Electrically-driven drilling device and method suitable for automatic drilling machine

Abstract

The invention discloses an electrically-driven drilling device suitable for an automatic drilling machine, which comprises a crawler vehicle body and a drilling device arranged on the crawler vehicle body, the drilling device is connected with the crawler vehicle body through an angle adjusting device, and the drilling device comprises a feeding machine body, a lead screw assembly, a carriage assembly, a power head assembly and a clamping shackle unit; the lead screw assembly can drive the carriage assembly to linearly move along the upper surface of the feeding machine body. A first buffer spring is installed between the power head assembly and the carriage assembly, and a second buffer spring is installed between the carriage assembly and the lead screw assembly. According to the double-buffering spring design, the first buffering spring and the second buffering spring are adopted, and the first buffering spring can effectively avoid damage to outer side screw threads caused by untimely rotation at the initial screwing-on stage of male and female joints of the driving drill rod and the newly-added drill rod; the second buffer spring is used for buffering the impact of the axial counter-acting force on the lead screw, and the problem that the motor is damaged due to sudden increase of the stratum coal rock hardness is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine equipment automation, and in particular to an electric-driven drilling device and method suitable for an automated drilling rig. Background Art

[0002] In recent years, with the vigorous development of the new energy industry, electric drive technology has been widely used in the engineering machinery industry with remarkable results. As an indispensable drilling equipment underground, the drilling rig is subject to the underground environment and explosion-proof requirements. All aspects of it are stricter than those of ground engineering machinery, and it is required to have safety standards. This is also the main reason why underground drilling rigs mostly use hydraulic systems. With the upgrading of drilling rigs, auxiliary actions such as automatic buckling and unbuckling are increasing, and the pipelines of the whole machine are also increasing. Limited by the space of underground tunnels in coal mines, drilling rigs are compact in structure, hydraulic pipelines are of different thicknesses, densely arranged, and difficult to maintain. Mining equipment is also gradually developing towards automation, intelligence, and greening, and electric drive technology has the advantages of high efficiency, small space occupation, and easy maintenance. The electric drive of drilling rig components will become a key technology for future drilling rig upgrades.

[0003] Among the current drilling equipment products, drilling rigs are still dominated by hydraulic systems with complex pipelines. Moreover, the response speed and control accuracy of the hydraulic system are not as good as those of electronic control technology. The feed speed and rotation speed are manually controlled separately, or the control program calibration response is not timely, which leads to damage to the drill pipe when the drill pipe is unfastened, and the service life of the drill pipe is greatly reduced.

[0004] At present, there are still many problems in the automation process of drilling rigs. The main problems of drilling devices are concentrated in the following three points: (1) Since the electric drive has no buffering characteristics compared to the hydraulic drive, it is easy for the rotary motor and feed motor to lock, causing equipment damage; (2) When performing the thread removal operation on the drill pipe, it is easy to cause thread strain or sticking; (3) During the drilling process, the feed speed and the rotation speed are not reasonably matched, resulting in low overall drilling efficiency. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an electric-driven drilling device and method suitable for an automated drilling rig, so as to solve the problems in the prior art that the electric-driven drilling device itself has no buffering characteristics, the motor is easily locked, resulting in equipment damage, and the overall drilling efficiency of the drilling method is low.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems: an electric-driven drilling device suitable for an automated drilling rig, comprising a crawler body and a drilling device installed on the crawler body, the drilling device being connected to the crawler body through an angle adjustment device, the drilling device comprising a feeding body, a screw assembly installed in the feeding body, a drag plate assembly installed on the feeding body and connected to the screw assembly, a power head assembly installed on the drag plate assembly, and a clamping and shackle unit installed on the feeding body.

[0007] The lead screw assembly can drive the carriage assembly to move linearly along the upper surface of the feed body.

[0008] A first buffer spring is installed between the power head assembly and the carriage assembly, and a second buffer spring is installed between the carriage assembly and the lead screw assembly.

[0009] The present invention also has the following technical features:

[0010] The feed fuselage comprises a rectangular fuselage frame with open top and bottom and a feed motor mounting plate and a brake mounting plate installed at both ends of the fuselage frame. A carriage guide rail is also installed parallel to the top of the fuselage frame, and the carriage assembly is installed on the carriage guide rail.

[0011] The fuselage frame is connected to the angle adjustment device.

[0012] A pull-rope displacement sensor is also installed on the fuselage frame, and the pull-rope displacement sensor is also connected to the drag plate assembly.

[0013] The lead screw assembly comprises a lead screw motor mounted on the side of the motor mounting plate facing away from the fuselage frame and a lead screw connected to the lead screw motor. A lead screw nut is sleeved on the lead screw, and the lead screw nut is connected to the carriage assembly.

[0014] The first buffer spring is installed between the lead screw nut and the carriage assembly.

[0015] The first buffer spring is a disc spring.

[0016] The lead screw assembly also includes a brake installed on the side of the brake mounting plate facing away from the fuselage frame, and the brake is connected to the lead screw.

[0017] The lead screw assembly also includes a pair of lead screw supports mounted on and connected to the fuselage frame.

[0018] The screw support member comprises a screw support plate sleeved on the outer side of the screw and a pair of screw support bearings sleeved on the inner side of the screw support plate, and the screw support bearings are sleeved on the screw.

[0019] A bearing outer retaining ring and a bearing inner retaining ring are installed between the pair of screw support bearings, and bearing end covers are respectively covered on both sides of the pair of screw support bearings. The bearing end covers are sleeved on the outside of the screw and connected to the screw support.

[0020] The screw motor and the screw are connected via a coupling.

[0021] The bearing end cover is connected to the screw support by bolts.

[0022] The carriage assembly comprises a carriage body, a guide rail groove is formed on the bottom surface of the carriage body, and the carriage body is installed on the carriage guide rail through the guide rail groove.

[0023] The drag plate assembly also includes a pair of power head mounting pins installed on the upper surface of the drag plate body. The two ends of the power head mounting pins are connected to the upper surface of the drag plate body through a power head mounting seat. The direction of the power head mounting pins is parallel to the direction of the guide rail groove. The power head assembly is installed on the power head mounting pins.

[0024] The second buffer spring is installed on the power head mounting pin, one end of which is in contact with the mounting seat, and the other end of which is in contact with the power head assembly.

[0025] The carriage assembly also includes a screw nut connection seat installed on the lower surface of the carriage body. The screw nut connection seat includes a pair of clamping plates installed in parallel on the lower surface of the carriage body. The clamping plates are provided with screw accommodating grooves.

[0026] The lead screw passes through the lead screw accommodating groove, the lead screw nut is located between a pair of clamping plates, and the first buffer spring is in contact with the clamping plates.

[0027] A rib plate is also installed between the clamping plate and the lower surface of the carriage body.

[0028] The carriage assembly further comprises an ear seat mounted on the lower surface of the carriage body, and the pull rope displacement sensor is connected to the ear seat.

[0029] A lining plate is also installed on the inner side of the guide rail groove, and mud scrapers are also installed on both ends of the guide rail groove.

[0030] The clamping shackle unit comprises a clamp and a shackle mounted on a clamping shackle bottom plate.

[0031] The clamper comprises a clamper support plate and a clamper motor installed on the bottom surface of the clamper support plate, and the output shaft of the clamper motor passes through the clamper support plate and is connected to the first bevel gear shaft.

[0032] The clamp also includes a pair of clamp bodies mounted on the top surface of the clamp support plate through the clamp guide rails. Clamping slip installation grooves are provided on the opposite side surfaces of the pair of clamp bodies, and clamp slips are installed in the clamping slip installation grooves.

[0033] The first bevel gear shaft is meshed with a pair of second bevel gear shafts, and the pair of second bevel gear shafts are respectively equipped with a clamp lead screw, the clamp body is passed through the clamp lead screw, and the clamp lead screw is connected to the clamp support plate through a clamp lead screw mounting seat.

[0034] The clamp support plate is connected to the brake mounting plate, and a pair of clamp side plates are also installed on the lower surface of the clamp support plate, and the clamp side plates are connected to the clamp shackle bottom plate.

[0035] The shackle comprises a first shackle mounting plate vertically mounted on the clamping shackle bottom plate and a second shackle mounting plate vertically mounted on the clamper support plate, and a shackle rotating frame is also installed between the first shackle mounting plate and the second shackle mounting plate.

[0036] The shackle device also includes a shackle device rotating frame, which includes a shackle device rotating base plate and a shackle device rotating side plate vertically installed at both ends of the shackle device rotating base plate, one side of the shackle device rotating side plate is rotatably connected to the first shackle device mounting plate, and the other side of the shackle device rotating side plate is rotatably connected to the second shackle device mounting plate.

[0037] The shackle device further comprises a shackle device motor installed on the bottom surface of the shackle device rotating bottom plate, and a third bevel gear is installed on the output shaft of the shackle device motor.

[0038] The third bevel gear is meshed with a pair of fourth bevel gears.

[0039] The pair of fourth bevel gears are also respectively equipped with breaker screws, the breaker screws are penetrated by breaker mounting blocks, and the breaker screws are connected to the breaker rotating base plate through the breaker screw mounting seat.

[0040] The shackle device also includes a pair of shackle device bodies installed on the top surface of the shackle device rotating bottom plate through the shackle device guide rail, and the pair of shackle device bodies are provided with shackle slip installation grooves on the opposite side surfaces, and the shackle slip installation grooves are installed with shackle device slips, and the pair of shackle device bodies are respectively connected to the shackle device mounting blocks.

[0041] The shackle device also includes an electric cylinder installed on the shackle clamping bottom plate, one end of the electric cylinder is hinged to the shackle clamping bottom plate, and the other end is hinged to the shackle device rotating bottom plate.

[0042] The feed fuselage further comprises front and rear top assemblies mounted at the bottom of the fuselage frame, and the telescopic direction of the front and rear top assemblies is parallel to the moving direction of the drag plate assembly.

[0043] The electric-driven drilling device suitable for an automated drilling rig also includes a sensor system, which includes: a position sensor installed on the drag plate guide rail, an angle sensor installed on the rotating shaft of the power head assembly, a torque sensor installed on the rotating shaft of the power head assembly, a force feedback sensor installed between the drag plate assembly and the second buffer spring, and a PLC assembly.

[0044] The position sensor, angle sensor, torque sensor and force feedback sensor are connected to the PLC component respectively.

[0045] An electric-driven drilling method suitable for an automated drilling rig is used to control the above-mentioned electric-driven drilling device suitable for the automated drilling rig.

[0046] The relationship between the rotation speed of the power head assembly and the linear speed of the carriage assembly must meet the following requirements:

[0047] v=p×ω

[0048] in:

[0049] v: Linear speed of the carriage assembly, in millimeters per second.

[0050] p: Pitch of drill pipe thread, in millimeters.

[0051] ω: Rotational speed of the power head assembly, in revolutions per second.

[0052] The movement of the carriage assembly consists of three stages: acceleration, constant speed and deceleration, wherein:

[0053] Speed ​​curve formula in the acceleration phase:

[0054]

[0055] Among them, v max is the maximum speed of the carriage assembly, t acc For the acceleration time.

[0056] Speed ​​curve formula in the deceleration phase:

[0057]

[0058] Among them, t dec is the deceleration time.

[0059] Compared with the prior art, the present invention has the following technical effects:

[0060] (I) The present invention provides an electric-driven drilling device suitable for an automated drilling rig, which adopts a double buffer spring design of a first buffer spring and a second buffer spring. The first buffer spring is installed between the power head assembly and the carriage assembly. In the initial stage of fastening the active drill rod and the newly added drill rod male and female joints, it can effectively avoid damage to the outer thread due to untimely rotation. The second buffer spring installed between the carriage assembly and the lead screw assembly is used to buffer the impact of the axial reaction force on the lead screw and avoid damage to the motor due to a sudden increase in the hardness of the coal and rock formations.

[0061] (II) The present invention provides an electric-driven drilling method suitable for an automated drilling rig. The present invention replaces the traditional hydraulic system with an electric drive system to drive the movement of the support plate assembly and the rotator, and combines an adaptive control algorithm to ensure the coordinated operation between the screw motor and the rotator motor during the process of making and breaking the screw, thereby reducing the wear of the drill rod thread.

[0062] (III) The present invention provides an electric-driven drilling method suitable for an automated drilling rig, which can match and adjust the feed and rotary motion according to real-time feedback parameters to achieve efficient drilling under different geological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 The present invention is a schematic diagram of the overall structure of an electric-driven drilling device suitable for an automated drilling rig.

[0064] Figure 2 It is a structural schematic diagram of the drilling device of the present invention.

[0065] Figure 3 It is a schematic diagram of the structure of the screw support of the present invention.

[0066] Figure 4 It is a schematic diagram of the structure of the screw assembly of the present invention.

[0067] Figure 5 It is a schematic structural diagram of the clamping shackle unit of the present invention.

[0068] Figure 6 It is a schematic diagram of the bottom structure of the shackle of the present invention.

[0069] Figure 7 It is a schematic diagram of the structure of the shackle of the present invention.

[0070] Figure 8 It is a schematic diagram of the structure of the clamp of the present invention.

[0071] Fig. 9 It is a schematic diagram of the structure of the carriage assembly of the present invention.

[0072] The meaning of each symbol in the accompanying drawings:

[0073] 1- crawler vehicle, 2- drilling device, 3- angle adjustment device.

[0074] 2-1-feeding body, 2-2-screw assembly, 2-3-drag plate assembly, 2-4-power head assembly, 2-5-clamping shackle unit, 2-6-first buffer spring, 2-7-second buffer spring.

[0075] 2-1-1-fuselage frame, 2-1-2-feed motor mounting plate, 2-1-3-brake mounting plate, 2-1-4-drag plate guide rail, 2-1-5-pull rope displacement sensor, 2-1-6-front and rear tops.

[0076] 2-2-1 screw motor, 2-2-2 screw, 2-2-3 screw nut, 2-2-4 brake, 2-2-5 screw support,

[0077] 2-3-1- carriage body, 2-3-2- guide rail groove, 2-3-3- power head mounting pin, 2-3-4- power head mounting seat, 2-3-5- lead screw nut connecting seat, 2-3-6- ear seat, 2-3-7 lining plate, 2-3-8 scraper plate,

[0078] 2-5-1 clamping shackle bottom plate, 2-5-2 clamp, 2-5-3 shackle,

[0079] 2-2-5-1-screw support plate, 2-2-5-2-screw support bearing, 2-2-5-3-bearing outer retaining ring, 2-2-5-4-bearing inner retaining ring, 2-2-5-5-bearing end cover,

[0080] 2-3-5-1-cage, 2-3-5-2-screw receiving groove, 2-3-5-3-rib plate,

[0081] 2-5-2-1-clamp support plate, 2-5-2-2-clamp motor, 2-5-2-3-first bevel gear shaft, 2-5-2-4-clamp guide rail, 2-5-2-5-clamp body, 2-5-2-6-clamping slip installation groove, 2-5-2-7-clamping slip, 2-5-2-8-second bevel gear shaft, 2-5-2-9-clamp lead screw, 2-5-2-10-clamp lead screw mounting seat, 2-5-2-11-clamp side plate,

[0082] 2-5-3-1-first shackle mounting plate, 2-5-3-2-second shackle mounting plate, 2-5-3-3-shackle rotating frame, 2-5-3-4-shackle motor, 2-5-3-5-third bevel gear, 2-5-3-6-fourth bevel gear, 2-5-3-7-shackle screw, 2-5-3-8-shackle mounting block, 2-5-3-9-shackle screw mounting seat, 2-5-3-10-shackle guide rail, 2-5-3-11-shackle body, 2-5-3-12-electric cylinder,

[0083] 2-5-3-3-1 - Shackle rotating bottom plate, 2-5-3-3-2 - Shackle rotating side plate.

[0084] The specific contents of the present invention are further explained in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0085] All components in the present invention, unless otherwise specified, are components known in the prior art.

[0086] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0087] Embodiment 1:

[0088] This embodiment provides an electric-driven drilling device suitable for an automated drilling rig, as shown in FIG1 , comprising a track body 1 and a drilling device 2 mounted on the track body 1 , wherein the drilling device 2 is connected to the track body 1 via an angle adjustment device 3 .

[0089] The drilling device 2 includes a feed body 2-1, a screw assembly 2-2 installed in the feed body 2-1, a drag plate assembly 2-3 installed on the feed body 2-1 and connected to the screw assembly 2-2, a power head assembly 2-4 installed on the drag plate assembly 2-3, and a clamping and shackle unit 2-5 installed on the feed body 2-1.

[0090] The lead screw assembly 2-2 can drive the carriage assembly 2-3 to move linearly along the upper surface of the feed body 2-1.

[0091] A first buffer spring 2-6 is installed between the power head assembly 2-4 and the drag plate assembly 2-3, and a second buffer spring 2-7 is installed between the drag plate assembly 2-3 and the lead screw assembly 2-2.

[0092] The first buffer spring 2-6 between the power head assembly 2-4 and the drag plate assembly 2-3 is used to buffer the impact of the axial reaction force on the lead screw and avoid damage to the motor due to a sudden increase in the hardness of the coal rock formation.

[0093] The second buffer spring 2-7 installed between the drag plate assembly 2-3 and the lead screw assembly 2-2 can effectively prevent the outer thread from being damaged due to untimely rotation in the initial stage of threading the active drill rod and the newly added drill rod male and female joints.

[0094] The main protection points are: first, a second buffer spring 2-7 is reserved at the connection between the power head assembly 2-4 and the drag plate assembly 2-3 to prevent dead travel and buffering; second, a disc spring mechanism is used between the drag plate assembly 2-3 and the screw assembly 2-2.

[0095] The electric drive clamping and shackle unit 2-5 mainly includes a clamp and a shackle. The clamping function is realized by using a helical gear and a lead screw connection method. The shackle side uses an electric cylinder to enable the shackle to rotate around the drill pipe to loosen the thread.

[0096] As a preferred embodiment of this invention:

[0097] The feed fuselage 2-1 includes a rectangular fuselage frame 2-1-1 with open top and bottom, and a feed motor mounting plate 2-1-2 and a brake mounting plate 2-1-3 installed at both ends of the fuselage frame 2-1-1. A carriage guide rail 2-1-4 is also installed parallel to the top of the fuselage frame 2-1-1, and the carriage assembly 2-3 is installed on the carriage guide rail 2-1-4.

[0098] The fuselage frame 2 - 1 - 1 is connected to the angle adjustment device 3 .

[0099] A pull-rope displacement sensor 2-1-5 is also installed on the fuselage frame 2-1-1, and the pull-rope displacement sensor 2-1-5 is also connected to the drag plate assembly 2-3.

[0100] As a preferred embodiment of this invention:

[0101] The screw assembly 2-2 includes a screw motor 2-2-1 installed on the side of the feed motor mounting plate 2-1-2 facing away from the fuselage frame 2-1-1 and a screw 2-2-2 connected to the screw motor 2-2-1, a screw nut 2-2-3 is sleeved on the screw 2-2-2, and the screw nut 2-2-3 is connected to the drag plate assembly 2-3.

[0102] The first buffer spring 2-6 is installed between the lead screw nut 2-2-3 and the carriage assembly 2-3.

[0103] As a preferred embodiment of this invention:

[0104] The first buffer spring 2-6 is a disc spring.

[0105] The screw assembly 2-2 also includes a brake 2-2-4 mounted on the side of the brake mounting plate 2-1-3 facing away from the fuselage frame 2-1-1, and the brake 2-2-4 is connected to the screw 2-2-2.

[0106] Three sets of disc springs are mounted on both sides of the screw nut 2-2-3 for transmitting thrust, which are used to reduce the damage to the screw assembly 2-2 caused by the impact force by compressing the disc springs when the resistance suddenly increases during drilling.

[0107] As a preferred embodiment of this invention:

[0108] The screw assembly 2-2 also includes a pair of screw supports 2-2-5 mounted on the fuselage frame 2-1-1 and connected to the fuselage frame 2-1-1.

[0109] The screw support 2-2-5 includes a screw support plate 2-2-5-1 sleeved on the outside of the screw 2-2-2 and a pair of screw support bearings 2-2-5-2 sleeved on the inside of the screw support plate 2-2-5-1. The screw support bearings 2-2-5-2 are sleeved on the screw 2-2-2.

[0110] A bearing outer retaining ring 2-2-5-3 and a bearing inner retaining ring 2-2-5-4 are also installed between the pair of screw support bearings 2-2-5-2, and bearing end covers 2-2-5-5 are respectively covered on both sides of the pair of screw support bearings 2-2-5-2. The bearing end covers 2-2-5-5 are sleeved on the outside of the screw 2-2-2 and connected to the screw support 2-2-5.

[0111] The entire screw assembly is equipped with two sets of screw supports 2-2-5. The screw will be subjected to axial force when pulled out with force. Therefore, a pair of tapered roller bearings are selected for the screw support bearing 2-2-5-2 close to the side of the screw motor 2-2-1. The two bearings are isolated by the bearing outer retaining ring 2-2-5-3 and the bearing inner retaining ring 2-2-5-4. The outer sides are fixed with bearing end covers 2-2-5-5 to maintain the clearance fit and leave a slight floating clearance to prevent the inner ring of the bearing from being damaged by unbalanced pressure when rotating at high speed. The inner ring on the outer side is limited by the screw shaft step and is tightened at one end with a locking nut and a locking washer.

[0112] Because the force on the front end is relatively small, the screw support bearing 2-2-5-2 on the side away from the screw motor 2-2-1 adopts a deep groove ball bearing, one outer inner ring is limited by the shaft step, and the other outer inner ring is limited by a retaining spring. Both outer outer rings are fixed by the front bearing end cover to maintain clearance fit and leave a slight floating clearance to prevent the inner ring of the bearing from being damaged when rotating at high speed. The other end of the screw 2-2-2 is connected to the brake 2-2-4 through a spline to achieve the purpose of rapid stopping.

[0113] As a preferred embodiment of this invention:

[0114] The screw motor 2-2-1 and the screw 2-2-2 are connected via a coupling, and the bearing end cover 2-2-5-5 is connected to the screw support 2-2-5 via bolts.

[0115] As a preferred embodiment of this invention:

[0116] The carriage assembly 2-3 includes a carriage body 2-3-1, a guide rail groove 2-3-2 is formed on the bottom surface of the carriage body 2-3-1, and the carriage body 2-3-1 is installed on the carriage guide rail 2-1-4 through the guide rail groove 2-3-2.

[0117] The drag plate assembly 2-3 also includes a pair of power head mounting pins 2-3-3 installed on the upper surface of the drag plate body 2-3-1. Both ends of the power head mounting pins 2-3-3 are connected to the upper surface of the drag plate body 2-3-1 through a power head mounting seat 2-3-4. The direction of the power head mounting pins 2-3-3 is parallel to the direction of the guide rail groove 2-3-2. The power head assembly 2-4 is installed on the power head mounting pins 2-3-3.

[0118] The second buffer spring 2-7 is installed on the power head mounting pin 2-3-3, one end of which is in contact with the power head mounting seat 2-3-4, and the other end of which is in contact with the power head assembly 2-4.

[0119] The carriage assembly 2-3 also includes a screw nut connecting seat 2-3-5 installed on the lower surface of the carriage body 2-3-1, and the screw nut connecting seat 2-3-5 includes a pair of clamping plates 2-3-5-1 installed in parallel on the lower surface of the carriage body 2-3-1, and the clamping plates 2-3-5-1 are provided with screw accommodating grooves 2-3-5-2.

[0120] The lead screw 2-2-2 passes through the lead screw accommodating groove 2-3-5-2, the lead screw nut 2-2-3 is located between a pair of clamping plates 2-3-5-1, and the first buffer spring 2-6 is in contact with the clamping plate 2-3-5-1.

[0121] A rib plate 2-3-5-3 is also installed between the clamping plate 2-3-5-1 and the lower surface of the carriage body 2-3-1.

[0122] The carriage assembly 2-3 also includes an ear seat 2-3-6 installed on the lower surface of the carriage body 2-3-1, and the pull rope displacement sensor 2-1-5 is connected to the ear seat 2-3-6.

[0123] A lining plate 2-3-7 is also installed on the inner side of the guide rail groove 2-3-2, and mud scrapers 2-3-8 are also installed on both ends of the guide rail groove 2-3-2.

[0124] As a preferred embodiment of this invention:

[0125] The clamping shackle unit 2-5 comprises a clamp 2-5-2 and a shackle 2-5-3 mounted on a clamping shackle base plate 2-5-1.

[0126] The clamper 2-5-2 includes a clamper support plate 2-5-2-1 and a clamper motor 2-5-2-2 installed on the bottom surface of the clamper support plate 2-5-2-1, and the output shaft of the clamper motor 2-5-2-2 passes through the clamper support plate 2-5-2-1 and is connected to the first bevel gear shaft 2-5-2-3.

[0127] The clamp 2-5-2 also includes a pair of clamp bodies 2-5-2-5 installed on the top surface of the clamp support plate 2-5-2-1 through a clamp guide rail 2-5-2-4, and clamping cava installation grooves 2-5-2-6 are provided on the opposite side surfaces of the pair of clamp bodies 2-5-2-5, and clamping cava installation grooves 2-5-2-6 are installed with clamping cava 2-5-2-7.

[0128] The first bevel gear shaft 2-5-2-3 is meshed with a pair of second bevel gear shafts 2-5-2-8, and the pair of second bevel gear shafts 2-5-2-8 are also respectively equipped with clamper screws 2-5-2-9, the clamper body 2-5-2-5 is passed through the clamper screw 2-5-2-9, and the clamper screw 2-5-2-9 is connected to the clamper support plate 2-5-2-1 through the clamper screw mounting seat 2-5-2-10.

[0129] The clamp support plate 2-5-2-1 is connected to the brake mounting plate 2-1-3, and a pair of clamp side plates 2-5-2-11 are also installed on the lower surface of the clamp support plate 2-5-2-1, and the clamp side plates 2-5-2-11 are connected to the clamping shackle bottom plate 2-5-1.

[0130] One side of the clamp body 2-5-2-5 is connected to the clamp guide rail 2-5-2-4 through a dovetail groove, and the other side is connected to the clamp lead screw 2-5-2-9. The clamp body 2-5-2-5 is distributed on the left and right, each is equipped with a clamp slip 2-5-2-7. The clamp bodies 2-5-2-5 on both sides are driven by different lead screws. The two lead screws and the motor adopt bevel gear transmission. To ensure the transmission, the two clamp bodies 2-5-2-5 move in opposite directions, so as to achieve drill pipe clamping.

[0131] The shackle 2-5-3 includes a first shackle mounting plate 2-5-3-1 vertically mounted on the clamping shackle bottom plate 2-5-1 and a second shackle mounting plate 2-5-3-2 vertically mounted on the clamper support plate 2-5-2-1, and a shackle rotating frame 2-5-3-3 is also installed between the first shackle mounting plate 2-5-3-1 and the second shackle mounting plate 2-5-3-2.

[0132] The shackle rotating frame 2-5-3-3 includes a shackle rotating base plate 2-5-3-3-1 and shackle rotating side plates 2-5-3-3-2 vertically installed at both ends of the shackle rotating base plate 2-5-3-3-1, one side of the shackle rotating side plate 2-5-3-3-2 is rotatably connected to the first shackle mounting plate 2-5-3-1, and the other side of the shackle rotating side plate 2-5-3-3-2 is rotatably connected to the second shackle mounting plate 2-5-3-2.

[0133] The breaker 2-5-3 also includes a breaker motor 2-5-3-4 installed on the bottom surface of the breaker rotating base plate 2-5-3-3-1, and a third bevel gear 2-5-3-5 is installed on the output shaft of the breaker motor 2-5-3-4.

[0134] The third bevel gear 2-5-3-5 is meshed with a pair of fourth bevel gears 2-5-3-6.

[0135] The pair of fourth bevel gears 2-5-3-6 are also respectively mounted with breaker screws 2-5-3-7, and the breaker screws 2-5-3-7 are penetrated by breaker mounting blocks 2-5-3-8, and the breaker screws 2-5-3-7 are connected to the breaker rotating base plate 2-5-3-3-1 through breaker screw mounting seats 2-5-3-9.

[0136] The shackle 2-5-3 also includes a pair of shackle bodies 2-5-3-11 installed on the top surface of the shackle rotating base plate 2-5-3-3-1 through the shackle guide rail 2-5-3-10, and the pair of shackle bodies 2-5-3-11 are provided with shackle slip installation grooves on the opposite side surfaces, and the shackle slip installation grooves are installed with shackle slips, and the pair of shackle bodies 2-5-3-11 are respectively connected to the shackle mounting blocks 2-5-3-8.

[0137] The shackle device 2-5-3 also includes an electric cylinder 2-5-3-12 installed on the clamping shackle bottom plate 2-5-1, one end of the electric cylinder 2-5-3-12 is hinged to the clamping shackle bottom plate 2-5-1, and the other end is hinged to the shackle device rotating bottom plate 2-5-3-3-1.

[0138] The shackle rotating frame 2-5-3-3 is a whole, and when the electric cylinder 2-5-3-12 acts, it can drive the shackle to rotate 10° to 15° to complete the shackle.

[0139] As a preferred embodiment of this invention:

[0140] The feeding fuselage 2-1 also includes front and rear top assemblies 2-1-6 installed at the bottom of the fuselage frame 2-1-1. The telescopic direction of the front and rear top assemblies 2-1-6 is parallel to the moving direction of the drag plate assembly 2-3; it is used to fix the relative position of the entire device.

[0141] As a preferred embodiment of this invention:

[0142] The electric-driven drilling device suitable for the automated drilling rig also includes a sensor system.

[0143] The sensor system comprises:

[0144] The position sensor installed on the pallet guide rail 2-1-4 adopts a drag chain system and is installed on the guide rail to detect the position of the pallet.

[0145] An angle sensor is installed on the rotating shaft of the power head assembly 2-4; the angle sensor slip ring is installed on the rotating shaft of the power head to monitor the rotation angle of the power head assembly 2-4.

[0146] The torque sensor installed on the rotating shaft of the power head assembly 2-4 is used to monitor the torque output of the power head assembly 2-4.

[0147] The force feedback sensor installed between the drag plate assembly 2-3 and the second buffer spring 2-7 adopts a thin-film pressure sensor to detect the reaction force during the drill pipe docking process in real time. The force feedback sensor is installed between the drag plate assembly 2-3 and the second buffer spring 2-7.

[0148] PLC component, the PLC component is a system controller, which is used to receive feedback data from the sensor.

[0149] The position sensor, angle sensor, torque sensor and force feedback sensor are connected to the PLC component respectively.

[0150] Embodiment 2:

[0151] An electric-driven drilling method suitable for an automated drilling rig is used to control the above-mentioned electric-driven drilling device suitable for the automated drilling rig.

[0152] The relationship between the rotation speed of the power head assembly and the linear speed of the carriage assembly must meet the following requirements:

[0153] v=p×ω

[0154] in:

[0155] v: Linear speed of the carriage assembly, in millimeters per second.

[0156] p: Pitch of drill pipe thread, in millimeters.

[0157] ω: Rotational speed of the power head assembly, in revolutions per second.

[0158] The movement of the carriage assembly consists of three stages: acceleration, constant speed and deceleration, wherein the speed curve formula of the acceleration stage is:

[0159]

[0160] Among them, v max is the maximum speed of the carriage assembly, t acc For the acceleration time.

[0161] Speed ​​curve formula in the deceleration phase:

[0162]

[0163] Among them, t dec is the deceleration time.

[0164] The control input of the screw motor is:

[0165]

[0166] Power head assembly mechanism control output:

[0167]

[0168] Where: e p (t) is the position error, x target is the target position, and x(t) is the actual position:

[0169] e p (t) = x target -x(t)

[0170] Where: e w (t) is the gyrator error, w target is the target speed, w(t) is the actual speed:

[0171] e w (t) = w target -w(t)

[0172] in:

[0173]

[0174] Kp0 , K i0 , K d0 : Default initial parameters.

[0175] e(t): real-time error between the pallet position and the rotor speed, e w (t), e p (t) all belong to e(t).

[0176] Error change rate,

[0177] H(t): Influence of historical data.

[0178] α p , β p , γ p , α i , β i , γ i , α d , β d , γ d : Adjustment coefficient, used to adjust the weight of each gain parameter.

[0179] (5) The real-time drilling speed, rotary torque and other signals are collected through sensors. Assume that the signal is x(t). After data preprocessing, the short-time Fourier transform (STFT) is used to obtain the time-frequency matrix M(τ, f), and feature extraction is performed on it:

[0180]

[0181] Where: x(t) is the time domain signal.

[0182] w(t-τ) is a serial function translated to time τ, usually:

[0183]

[0184] f: frequency.

[0185] τ: Time step length.

[0186] The above methods are commonly used in this field, so they are not explained in great detail.

[0187] The extracted feature data is used as a feature set and divided into a training set and a test set to ensure that the data of each signal segment corresponds to its coal seam hardness category. Then the random forest model is used for classification. In real-time operation, the features of the real-time signal are extracted and input into the trained random forest classifier. The classifier outputs the corresponding coal seam hardness category (for example, hard, relatively hard, medium, relatively soft, soft, etc.) as the input of the control system. The control system adjusts the parameters again based on the output of the classifier.

[0188] Exception handling and safety mechanisms include:

[0189] Monitor the servo motor's torque output and force feedback data in real time.

[0190] Force sensors are installed at key locations on the rotator to monitor the reaction forces that may be generated during the drill pipe docking process in real time. The system is able to detect even the slightest force change and respond in a timely manner.

[0191] The system continuously monitors the torque output by the motor through the torque sensor. When the torque exceeds the safe torque, the system automatically decelerates or pauses to prevent the motor or other components from being damaged due to overload.

[0192] Multi-axis collaborative control: PLC connects servo drives and sensors through a high-speed communication bus to achieve synchronous or independent control of the screw motor and rotator motor.

[0193] Real-time data processing: PLC processes real-time data from position sensors, angle sensors, torque sensors and force feedback sensors, and adjusts motor output according to preset control algorithms to ensure accurate and stable system operation.

[0194] Fault detection and response: The PLC continuously monitors the system's operating status and, when a fault or anomaly is detected, executes a predetermined response measure, such as adjusting motor output, triggering an alarm, or initiating an emergency stop mechanism.

[0195] The specific working process of the present invention is:

[0196] (1) Adding rod operation:

[0197] The clamp 2-5-2 is in an open state before the drill rod is sent to it by the transfer robot. When the drill rod reaches the center of the clamp slip 2-5-2-7, the clamp motor 2-5-2-2 rotates, and the first bevel gear shaft 2-5-2-3 at the output end engages with the second bevel gear shaft 2-5-2-8, and the clamp lead screw 2-5-2-9 rotates, driving the clamp body 2-5-2-5 to move toward the center of the drill rod on the clamp guide rail 2-5-2-4 until the drill rod is clamped.

[0198] The screw motor 2-2-1 starts, the screw nut 2-2-3 on the screw 2-2-2 moves forward, the first buffer spring 2-6 at the front end of the screw nut 2-2-3 is compressed, and the thrust pushes the support plate assembly 2-3. At this time, the power head assembly 2-4 is in the front section of the support plate assembly 2-3, and the support plate assembly 2-3 drives the power head assembly 2-4 to move forward along the drag plate guide rail 2-1-4. The active drill rod male buckle installed on the power head assembly 2-4 gradually enters the drill rod female buckle transported by the transfer manipulator. At this time, when the power head is not rotating, the male buckle can travel 20mm. Under the reaction force of the front drill rod female buckle on the active drill rod, after this stroke, the power head position moves backward on the support plate assembly 2-3, compressing the second buffer spring 2-7 of the power head mounting pin 2-3-3. After the force sensor detects that the external force changes to a certain threshold, the power head assembly 2-4 motor starts to rotate. Under the joint action of feeding, the active drill rod begins to connect the newly added drill rod. After the two threads are fully connected, the newly added drill rod is locked by the clamp, and the rotation of the power head assembly 2-4 will be subject to a sudden increase in torque. When a sudden change in the rotation resistance is detected, the power head assembly 2-4 stops rotating, the clamp is released, and the feeding continues. During this period, the reaction force generated by the locking of the new drill rod is absorbed by the first buffer spring 2-6 and the second buffer spring 2-7. After the clamp 2-5-2 is released, the power head assembly 2-4 will move forward on the support plate assembly 2-3, releasing the compression of the second buffer spring 2-7. When the new drill rod male buckle is connected to the drill rod female buckle in the hole, the above scheme is continued until the two are fully connected, the buckle breaker 2-5-3 is opened, and the power head rotates and feeds synchronously to complete the drilling operation.

[0199] (2) Unloading operation:

[0200] When preparing to unload the drill, in order to prevent the drill from falling, the motor of the power head assembly 2-4 continues to rotate forward, the screw motor 2-2-1 rotates reversely, and the support plate assembly 2-3 drives the power head assembly 2-4 to pull the drill rod in the hole out. When the threaded connection between the unloaded drill rod and the drill rod in the hole is in the middle position of the clamp 2-5-2 and the unloader 2-5-3, the motor of the power head assembly 2-4 and the screw motor 2-2-1 stop. The unloader 2-5-3 and the clamp 2-5-2 change from the open state to the closed state, the unloader 2-5-3 clamps the drill rod in the hole, and the clamp 2-5-2 clamps the unloaded drill rod. The electric cylinder 2-5-3-12 pushes the rotating bottom plate 2-5-3-3-1 of the breaker to rotate around the drill rod in the hole. At this time, the thread between the two drill rods is loosened, but not completely detached. The clamp 2-5-2 releases the unloaded drill rod, the motor of the power head assembly 2-4 reverses, and the screw motor 2-2-1 reverses. Because the active drill rod is completely combined with the unloaded drill rod, and the thread of the unloaded drill rod and the drill rod in the hole is loose, at this time, it should be ensured that the power head assembly 2-4 is in the front section of the support plate assembly 2-3, and the power head assembly 2-4 is in the front section of the support plate assembly 2-3. The motor of the force head assembly 2-4 reverses to disengage the unloaded drill rod from the drill rod in the hole. After the two are separated, the rotation stops. After the clamp 2-5-2 clamps the unloaded drill rod, the screw motor 2-2-1 reverses, and the ball nut pulls the support plate assembly 2-3 backward until the support plate assembly 2-3 reaches the rear end limit position of the feed body 2-1. The screw motor 2-2-1 stops, the transfer robot clamps the unloaded drill rod, and the clamp 2-5-2 is released. The unloaded drill rod is transferred to the drill rod box to complete the unloading of the rod.

[0201] The sensors collect real-time data such as drilling pressure and rotary torque, extract signal features using short-time Fourier transform, and identify coal seam hardness using random forest networks. The drilling speed and rotation speed are automatically adjusted based on this. The PID controller is used to achieve linkage adjustment of drilling pressure and torque, and an error feedback mechanism is introduced to ensure the stability and efficiency of the system under complex coal seam conditions by fine-tuning the drilling speed. This method improves the automation and adaptability of the drilling rig by optimizing drilling parameters in real time.

[0202] The feed and rotation adaptive combined control algorithm of the present invention provides a synchronous control system of the electric drilling rig pallet and the rotator based on PID control. The system realizes the smooth movement of the pallet and the synchronous rotation of the rotator through PID control. The acceleration and deceleration curves of the pallet are calculated by cubic polynomial interpolation method to ensure acceleration from static to maximum speed and smooth deceleration to stop. The rotator angle is responded by the motor to ensure the synchronization of the pallet position and the rotator rotation angle.

[0203] PID control is used to achieve smooth movement of the pallet and synchronous control of the rotator. The PID controller adjusts the driving force of the motor according to the real-time position error (i.e. the difference between the set position and the actual position) to ensure the synchronization of the pallet and the rotator during movement.

[0204] The entire action time is t, the feed distance is x, the single-start pitch is p, and the acceleration stage is t acc , constant speed stage t c Seconds, deceleration phase t dec Seconds. The maximum pallet speed is set to v max PID control parameters: proportional gain K p , integral gain K i , differential gain K d .

[0205] To ensure the coordination between the screw motor and the rotary motor during the process of making and breaking out the screw, thereby reducing the wear of the drill pipe thread; secondly, the matching between feed and rotation can be adjusted in real time according to the real-time feedback parameters to achieve efficient drilling under different geological conditions.

[0206] The above technical solutions are only preferred specific implementation methods of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be conceived by any technician familiar with the field within the technical scope disclosed by the present invention without creative work are all covered within the protection scope of the present invention.

Claims

1. An electric-driven drilling device suitable for an automated drilling rig, comprising a crawler body (1) and a drilling device (2) mounted on the crawler body (1), wherein the drilling device (2) is connected to the crawler body (1) via an angle adjustment device (3), and is characterized in that: The drilling device (2) comprises a feed body (2-1), a screw assembly (2-2) installed in the feed body (2-1), a carriage assembly (2-3) installed on the feed body (2-1) and connected to the screw assembly (2-2), a power head assembly (2-4) installed on the carriage assembly (2-3), and a clamping shackle unit (2-5) installed on the feed body (2-1); The lead screw assembly (2-2) can drive the carriage assembly (2-3) to move linearly along the upper surface of the feed body (2-1); A first buffer spring (2-6) is installed between the power head assembly (2-4) and the carriage assembly (2-3), and a second buffer spring (2-7) is installed between the carriage assembly (2-3) and the lead screw assembly (2-2).

2. An electric-driven drilling device suitable for an automated drilling rig as claimed in claim 1, characterized in that: The feed frame (2-1) comprises a rectangular frame (2-1-1) with an open top and a bottom, and a feed motor mounting plate (2-1-2) and a brake mounting plate (2-1-3) mounted at both ends of the frame (2-1-1); a carriage guide rail (2-1-4) is also mounted in parallel to the top of the frame (2-1-1); and the carriage assembly (2-3) is mounted on the carriage guide rail (2-1-4); The fuselage frame (2-1-1) is connected to the angle adjustment device (3); A pull-rope displacement sensor (2-1-5) is also installed on the fuselage frame (2-1-1), and the pull-rope displacement sensor (2-1-5) is also connected to the drag plate assembly (2-3).

3. An electric-driven drilling device suitable for an automated drilling rig as claimed in claim 2, characterized in that: The screw assembly (2-2) comprises a screw motor (2-2-1) mounted on a side of the feed motor mounting plate (2-1-2) facing away from the fuselage frame (2-1-1) and a screw (2-2-2) connected to the screw motor (2-2-1); a screw nut (2-2-3) is sleeved on the screw (2-2-2); and the screw nut (2-2-3) is connected to the carriage assembly (2-3); The first buffer spring (2-6) is installed between the lead screw nut (2-2-3) and the carriage assembly (2-3).

4. An electric-driven drilling device suitable for an automated drilling rig as claimed in claim 3, characterized in that: The first buffer spring (2-6) is a disc spring; The lead screw assembly (2-2) further comprises a brake (2-2-4) mounted on a side of the brake mounting plate (2-1-3) facing away from the fuselage frame (2-1-1), and the brake (2-2-4) is connected to the lead screw (2-2-2); The screw assembly (2-2) further comprises a pair of screw support members (2-2-5) mounted on the fuselage frame (2-1-1) and connected to the fuselage frame (2-1-1); The screw support member (2-2-5) comprises a screw support plate (2-2-5-1) sleeved on the outside of the screw (2-2-2) and a pair of screw support bearings (2-2-5-2) sleeved on the inside of the screw support plate (2-2-5-1), and the screw support bearings (2-2-5-2) are sleeved on the screw (2-2-2); A bearing outer retaining ring (2-2-5-3) and a bearing inner retaining ring (2-2-5-4) are also installed between the pair of screw support bearings (2-2-5-2), and bearing end covers (2-2-5-5) are respectively covered on both sides of the pair of screw support bearings (2-2-5-2), and the bearing end covers (2-2-5-5) are sleeved on the outside of the screw (2-2-2) and connected to the screw support member (2-2-5).

5. The electric-driven drilling device suitable for an automated drilling rig according to claim 4, characterized in that: The screw motor (2-2-1) and the screw (2-2-2) are connected via a coupling; The bearing end cover (2-2-5-5) is connected to the screw support (2-2-5) via bolts.

6. The electric-driven drilling device suitable for an automated drilling rig according to claim 2, characterized in that: The carriage assembly (2-3) comprises a carriage body (2-3-1), a guide rail groove (2-3-2) is formed on the bottom surface of the carriage body (2-3-1), and the carriage body (2-3-1) is installed on the carriage guide rail (2-1-4) through the guide rail groove (2-3-2); The carriage assembly (2-3) further comprises a pair of power head mounting pins (2-3-3) mounted on the upper surface of the carriage body (2-3-1); both ends of the power head mounting pins (2-3-3) are connected to the upper surface of the carriage body (2-3-1) via power head mounting seats (2-3-4); the direction of the power head mounting pins (2-3-3) is parallel to the direction of the guide rail groove (2-3-2); and the power head assembly (2-4) is mounted on the power head mounting pins (2-3-3); The second buffer spring (2-7) is installed on the power head mounting pin (2-3-3), one end of which is in contact with the power head mounting seat (2-3-4) and the other end of which is in contact with the power head assembly (2-4); The carriage assembly (2-3) further comprises a screw nut connection seat (2-3-5) mounted on the lower surface of the carriage body (2-3-1); the screw nut connection seat (2-3-5) comprises a pair of clamping plates (2-3-5-1) mounted in parallel on the lower surface of the carriage body (2-3-1); the clamping plates (2-3-5-1) are provided with screw receiving grooves (2-3-5-2); The lead screw (2-2-2) passes through the lead screw accommodating groove (2-3-5-2), the lead screw nut (2-2-3) is located between a pair of clamping plates (2-3-5-1), and the first buffer spring (2-6) is in contact with the clamping plate (2-3-5-1); A rib plate (2-3-5-3) is also installed between the clamping plate (2-3-5-1) and the lower surface of the carriage body (2-3-1); The carriage assembly (2-3) further comprises an ear seat (2-3-6) mounted on the lower surface of the carriage body (2-3-1), and the pull rope displacement sensor (2-1-5) is connected to the ear seat (2-3-6); A lining plate (2-3-7) is also installed on the inner side of the guide rail groove (2-3-2), and mud scrapers (2-3-8) are also installed on both ends of the guide rail groove (2-3-2).

7. The electric-driven drilling device suitable for an automated drilling rig according to claim 2, characterized in that: The clamping shackle unit (2-5) comprises a clamp (2-5-2) and a shackle (2-5-3) mounted on a clamping shackle bottom plate (2-5-1); The clamper (2-5-2) comprises a clamper support plate (2-5-2-1) and a clamper motor (2-5-2-2) installed on the bottom surface of the clamper support plate (2-5-2-1), and the output shaft of the clamper motor (2-5-2-2) passes through the clamper support plate (2-5-2-1) and is connected to the first bevel gear shaft (2-5-2-3); The clamp (2-5-2) further comprises a pair of clamp bodies (2-5-2-5) mounted on the top surface of the clamp support plate (2-5-2-1) via a clamp guide rail (2-5-2-4), and clamping slip installation grooves (2-5-2-6) are provided on opposite side surfaces of the pair of clamp bodies (2-5-2-5), and clamping slips (2-5-2-7) are installed in the clamping slip installation grooves (2-5-2-6); The first bevel gear shaft (2-5-2-3) is meshed with a pair of second bevel gear shafts (2-5-2-8), and the pair of second bevel gear shafts (2-5-2-8) are also respectively mounted with a clamp lead screw (2-5-2-9), the clamp body (2-5-2-5) is penetrated through the clamp lead screw (2-5-2-9), and the clamp lead screw (2-5-2-9) is connected to the clamp support plate (2-5-2-1) through a clamp lead screw mounting seat (2-5-2-10); The clamp support plate (2-5-2-1) is connected to the brake mounting plate (2-1-3), and a pair of clamp side plates (2-5-2-11) are also installed on the lower surface of the clamp support plate (2-5-2-1), and the clamp side plates (2-5-2-11) are connected to the clamping shackle bottom plate (2-5-1); The shackle (2-5-3) comprises a first shackle mounting plate (2-5-3-1) vertically mounted on a clamping shackle bottom plate (2-5-1) and a second shackle mounting plate (2-5-3-2) vertically mounted on a clamping support plate (2-5-2-1); a shackle rotating frame (2-5-3-3) is also mounted between the first shackle mounting plate (2-5-3-1) and the second shackle mounting plate (2-5-3-2); The shackle rotating frame (2-5-3-3) comprises a shackle rotating base plate (2-5-3-3-1) and shackle rotating side plates (2-5-3-3-2) vertically mounted at both ends of the shackle rotating base plate (2-5-3-3-1), one side of the shackle rotating side plate (2-5-3-3-2) is rotatably connected to the first shackle mounting plate (2-5-3-1), and the other side of the shackle rotating side plate (2-5-3-3-2) is rotatably connected to the second shackle mounting plate (2-5-3-2); The shackle (2-5-3) further comprises a shackle motor (2-5-3-4) mounted on the bottom surface of the shackle rotating base plate (2-5-3-3-1), and a third bevel gear (2-5-3-5) is mounted on the output shaft of the shackle motor (2-5-3-4). The third bevel gear (2-5-3-5) is meshed with a pair of fourth bevel gears (2-5-3-6). A shackle screw (2-5-3-7) is also installed on the pair of fourth bevel gears (2-5-3-6), a shackle mounting block (2-5-3-8) is passed through the shackle screw (2-5-3-7), and the shackle screw (2-5-3-7) is connected to the shackle rotating base plate (2-5-3-3-1) through a shackle screw mounting seat (2-5-3-9); The shackle (2-5-3) further comprises a pair of shackle bodies (2-5-3-11) mounted on the top surface of the shackle rotating bottom plate (2-5-3-3-1) through a shackle guide rail (2-5-3-10), and shackle slip installation grooves are provided on the two opposite sides of the pair of shackle bodies (2-5-3-11), and shackle slips are installed in the shackle slip installation grooves, and the pair of shackle bodies (2-5-3-11) are respectively connected to the shackle installation blocks (2-5-3-8); The shackle device (2-5-3) further comprises an electric cylinder (2-5-3-12) mounted on the shackle clamping bottom plate (2-5-1), one end of the electric cylinder (2-5-3-12) being hinged to the shackle clamping bottom plate (2-5-1), and the other end being hinged to the shackle device rotating bottom plate (2-5-3-3-1).

8. The electric-driven drilling device suitable for an automated drilling rig according to claim 1, characterized in that: The feeding fuselage (2-1) further comprises front and rear top assemblies (2-1-6) installed at the bottom of the fuselage frame (2-1-1), and the telescopic direction of the front and rear top assemblies (2-1-6) is parallel to the moving direction of the drag plate assembly (2-3).

9. The electric-driven drilling device suitable for an automated drilling rig according to claim 1, characterized in that: The electric-driven drilling device suitable for the automated drilling rig also includes a sensor system; The sensor system comprises: a position sensor installed on the carriage guide rail (2-1-4), an angle sensor installed on the rotating shaft of the power head assembly (2-4), a torque sensor installed on the rotating shaft of the power head assembly (2-4), a force feedback sensor installed between the carriage assembly (2-3) and the second buffer spring (2-7), and a PLC assembly; The position sensor, angle sensor, torque sensor and force feedback sensor are connected to the PLC component respectively.

10. An electric drive drilling method suitable for an automated drilling rig, characterized in that: Used to control the electric-driven drilling device suitable for an automated drilling rig as described in any one of claims 1 to 9; The relationship between the rotation speed of the power head assembly (2-4) and the linear speed of the carriage assembly (2-3) must meet the following conditions: v=p×ω in: v: Linear speed of the carriage assembly, in millimeters per second; p: Pitch of drill pipe thread, in millimeters; ω: Rotational speed of the power head assembly, in revolutions per second; The movement of the carriage assembly (2-3) consists of three stages: acceleration, uniform speed and deceleration, wherein the speed curve formula of the acceleration stage is: Among them, v max is the maximum speed of the carriage assembly (2-3), t acc is the acceleration time; Speed ​​curve formula in the deceleration phase: Among them, t dec is the deceleration time.

Images