin 46. Two threaded sleeves 32 are provided between the ground anchor plate 3 and the bottom end of the upper drill frame body 42. The threaded sleeves 32 are symmetrically arranged at both ends of the ground anchor pin 46 in the length direction. The two ends of the threaded sleeves 32 are symmetrically threadedly connected with screw shafts 33. The ends of the two screw shafts 33 that are away from each other are respectively hinged to the ground anchor plate 3 and the bottom end of the upper drill frame body 42.

[0033] After the drilling rig is fixed at the designated working position, the tower cylinder 23 is driven to rotate the drilling frame 4 as a whole until the inclination angle reaches the drilling angle of the drill rod 91, and then the slide tower cylinder 45 is driven to slide the upper drilling frame body 42 downward until the anchor plate 3 at the bottom of the upper drilling frame body 42 contacts the ground; then the threaded sleeve 32 is rotated to make the two screw shafts 33 approach or move away from each other, thereby driving the anchor plate 3 to rotate until the anchor plate 3 is level with the ground, and then the slide tower cylinder 45 is driven to slide the upper drilling frame body 42 downward until the anchor plate 3 is completely in contact with the ground, and finally the anchor plate 3 is fixed to the ground.

[0034] like Fig.11As shown, the manipulator 5 includes a main frame 51 rotatably connected to one side of the drill frame 4 in the width direction. The main frame 51 rotates toward or away from the clamp 6. The main frame 51 is slidably connected to a base 52 along its own length direction on the side away from the drill frame 4. The base 52 is rotatably connected to a rotating seat 53 on the side away from the main frame 51. The rotation axis of the rotating seat 53 is perpendicular to the rotation axis of the main frame 51. The rotating seat 53 is rotatably connected to two grippers 54 symmetrically arranged at intervals on the side away from the base 52. The rotation axis of the grippers 54 is horizontal to the rotation axis of the main frame 51. The two grippers 54 are used to clamp the two ends of the drill rod 91 respectively; a limit plate 55 for contacting the end of the drill rod 91 is fixed on the gripper 54 on the manipulator 5 close to the clamp 6.

[0035] When connecting the drill rods 91, the drill rod 91 needs to be moved to the specified position by the manipulator 5. First, the grippers 54 are released and the drill rod 91 is placed on the two grippers 54. The grippers 54 are then moved so that one end thereof contacts the limit plate 55. Then the grippers 54 are closed to firmly clamp the drill rod 91. Then the rotating seat 53 rotates itself, driving the grippers 54 and the drill rod 91 to rotate until the inclination angle of the drill rod 91 is consistent with the inclination angle of the drill frame 4. Then the base 52 is driven to slide linearly until the drill rod 91 slides to the specified position. Then the main frame 51 and the grippers 54 are rotated until the drill rod 91 is moved to a position concentric with the outer rod 112.

[0036] like Fig.12 As shown, the clamp 6 is slidably connected to the drill frame 4 along the length direction of the drill frame 4 and is located below the drilling mechanism 1. The width of the clamp 6 is smaller than the spacing between the two grippers 54. The clamp 6 includes a front clamp body 61 and a rear clamp body 62 that are connected to each other. The front clamp body 61 is arranged below the rear clamp body 62, and a rear clamp moving cylinder 63 is connected between the front clamp body 61 to drive the rear clamp body 62 to approach or depart from the front clamp body 61. The body 61 and the rear clamp body 62 are both provided with a slip seat 64 for clamping the drill rod 91 and a clamping cylinder 65 for driving the slip seat 64 to clamp or release the drill rod 91. The slip seat 64 is coaxially arranged with the inner rod 122, and the rear clamp body 62 is provided with a shackle cylinder 66 for driving the slip seat 64 to rotate along the circumferential direction of the drill rod 91; the inner wall of the slip seat 64 is provided with a plurality of slip strips 641 along its own circumferential direction for contacting the drill rod 91.

[0037] The upper ends of the front clamp body 61 and the rear clamp body 62 are rotatably connected to a pull rod 67, which is arranged above the cava seat 64. One end of the pull rod 67 is hinged to the corresponding clamp body, and the other end is vertically penetrated by a detachable clamp pin 68, which is also penetrated by the corresponding clamp body. The pull rod 67 closes and opens the opening above the cava seat 64 by its own rotation and the insertion and withdrawal of the clamp pin 68.

[0038] When installing the drill rod 91, first, the main cylinder 44 on the drill frame 4 drives the traveling frame 8 and the large power head 11 to move to the lowest end of their own stroke, and the drill rod 91 connected to the large power head 11 is inserted into the slip seat 64 of the rear clamp body 62, and the slip seat 64 is driven by the clamping cylinder 65 to clamp the drill rod 91; then the large power head 11 is reversed to unfasten the buckle, and after unfastening the buckle, the main cylinder 44 drives the traveling frame 8 to move to the highest end of its own stroke, and the large power head 11 and the drill rod 912 in the slip seat 64 are separated from each other; then the drill rod 91 is grabbed by the manipulator 5, and the drill rod 91 is sent to the slip seat 64 where the drill rod 912 and the large power head are connected. 11, and at this time the drill rod 91 is located at a position concentric with the drill rod 912 in the slip seat 64; then the main cylinder 44 drives the walking frame 8 and the large power head 11 to move downward, and the large power head 11 is buckled up through the forward rotation of the large power head 11, and the large power head 11 is connected to the drill rod 91 clamped on the manipulator 5; then the manipulator 5 releases the drill rod 91 and resets itself, and the main cylinder 44 drives the interconnected large power head 11 and drill rod 91 to move downward, and connects the buckle at the lower end of the drill rod 91 with the buckle of the drill rod 912 in the slip seat 64; after the connection of the two drill rods 91 is completed, the rear clamp body 62 releases the drill rod 91 and continues the drilling work.

[0039] When the drill rod 91 is disassembled, the main cylinder 44 on the drill frame 4 first drives the large power head 11 and the drill rod 91 to move upward to the uppermost end of its own stroke; then the front clamp body 61 and the rear clamp body 62 are respectively clamped to the two interconnected drill rods 91, and then the unhooking cylinder 66 is driven to drive the slip seat 64 in the rear clamp 6 to rotate, so as to unhook the buckle between the two drill rods 91; then the rear clamp body 62 releases the drill rod 91, and the large power head 11 is reversed until the buckle between the upper drill rod 91 and the lower drill rod 91 is completely disengaged; then the main cylinder 44 drives the upper drill rod 91 to move upward a short distance, and then clamps the drill rod 91 through the rear clamp body 62; then the large power head 11 is reversed to release the buckle between the upper drill rod 91 and the large power head 11, and the upper drill rod 91 is clamped by the manipulator 5 at this time, and the large power head 11 continues to reverse until the buckle is completely disengaged, and the manipulator 5 puts the drill rod 91 on the ground.

[0040] This embodiment adopts a transmission method of direct drive by a cylinder, which overcomes the disadvantage that traditional drilling rigs cannot provide downward pressure loads; a dual power head drive method is adopted, the outer drill rod 911 creates inclination, and the inner drill rod 912 directly drives the three-cone drill bit 92 at the front end to break rocks. The inner drill rod 912 is directly driven by mechanical transmission, which is more efficient and does not require a large amount of mud to drive the screw motor. The cost is lower, and the problem of insufficient transmission torque caused by leakage, wear, etc. in the prior art that a screw motor is used for driving is overcome.

[0041] A laser transmitter 94 is provided in the inner drill rod 912 at the lowermost end of the drilling rig of the present embodiment. Laser guidance is performed by the principle of laser linear propagation, and its accuracy is controlled by receiver imaging, thereby greatly improving the accuracy and efficiency of the guide hole. Moreover, the drilling rig of the present embodiment does not require a screw motor, and the laser transmitter 94 is adjacent to the front three-cone drill bit 92, so there is no lag problem, so the accuracy is higher, and the problem of lag in the received signal caused by the carbon rod compartment of the traditional guide drill bit being connected to the rear side of the screw motor and the three-cone drill bit 92 being arranged in front of the screw motor is overcome.

[0042] The manipulator 5 in the drilling rig of this embodiment has adjustment angles in multiple dimensions and directions, thereby meeting the installation requirements of 15-90° incident angles, overcoming the problem that the traditional manipulator 5 has fewer degrees of freedom and cannot adapt to different incident angle requirements; the detachable clamp pin 68 and opening design at the upper end of the clamp 6 make the installation and disassembly of the drill rod 91 more convenient.

[0043] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A high-precision guided double-arm inclined well drilling rig, characterized in that: The invention comprises a drilling mechanism (1), a crawler chassis (2) for driving the drilling mechanism (1) to move to a drilling location, a ground anchor plate (3) for fixing the drilling mechanism to the drilling location, a drilling frame (4) for adjusting the inclination angle of the drilling mechanism (1), a manipulator (5) for placing a drill rod (91) into the drilling mechanism (1), a clamp (6) for installing and removing the drill rod (91), and a power station (7) for providing power to the drilling rig; a traveling frame (8) is slidably connected to the drilling frame (4) along its length direction, and the drilling mechanism is installed on the traveling frame (8); The drilling mechanism (1) comprises a large power head (11) and a small power head (12) arranged at intervals along the length direction of a traveling frame (8), wherein the large power head (11) is located below the small power head (12), the large power head (11) comprising a first box (111) fixed to the traveling frame (8), an outer rod (112) connected to a drill rod (91), and a first hydraulic motor (113) driving the outer rod (112) to rotate; the small power head (12) comprises a second box (121), an inner rod (122) connected to the drill rod (91), and a second hydraulic motor (123) driving the inner rod (122) to rotate, the inner rod (122) being coaxially arranged with the outer rod (112), and the inner rod (122) passing through the interior of the outer rod (112); The lower end of the outer rod (112) is connected to a guide device (9) for drilling and deflection, the guide device (9) comprising a plurality of drill rods (91) coaxially connected in sequence along the length direction of the outer rod (112), the drill rod (91) comprising an outer drill rod (911) and an inner drill rod (912) coaxially arranged inside the outer drill rod (911), the outer drill rod (911) being respectively connected to the outer drill rods (911) on upper and lower adjacent drill rods (91), and the inner drill rod (912) being respectively connected to the inner drill rods (911) on upper and lower adjacent drill rods. The outer drill rod (911) and the inner drill rod (912) on the upper end are coaxially connected to the lower ends of the outer rod (112) and the inner rod (122), respectively; the inner drill rod (912) at the lower end is coaxially connected to a three-cone drill bit (92); a laser channel (93) is coaxially opened inside the inner drill rod (912) at the lower end; and a laser transmitter (94) for laser guidance is provided in the laser channel (93) away from the three-cone drill bit (92).

2. A high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: A rotating joint (114) sleeved on the outer rod (112) and used for conveying water into the drill rod (91) is fixed to the first box (111).

3. The high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: The first housing (111) is provided with a first driving gear (115) and a first driven gear (116) meshing with each other, the first driving gear (115) is connected to the output end of the first hydraulic motor (113), and the first driven gear (116) is coaxially fixed to the outer rod (112); the second housing (121) is provided with a second driving gear (124) and a second driven gear (125) meshing with each other, the second driving gear (124) is connected to the output end of the second hydraulic motor (123), and the second driven gear (125) is coaxially fixed to the inner rod (122).

4. The high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: The manipulator (5) comprises a main frame (51) rotatably connected to one side of the drill frame (4) in the width direction, the main frame (51) approaches or moves away from the clamp (6) by rotating itself, a side of the main frame (51) away from the drill frame (4) is slidably connected to a base (52) along its own length direction, a side of the base (52) away from the main frame (51) is rotatably connected to a rotating seat (53), the rotating axis of the rotating seat (53) is perpendicular to the rotating axis of the main frame (51), and a side of the rotating seat (53) away from the base (52) is rotatably connected to two grippers (54) arranged symmetrically at intervals, the rotating axes of the grippers (54) are horizontal to the rotating axis of the main frame (51), and the two grippers (54) are used to clamp two ends of the drill rod (91) respectively.

5. A high-precision guided double-arm inclined well drilling rig according to claim 4, characterized in that: A limit plate (55) for contacting the end of the drill rod (91) is fixed on the gripper (54) on the side of the manipulator (5) close to the clamp (6).

6. The high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: The clamp (6) is slidably connected to the drill frame (4) along the length direction of the drill frame (4) and is located below the drilling mechanism (1). The clamp (6) comprises a front clamp body (61) and a rear clamp body (62) which are connected to each other. The front clamp body (61) is arranged below the rear clamp body (62), and a rear clamp moving cylinder (61) is connected between the front clamp body (61) and the rear clamp body (62) for driving the rear clamp body (62) to move closer to or away from the front clamp body (61). 3), the front clamp body (61) and the rear clamp body (62) are both provided with a slip seat (64) for clamping the drill rod (91) and a clamping cylinder (65) for driving the slip seat (64) to clamp or release the drill rod (91), the slip seat (64) is coaxially arranged with the inner rod (122), and the rear clamp body (62) is provided with a shackle cylinder (66) for driving the slip seat (64) to rotate along the circumferential direction of the drill rod (91).

7. A high-precision guided double-arm inclined well drilling rig according to claim 6, characterized in that: The inner wall of the slip seat (64) is provided with a plurality of slip strips (641) along its circumferential direction for contacting the drill rod (91).

8. The high-precision guided double-arm inclined well drilling rig according to claim 6, characterized in that: The upper ends of the front clamp body (61) and the rear clamp body (62) are rotatably connected to a pull rod (67), which is arranged above the cava seat (64). One end of the pull rod (67) is hinged to the corresponding clamp body, and the other end is vertically penetrated by a detachable clamp pin (68), which is also penetrated by the corresponding clamp body. The pull rod (67) closes and opens the opening above the cava seat (64) by rotating itself and cooperating with the insertion and withdrawal of the clamp pin (68).

9. The high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: The drilling frame (4) comprises a lower drilling frame body (41) connected to the crawler chassis (2) in an upward and downward rotational manner, an upper drilling frame body (42) connected to the lower drilling frame body (41) in a sliding manner along its own length direction, and the upper drilling frame body (42) comprises a mounting platform (43) fixed to the bottom of the walking frame (8) and a main cylinder (44) for driving the mounting platform (43) to slide along the length direction of the drilling frame (4).

10. A high-precision guided double-arm inclined well drilling rig according to claim 9, characterized in that: The drilling frame (4) is provided with a slide tower oil cylinder (45) for driving the upper drilling frame body (42) to slide.

11. The high-precision guided double-arm inclined well drilling rig according to claim 10, characterized in that: The bottom end of the upper drill frame body (42) is provided with a ground anchor pin shaft (46) arranged along the width direction of the drill frame (4), the ground anchor pin shaft (46) is rotatably connected to the ground anchor plate (3), and the ground anchor plate (3) is provided with a U-shaped ring (31) sleeved on the ground anchor pin shaft (46).

12. The high-precision guided double-arm inclined well drilling rig according to claim 11, characterized in that: Two threaded sleeves (32) are provided between the ground anchor plate (3) and the bottom end of the upper drill frame body (42). The threaded sleeves (32) are symmetrically arranged at the two ends of the ground anchor pin shaft (46) in the length direction. The two ends of the threaded sleeves (32) are symmetrically threadedly connected with screw shafts (33). The ends of the two screw shafts (33) that are separated from each other are respectively hinged to the ground anchor plate (3) and the bottom end of the upper drill frame body (42).

13. The high-precision guided double-arm inclined well drilling rig according to claim 1, characterized in that: The crawler chassis (2) comprises a walking crawler (21) for moving the drilling rig, a drilling tower support (22) hinged to the bottom of the drilling frame (4), and a tower lifting cylinder (23) for driving the drilling frame (4) to rotate up and down.

14. A high-precision guided double-arm inclined well drilling rig according to claim 13, characterized in that: The crawler chassis (2) is symmetrically provided with two front leg plates (24) on one side close to the drilling tower support (22), a front hydraulic rod (25) that rotates up and down is hingedly connected to the front leg plate (24), and a front support plate (26) that is used to contact the ground is hingedly connected to the bottom of the front hydraulic rod (25); two vertical rear legs (27) are symmetrically provided on one side of the crawler chassis (2) away from the drilling tower support (22), a telescopic column (28) is slidably connected in the vertical direction inside the rear legs (27), and a rear support plate (29) that is used to contact the ground is provided at the bottom of the telescopic column (28).

15. The high-precision guided double-arm inclined well drilling rig according to claim 14, characterized in that: The front leg plate (24) is hingedly connected in sequence from top to bottom with a front hydraulic rod (25) and a linkage rod (30) that rotate up and down. The bottom of the linkage rod (30) is hingedly connected to the front support plate (26) and is hingedly connected to the front hydraulic rod (25) at the same hinge point.

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