A high-precision guiding double-arm inclined shaft drill rig

Abstract

The present invention discloses a high-precision guiding double-arm inclined shaft drill rig, which relates to the technical field of inclined shaft construction. It includes a large power head, a small power head, a drill rig, a manipulator, a gripper, a walking frame and drill pipes. A laser emitter is provided in the lowermost drill pipe. Laser guiding is carried out through the principle of linear propagation of laser, and its accuracy is controlled by the imaging of the receiver, greatly improving the accuracy and efficiency of the pilot hole. At the same time, there is no need for a positive displacement motor. The laser emitter is next to the front tricone bit, and there is no lag problem, so the accuracy is higher; the transmission method of direct drive by an oil cylinder is adopted, overcoming the drawback that the traditional drill rig cannot provide a downward pressure load; the double power head drive method is adopted. The outer drill pipe is used for deflecting, and the inner drill pipe directly drives the front tricone bit for rock breaking, which is directly driven by mechanical transmission through the inner drill pipe, with higher efficiency; the manipulator has adjustable angles in multiple dimensions and directions, thus meeting the installation requirements for the incident angle of 15-90°.

Description

Technical Field

[0001] The present invention relates to the technical field of inclined shaft construction, and particularly to a high-precision guiding double-arm inclined shaft drilling rig. Background Art

[0002] With the continuous increase of China's energy demand, in the exploration and development fields of oil, natural gas and coalbed methane, it is developing towards areas with limited well site areas such as gobi deserts, muddy grasslands, beaches and mountainous hills. In the above-mentioned areas and for the development of shallow oil and gas resources, various types of vertical and inclined wells, inclined directional wells, inclined cluster wells, etc. are required. In addition, in projects such as water conservancy and hydropower and mountain pipeline crossings, inclined straight sections of water diversion, water discharge, and ventilation culverts are often needed.

[0003] When an oil drilling rig drills, the feeding speed of the drill string is controlled by a braking mechanism, and the weight of the drill string is used as the drilling pressure applied to the drill bit to achieve crushing drilling, without a downward pressing function. An inclined shaft drilling rig has a downward pressing load and can be equipped with a guiding and positioning system for guiding drilling, which is the current mainstream construction plan. However, the position accuracy of the positioning system causes deviation of the guiding hole, with a certain offset, which is more obvious in long inclined guiding holes. In some water conservancy and hydropower projects with high requirements for guiding hole accuracy, its use is restricted.

[0004] Currently, a screw motor is used to drive a tricone bit for drilling, which requires a large amount of water to drive the screw motor, resulting in a large transportation cost in areas lacking water resources. At the same time, the screw motor generally needs to be overhauled after 200 hours of use, with high costs. And the positioning system is located behind the screw motor, at least 5 meters away from the tricone bit at the front end, reducing the position accuracy during guiding hole drilling. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a high-precision guiding double-arm inclined shaft drilling rig, including a drilling mechanism, a crawler chassis for driving the drilling mechanism to move to the drilling site, an anchor plate for fixing the drilling mechanism at the drilling site, a drill rig for adjusting the inclination angle of the drilling mechanism, a manipulator for placing the drill pipe into the drilling mechanism, a gripper for installing and disassembling the drill pipe, and a power station for providing power to the drilling rig; a walking frame is slidably connected along the length direction of the drill rig, and the drilling mechanism is installed on the walking frame;

[0006] The drilling mechanism includes a large power head and a small power head arranged at intervals along the length direction of the walking frame, and the large power head is located below the small power head. The large power head includes a first box body fixed on the walking frame, an outer rod connected to the drill pipe, and a first hydraulic motor for driving the outer rod to rotate; the small power head includes a second box body, an inner rod connected to the drill pipe, and a second hydraulic motor for driving the inner rod to rotate. The inner rod and the outer rod are coaxially arranged, and the inner rod passes through the inside of the outer rod;

[0007] A guiding device for drilling and deflecting is connected to the lower end of the outer rod. The guiding device includes a plurality of drill pipes coaxially connected in sequence along the length direction of the outer rod. The drill pipe includes an outer drill pipe and an inner drill pipe coaxially arranged inside the outer drill pipe. The outer drill pipes are respectively connected to the outer drill pipes on the adjacent upper and lower drill pipes, and the inner drill pipes are respectively connected to the inner drill pipes on the adjacent upper and lower drill pipes. The uppermost outer drill pipe and inner drill pipe are respectively coaxially connected to the lower ends of the outer rod and the inner rod. The lowermost inner drill pipe is coaxially connected with a tricone bit, and a laser channel is coaxially opened inside the lowermost inner drill pipe. A laser emitter for laser guiding is provided on the side of the laser channel facing away from the tricone bit.

[0008] The further limited technical solution of the present invention is:

[0009] Further, a rotary joint sleeved on the outer rod for conveying water into the drill pipe is fixed on the first box body.

[0010] In a high-precision guiding double-arm inclined shaft drilling rig as described above, a first driving gear and a first driven gear meshing with each other are arranged inside the first box body. The first driving gear is connected to the output end of the first hydraulic motor, and the first driven gear is coaxially fixed on the outer rod. A second driving gear and a second driven gear meshing with each other are arranged inside the second box body. The second driving gear is connected to the output end of the second hydraulic motor, and the second driven gear is coaxially fixed on the inner rod.

[0011] In a high-precision guiding double-arm inclined shaft drilling rig as described above, the manipulator includes a main frame rotatably connected to one side in the width direction of the drill rig. The main frame approaches or deviates from the gripper through its own rotation. A base is slidably connected along the length direction of the main frame on the side away from the drill rig. A rotating seat is rotatably connected to the side of the base away from the main frame. The rotation axis of the rotating seat is perpendicular to the rotation axis of the main frame. Two symmetrically spaced grippers are rotatably connected to the side of the rotating seat away from the base. The rotation axes of the grippers are horizontal with the rotation axis of the main frame. The two grippers are respectively used for clamping both ends of the drill pipe.

[0012] In a high-precision guiding double-arm inclined shaft drilling rig as described above, a limiting plate for abutting against the end of the drill pipe is fixed on the gripper on the side of the manipulator close to the gripper.

[0013] In a high-precision guiding double-arm inclined shaft drilling rig as described above, the gripper is slidably connected to the drill rig along the length direction of the drill rig and is located below the drilling mechanism. The gripper includes a front gripper body and a rear gripper body connected to each other. The front gripper body is arranged below the rear gripper body, and a rear clamp moving oil cylinder for driving the rear gripper body to approach or deviate from the front gripper body is connected between the two. Both the front gripper body and the rear gripper body are provided with a slip seat for clamping the drill pipe and a clamping oil cylinder for driving the slip seat to clamp or release the drill pipe. The slip seat is coaxially arranged with the inner rod. A releasing oil cylinder for driving the slip seat to rotate along the circumferential direction of the drill pipe is provided on the rear gripper body.

[0014] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein a plurality of slip strips for abutting against drill pipes are provided on the inner wall of the slip seat along its circumferential direction.

[0015] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein tie rods are rotatably connected to the upper ends of the front gripper body and the rear gripper body. The tie rods are arranged above the slip seat. One end of each tie rod is hinged to the corresponding gripper body, and the other end is vertically provided with a detachable gripper pin shaft. The gripper pin shaft is also passed through the corresponding gripper body. The tie rods close and open the upper opening of the slip seat by means of their own rotation in cooperation with the insertion and extraction of the gripper pin shaft.

[0016] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein the drill rig includes a lower drill rig body rotatably connected to the crawler chassis up and down. A upper drill rig body is slidably connected to the lower drill rig body along its own length direction. The upper drill rig body includes an installation platform fixed to the bottom of the walking frame and a main cylinder for driving the installation platform to slide along the length direction of the drill rig.

[0017] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein a slip tower oil cylinder for driving the upper drill rig body to slide is provided on the drill rig.

[0018] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein a ground anchor pin shaft arranged along the width direction of the drill rig is provided at the bottom end of the upper drill rig body. The ground anchor pin shaft is rotatably connected to a ground anchor plate, and a U-shaped ring sleeved on the ground anchor pin shaft is provided on the ground anchor plate.

[0019] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein two threaded sleeves are provided between the ground anchor plate and the bottom end of the upper drill rig body. The threaded sleeves are symmetrically arranged at both ends of the ground anchor pin shaft in the length direction. Screw shafts are symmetrically and threadedly connected to the inner parts of both ends of the threaded sleeves. The end parts of the two screw shafts facing away from each other are respectively hinged to the ground anchor plate and the bottom end of the upper drill rig body.

[0020] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein the crawler chassis includes a walking track for moving the drilling rig, a drill tower support hinged to the bottom of the drill rig, and a tower lifting oil cylinder for driving the drill rig to rotate up and down.

[0021] A high-precision guiding double-arm inclined shaft drilling rig as described above, wherein two front support leg plates are symmetrically provided on one side of the crawler chassis close to the drill tower support. A front hydraulic rod that rotates up and down is hinged to the front support leg plates. The bottom of the front hydraulic rod is hinged to a front support plate for abutting against the ground; two vertical rear support legs are symmetrically provided on the side of the crawler chassis away from the drill tower support. A telescopic column is slidably connected to the rear support legs along the vertical direction. The bottom of the telescopic column is provided with a rear support plate for abutting against the ground.

[0022] A high-precision guiding double-arm inclined shaft drilling rig as described above, on the front leg plate, a front hydraulic rod and a linkage rod that rotate up and down are successively hinged from top to bottom. 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.

[0023] The beneficial effects of the present invention are as follows:

[0024] (1) In the present invention, the transmission method of direct drive by the oil cylinder is adopted, overcoming the drawback that the traditional drilling rig cannot provide a downward pressure load; the double power head drive method is adopted. The outer drill pipe is used for deflecting, and the inner drill pipe directly drives the three-cone bit at the front end to break rock. It is directly driven by mechanical transmission through the inner drill pipe, with higher efficiency, and does not require a large amount of mud to drive the screw motor, resulting in lower costs. It overcomes the problem in the prior art that when using a screw motor to drive, due to problems such as leakage and wear, the transmitted torque is insufficient.

[0025] (2) In the present invention, a laser emitter is arranged inside the lowermost inner drill pipe. Laser guiding is carried out based on the principle of linear propagation of laser, and its accuracy is controlled by the imaging of the receiver, greatly improving the accuracy and efficiency of the pilot hole.

[0026] (3) In the present invention, there is no need for a screw motor. The laser emitter is next to the front three-cone bit, without a lag problem, so the accuracy is higher. It overcomes the problem that due to the carbon rod chamber of the traditional guiding bit being connected to the rear side of the screw motor and the three-cone bit being arranged in front of the screw motor, the received signal has a lag.

[0027] (4) In the present invention, the manipulator has adjustable angles in multiple dimensions and directions, thus meeting the installation requirements of an incident angle of 15 - 90°, overcoming the problem that the traditional manipulator has fewer degrees of freedom and cannot adapt to different incident angle requirements.

[0028] (5) In the present invention, the detachable chuck pin and the opening design at the upper end of the chuck make the installation and disassembly of the drill pipe more convenient. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the drilling mechanism in the embodiment of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the large power head in the embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the small power head in the embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the guiding device in the embodiment of the present invention;

[0034] Figure 6 Schematic diagram of the connection of drill pipes in the embodiment of the present invention;

[0035] Figure 7 Schematic diagram of the structure of drill pipes in the embodiment of the present invention;

[0036] Figure 8 Schematic diagram of the structure of the crawler chassis in the embodiment of the present invention;

[0037] Figure 9 Schematic diagram of the structure of the drill rig in the embodiment of the present invention;

[0038] Figure 10 Schematic diagram of the structure of the ground anchor plate in the embodiment of the present invention;

[0039] Figure 11 Schematic diagram of the structure of the manipulator in the embodiment of the present invention;

[0040] Figure 12 Schematic diagram of the structure of the gripper in the embodiment of the present invention.

[0041] Wherein: 1. Drilling mechanism; 11. Large power head; 111. First box body; 112. Outer rod; 113. First hydraulic motor; 114. Rotary joint; 115. First driving gear; 116. First driven gear; 12. Small power head; 121. Second box body; 122. Inner rod; 123. Second hydraulic motor; 124. Second driving gear; 125. Second driven gear; 2. Crawler chassis; 21. Traveling crawler; 22. Drill tower support; 23. Tower lifting oil cylinder; 24. Front leg plate; 25. Front hydraulic rod; 26. Front support plate; 27. Rear leg; 28. Telescopic column; 29. Rear support plate; 30. Linking rod; 3. Ground anchor plate; 31. U-shaped ring; 32. Threaded sleeve; 33. Screw shaft; 4. Drill rig; 41. Lower drill rig body; 42. Upper drill rig body; 43. Installation platform; 44. Main cylinder; 45. Slide tower oil cylinder; 46. Ground anchor pin shaft; 5. Manipulator; 51. Main frame; 52. Base; 53. Rotary seat; 54. Grab; 55. Limit plate; 6. Gripper; 61. Front gripper body; 62. Rear gripper body; 63. Rear clamp moving oil cylinder; 64. Slip socket; 641. Slip strip; 65. Clamping oil cylinder; 66. Uncoupling oil cylinder; 67. Pull rod; 68. Gripper pin shaft; 7. Power station; 8. Walking frame; 9. Guiding device; 91. Drill pipe; 911. Outer drill pipe; 912. Inner drill pipe; 92. Roller cone bit; 93. Laser channel; 94. Laser emitter. Detailed implementation manners

[0042] A high-precision guiding double-arm inclined shaft drill rig provided in this embodiment, as Figure 1As shown in the figure, it includes a drilling mechanism 1, a crawler chassis 2 for driving the drilling mechanism 1 to move to the drilling site, an anchor plate 3 for fixing the drilling mechanism 1 at the drilling site, a drill rig 4 for adjusting the inclination angle of the drilling mechanism 1, a manipulator 5 for placing the drill pipe 91 into the drilling mechanism 1, a gripper 6 for installing and disassembling the drill pipe 91, and a power station 7 for providing power to the drill rig; a walking frame 8 is slidably connected to the drill rig 4 along its own length direction, and the drilling mechanism 1 is installed on the walking frame 8.

[0043] As Figures 1 to 2 shown in the figure, 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 walking frame 8, and the large power head 11 is located below the small power head 12; as Figure 3 shown in the figure, 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 pipe 91, and a first hydraulic motor 113 for 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 arranged 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 on the outer rod 112; when the first hydraulic motor 113 is started, it drives the first driving gear 115 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 conveyed into the drill pipe 91 through the rotary joint 114.

[0044] As Figure 4 shown in the figure, the small power head 12 includes a second box body 121, an inner rod 122 connected to the drill pipe 91, and a second hydraulic motor 123 for driving 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 inside of the outer rod 112. A second driving gear 124 and a second driven gear 125 that mesh with each other are arranged 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 on the inner rod 122; when the second hydraulic motor 123 is started, it drives the second driving gear 124 to rotate, thereby driving the second driven gear 125 and the inner rod 122 to rotate.

[0045] As Figures 5 to 7As shown in the figure, a guiding device 9 for drilling and deflecting is connected to the lower end of the outer rod 112. The guiding device 9 includes a plurality of drill pipes 91 coaxially connected in sequence along the length direction of the outer rod 112. The number of drill pipes 91 is determined according to the engineering length. The drill pipe 91 includes an outer drill pipe 911 and an inner drill pipe 912 coaxially arranged inside the outer drill pipe 911. The outer drill pipes 911 are respectively connected to the outer drill pipes 911 on the adjacent upper and lower drill pipes 91, and the inner drill pipes 912 are respectively connected to the inner drill pipes 912 on the adjacent upper and lower drill pipes 91. Among them, the uppermost outer drill pipe 911 and inner drill pipe 912 are respectively coaxially connected to the lower ends of the outer rod 112 and the inner rod 122. The lowermost outer drill pipe 911 is connected with a bearing box, and the lowermost inner drill pipe 912 is coaxially connected with a tricone bit 92. The force that pushes the outer drill pipe 911 forward through the bearing box is transmitted to the lowermost tricone bit 92. A laser channel 93 is coaxially opened inside the lowermost inner drill pipe 912. A laser emitter 94 for laser guiding is provided on the side of the laser channel 93 away from the tricone bit 92.

[0046] When deflecting is required, only the inner rod 122 rotates, and the lowermost inner drill pipe 912 drives the tricone bit 92 to deflect. When rock breaking is required, the outer rod 112 and the inner rod 122 rotate simultaneously, respectively driving the outer drill pipe 911 and the inner drill pipe 912 to rotate. The lowermost inner drill pipe 912 drives the tricone bit 92 to break rock, and the main cylinder 44 drives the upper drill frame body 42 to slide downward. The sliding of the upper drill frame body 42 drives the mounting table 43 and the traveling frame 8 to slide downward, that is, drives the large power head 11 and the small power head 12 to slide downward, so as to drive the tricone bit 92 to drill. In the prior art, a positive displacement motor is used for driving. Due to problems such as leakage and wear, the transmitted torque is insufficient. However, in this embodiment, the drill rig is directly driven by the inner drill pipe 912 through mechanical transmission, with higher efficiency, does not require a large amount of mud to drive the positive displacement motor, and has lower costs. The transmission method of direct drive by the oil cylinder overcomes the drawback that the traditional drill rig cannot provide a downward pressure load.

[0047] In the prior art, the guiding of the traditional drill rig calculates the guiding position through a positioning instrument and a series of algorithms, which has certain errors itself, and the deviation will increase as the depth increases. During the deflecting and rock breaking processes of the drill rig in this embodiment, the laser emitter 94 in the lowermost inner drill pipe 912 performs laser guiding based on the principle of linear propagation of laser, and controls its accuracy through the imaging of the receiver, greatly improving the accuracy and efficiency of the pilot hole.

[0048] At the same time, in the traditional guiding bit, the carbon rod chamber is connected to the rear side of the positive displacement motor, and the tricone bit 92 is arranged in front of the positive displacement motor, so the received signal has a lag. The drill rig in this embodiment does not require a positive displacement motor, and the laser emitter 94 is next to the front tricone bit 92, without the lag problem, so the accuracy is higher.

[0049] AsFigure 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.

[0050] 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.

[0051] like Figures 9 to 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.

[0052] 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.

[0053] like Figure 11 As 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.

[0054] 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.

[0055] like Figure 12As shown, the gripper 6 is slidably connected to the drill tower 4 along the length direction of the drill tower 4, and is located below the drilling mechanism 1. The width of the gripper 6 is smaller than the distance between the two grippers 54. The gripper 6 includes a front gripper body 61 and a rear gripper body 62 which are connected to each other. The front gripper body 61 is arranged below the rear gripper body 62, and a rear clamp moving oil cylinder 63 for driving the rear gripper body 62 to approach or depart from the front gripper body 61 is connected between the two. Both the front gripper body 61 and the rear gripper body 62 are provided with a slip seat 64 for gripping the drill pipe 91 and a clamping oil cylinder 65 for driving the slip seat 64 to grip or release the drill pipe 91. The slip seat 64 is coaxially arranged with the inner rod 122. An uncoupling oil cylinder 66 for driving the slip seat 64 to rotate along the circumferential direction of the drill pipe 91 is arranged on the rear gripper body 62; a plurality of slip strips 641 for abutting against the drill pipe 91 are arranged on the inner wall of the slip seat 64 along its circumferential direction.

[0056] At the upper ends of both the front gripper body 61 and the rear gripper body 62, a pull rod 67 is rotatably connected. The pull rod 67 is arranged above the slip seat 64. One end of the pull rod 67 is hinged to the corresponding gripper body, and the other end is vertically provided with a detachable gripper pin shaft 68. The gripper pin shaft 68 is also inserted through the corresponding gripper body. The pull rod 67 closes and opens the upper opening of the slip seat 64 through its own rotation in cooperation with the insertion and extraction of the gripper pin shaft 68.

[0057] When installing the drill pipe 91, first, the main cylinder 44 on the drill tower 4 drives the traveling frame 8 and the large power head 11 to move to the lowermost end of their own strokes, inserts the drill pipe 91 connected to the large power head 11 into the slip seat 64 of the rear gripper body 62, and drives the slip seat 64 to grip the drill pipe 91 through the clamping oil cylinder 65; then the large power head 11 rotates reversely for uncoupling. After uncoupling, the main cylinder 44 drives the traveling frame 8 to move to the uppermost end of its own stroke, and the large power head 11 is separated from the drill pipe 912 in the slip seat 64; then the manipulator 5 grabs the drill pipe 91 and sends the drill pipe 91 to the space between the drill pipe 912 in the slip seat 64 and the large power head 11, and at this time, the drill pipe 91 is located at a position concentric with the drill pipe 912 in the slip seat 64; then the main cylinder 44 drives the traveling frame 8 and the large power head 11 to move downward, and performs threading through the forward rotation of the large power head 11, and the large power head 11 is connected to the drill pipe 91 clamped by the manipulator 5; then the manipulator 5 releases the drill pipe 91 and resets itself. The main cylinder 44 drives the connected large power head 11 and drill pipe 91 to move downward, and connects the thread at the lower end of the drill pipe 91 to the thread of the drill pipe 912 in the slip seat 64; after the two drill pipes 91 are connected, the rear gripper body 62 releases the drill pipe 91 and continues the drilling work.

[0058] When disassembling the drill pipe 91, first, the main cylinder 44 on the drill rig 4 drives the large power head 11 and the drill pipe 91 to move upward to the uppermost end of its own stroke; then, the front gripper body 61 and the rear gripper body 62 respectively clamp two interconnected drill pipes 91, and then the make-and-break cylinder 66 is driven to drive the slip seat 64 in the rear gripper 6 to rotate, so as to break the connection between the two drill pipes 91; then, the rear gripper body 62 releases the drill pipe 91, and the large power head 11 reverses until the connection between the upper drill pipe 91 and the lower drill pipe 91 is completely disengaged; then, after the main cylinder 44 drives the upper drill pipe 91 to move upward a short distance, the rear gripper body 62 clamps this drill pipe 91; then, the large power head 11 reverses, releases the connection between the upper drill pipe 91 and the large power head 11, at this time, the manipulator 5 clamps the upper drill pipe 91, and the large power head 11 continues to reverse until the connection is completely disengaged, and the manipulator 5 places the drill pipe 91 on the ground.

[0059] This embodiment adopts the transmission mode of direct drive by oil cylinders, overcoming the drawback that traditional drilling rigs cannot provide downward pressure loads; adopting the drive mode of double power heads, the outer drill pipe 911 deflects the hole, and the inner drill pipe 912 directly drives the tricone bit 92 at the front end to break rock. It is directly driven by mechanical transmission through the inner drill pipe 912, with higher efficiency, does not require a large amount of mud to drive the positive displacement motor, and has lower costs, overcoming the problem in the prior art that when using a positive displacement motor to drive, due to leakage, wear and other situations, the transmitted torque is insufficient.

[0060] In the lowermost inner drill pipe 912 of the drilling rig in this embodiment, a laser emitter 94 is provided. Laser guidance is carried out through the principle of linear propagation of laser, and its accuracy is controlled by receiver imaging, greatly improving the accuracy and efficiency of the pilot hole; and the drilling rig in this embodiment does not require a positive displacement motor. The laser emitter 94 is next to the front tricone bit 92, and there is no lag problem, so the accuracy is higher, overcoming the problem that due to the carbon rod chamber of the traditional guide bit being connected to the rear side of the positive displacement motor and the tricone bit 92 being arranged in front of the positive displacement motor, the received signal has a lag.

[0061] The manipulator 5 in the drilling rig of this embodiment has adjustable angles in multiple dimensions and directions, thus meeting the installation requirements for an incident angle of 15 - 90°, overcoming the problem that the traditional manipulator 5 has fewer degrees of freedom and cannot adapt to the requirements of different incident angles; the detachable gripper pin shaft 68 and the opening design at the upper end of the gripper 6 make the installation and disassembly of the drill pipe 91 more convenient.

[0062] In addition to the above embodiments, the present invention may have other implementation manners. All technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present invention.

Claims

1. A high-precision guiding double-arm inclined shaft drilling rig, characterized in that: It includes a drilling mechanism (1), a crawler chassis (2) for driving the drilling mechanism (1) to move to the drilling site, an anchor plate (3) for fixing the drilling mechanism (1) at the drilling site, a drill rig (4) for adjusting the inclination angle of the drilling mechanism (1), a manipulator (5) for placing the drill pipe (91) into the drilling mechanism (1), a gripper (6) for installing and disassembling the drill pipe (91), and a power station (7) for providing power to the drill rig; a traveling frame (8) is slidably connected to the drill rig (4) along its own length direction, and the drilling mechanism (1) is installed on the traveling frame (8); 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). The large power head (11) includes a first box body (111) fixed on the traveling frame (8), an outer rod (112) connected to the drill pipe (91), and a first hydraulic motor (113) for driving the outer rod (112) to rotate; the small power head (12) includes a second box body (121), an inner rod (122) connected to the drill pipe (91), and a second hydraulic motor (123) for driving 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 inside of the outer rod (112); A guiding device (9) for drilling and deflecting is connected to the lower end of the outer rod (112). The guiding device (9) includes a plurality of drill pipes (91) coaxially connected in sequence along the length direction of the outer rod (112). The drill pipe (91) includes an outer drill pipe (911) and an inner drill pipe (912) coaxially arranged inside the outer drill pipe (911). The outer drill pipes (911) are respectively connected to the outer drill pipes (911) on the adjacent upper and lower drill pipes (91), and the inner drill pipes (912) are respectively connected to the inner drill pipes (912) on the adjacent upper and lower drill pipes (91); the uppermost outer drill pipe (911) and inner drill pipe (912) are respectively coaxially connected to the lower ends of the outer rod (112) and the inner rod (122), and the lowermost inner drill pipe (912) is coaxially connected with a roller cone bit (92), and a laser channel (93) is coaxially opened inside the lowermost inner drill pipe (912). A laser emitter (94) for laser guiding is provided on the laser channel (93) away from the roller cone bit (92).

2. The high-precision guiding double-arm inclined shaft drilling rig according to claim 1, wherein: A rotary joint (114) for conveying water into the drill pipe (91) is fixed on the first box body (111) and sleeved on the outer rod (112).

3. The high-precision guiding double-arm inclined shaft drilling rig according to claim 1, wherein: A first driving gear (115) and a first driven gear (116) that mesh with each other are arranged inside 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 on the outer rod (112); a second driving gear (124) and a second driven gear (125) that mesh with each other are arranged inside 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 on the inner rod (122).

4. A high-precision guiding double-arm inclined shaft 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 respectively used to clamp two ends of the drill rod (91).

5. The high-precision guiding double-arm inclined shaft drill according to claim 4, wherein: 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 guiding double-arm inclined shaft drill according to claim 1, wherein: 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. The high-precision guiding double-arm inclined shaft drill 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 guiding double-arm inclined shaft drilling rig according to claim 6, wherein: 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. A high-precision guiding double-arm inclined shaft drill 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 guiding double-arm inclined shaft 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. A high-precision guiding double-arm inclined shaft 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. A high-precision guiding double-arm inclined shaft drill 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. A high-precision guiding double-arm inclined shaft 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 guiding double-arm inclined shaft 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. A high-precision guiding double-arm inclined shaft 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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