Drill rod fishing device for vertical shaft drilling machine and control method of drill rod fishing device

Abstract

The invention relates to the technical field of shaft drilling machine drill rod salvage, in particular to a shaft drilling machine drill rod salvage device which comprises a supporting unit, a direction adjusting unit, a locking unit, a salvage unit and a control unit. The supporting unit comprises a supporting mechanism, a first driving mechanism and a supporting arm, the direction adjusting unit comprises a telescopic mechanism, a second driving mechanism and a mounting cylinder which are sequentially arranged below the supporting mechanism, and the locking unit is mounted in the containing cavity and used for locking a drill rod to be fished; the salvaging unit comprises an image recognition camera, a distance sensor and a plurality of salvaging mechanisms evenly distributed outside the mounting cylinder, and the supporting unit, the direction adjusting unit, the locking unit and the salvaging unit are all in circuit connection with the control unit; the problems that an existing fishing tool is complex in operation, a drill rod needs to be repeatedly moved up and down, the fishing efficiency of the drill rod is low, and the safety and stability are poor when the fishing tool is operated to ascend and descend are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of drill pipe fishing for shaft drilling rigs, and specifically provides a drill pipe fishing device for shaft drilling rigs and a control method thereof. Background Technique

[0002] During the drilling construction process of shaft drilling rigs, due to the generally complex geological conditions in the drilling area, the drill pipes may occasionally be in a situation of untimely maintenance, and occasional improper operations by staff, etc. The drill pipes often break. After breaking, the drill pipes will fall to the bottom of the well, affecting the normal progress of the drilling work. However, due to the narrow and deep drilling space, it greatly increases the difficulty of fishing for drill pipes. Before fishing for drill pipes, it is necessary to conduct a detailed detection and analysis of the situation in the wellbore to determine information such as the falling position, attitude, and surrounding environment of the drill pipes, so as to select appropriate fishing methods and tools. Currently, there are the following two drill pipe fishing methods: I. Direct fishing method: When the drill pipe breaks or the falling position is relatively shallow, special fishing tools such as male tap and female tap can be directly used to connect them to the drill pipe, and the drill pipe can be fished out by rotating and lifting.

[0003] II. Indirect fishing method: If the drill pipe falls at a relatively deep position or cannot be directly fished, the indirect fishing method can be adopted. For example, first, each drill pipe above the central pipe is pulled out of the well one by one, and then a special fishing tool is connected with a drill pipe, and the original-length drill pipes are connected one by one and put into the well. Through the repeated actions of "rising - lowering" of the drill pipe, the fishing tool is made to contact and fix the fallen drill pipe, and then it is fished out.

[0004] However, during the actual drilling process of shaft drilling rigs, the drill pipe often breaks from the middle, and the broken drill pipe leans obliquely against the inner wall of the wellbore. The indirect fishing method needs to be used for fishing. However, the existing fishing tools are complex to operate and need to perform repeated up and down actions on the drill pipe to fix and fish out the drill pipe, resulting in low fishing efficiency of the drill pipe; at the same time, the safety and stability of the fishing tool during operation of rising and lowering are poor, and the drill pipe often has a secondary fracture accident, which further increases the difficulty of fishing for the drill pipe. Summary of the Invention

[0005] The present invention provides a drill pipe fishing device for shaft drilling rigs and a control method thereof, which are used to solve the problems in the prior art that the fishing tools are complex to operate, need to perform repeated up and down actions on the drill pipe to fix and fish out the drill pipe, resulting in low fishing efficiency of the drill pipe, and the safety and stability of the fishing tool during operation of rising and lowering are poor, and the drill pipe often has a secondary fracture accident, which further increases the difficulty of fishing for the drill pipe.

[0006] In the first aspect, the present invention provides a drill pipe fishing device for shaft drilling rigs, including: The support unit comprises a support mechanism, a first driving mechanism and a support arm, wherein the first driving mechanism is arranged at the top of the support mechanism, a plurality of the support arms are evenly distributed on the support mechanism in the circumferential direction, and the first driving mechanism controls the support arms to extend and retract in the radial direction and to be limitedly supported on the inner wall of the shaft; An azimuth adjustment unit, comprising a telescopic mechanism, a second driving mechanism and a mounting tube arranged in sequence below the supporting mechanism, wherein the telescopic mechanism can be telescoped along the shaft axis, the second driving mechanism controls the mounting tube to rotate in the shaft circumferentially, and a receiving cavity is provided at the top of the mounting tube; A locking unit, installed in the accommodating cavity, used to lock the drill pipe to be salvaged; A salvage unit, comprising an image recognition camera, a distance sensor and a plurality of salvage mechanisms uniformly distributed outside a mounting tube, wherein the image recognition camera and the distance sensor are both arranged on the mounting tube, and the salvage mechanism comprises a telescopic arm, an arcuate salvage plate and a straightening telescopic rod, wherein one end of the telescopic arm is hinged to the outer wall of the bottom of the mounting tube, and the other end is arranged on the inner wall of the arcuate salvage plate, and the telescopic arm can drive the arcuate salvage plate to move radially along the shaft, and the arcuate salvage plate is adapted to the wall surface of the shaft, and the thickness of the arcuate salvage plate gradually decreases from top to bottom, one end of the straightening telescopic rod is arranged on the inner wall of the upper part of the arcuate salvage plate, and a clamping plate is fixedly installed on the other end, and the straightening telescopic rod can be extended and retracted radially along the shaft so that the clamping plate can clamp the drill pipe to be salvaged, and a plurality of pressure strain gauges are also arranged on the arcuate salvage plate; The control unit, the support unit, the azimuth adjustment unit, the locking unit and the salvage unit are all connected to the control unit circuit.

[0007] Furthermore, the locking unit includes an upper mounting seat, a disc spring mounting seat and a lower mounting seat, as well as an adjusting rod and a rocker arm, which are arranged in sequence from top to bottom. An electromagnet is provided on the top of the upper mounting seat, the upper end of the disc spring mounting seat extends into the accommodating cavity in the upper mounting seat, and a moving cavity is provided at the lower end of the disc spring mounting seat. A disc spring is arranged in the disc spring mounting seat, and a magnetic collet is arranged in the lower mounting seat. An outer conical sleeve is threadedly installed on the outer wall of the lower mounting seat, the upper end of the adjusting rod passes through the disc spring and extends out of the upper mounting seat, and the lower end is installed with the magnetic collet, a moving block adapted to the moving cavity is provided in the middle of the adjusting rod, a limiting through groove is radially opened in the middle of the moving block, one end of the rocker arm passes through the disc spring mounting seat and extends into the limiting through groove, and the other end extends out of the outer conical sleeve, and the rocker arm is rotatably connected to the outer conical sleeve.

[0008] Furthermore, the inner wall of the top of the magnetic collet can be configured as a hexagonal hole, and the magnetic collet can be detachably mounted on the adjusting rod.

[0009] Furthermore, the middle part of the limiting groove is set as a cylindrical groove, and the two sides of the limiting groove are symmetrically set as variable diameter tubular grooves, the small end face of the variable diameter tubular groove is adapted to the circular end face of the cylindrical groove, and the large end face of the variable diameter tubular groove is set at the end away from the cylindrical groove, and the end of the rocker arm extending into the limiting groove is set as a frustum, the small end face diameter of the frustum is smaller than the diameter of the cylindrical groove, and the large end face diameter of the frustum is smaller than the large end face diameter of the variable diameter tubular groove.

[0010] Furthermore, the support mechanism includes a support plate, a screw, a sleeve and a connecting rod. The support plate is circumferentially provided with sliding grooves that are the same in number as the support arms. The screw is vertically installed at the lower end of the middle part of the support plate. The sleeve is threadedly connected to the screw. Each support arm is provided with a slider that cooperates with the sliding groove at the upper end. One end of the connecting rod is hinged to the sleeve, and the other end is hinged to the inner side of the support arm. The first driving mechanism is arranged on the support plate and connected to the upper end of the screw.

[0011] Furthermore, four support arms are provided, and the four support arms are evenly distributed circumferentially on the support plate; each of the support mechanisms includes two connecting rods arranged in parallel, and each of the connecting rods is hinged to the sleeve at one end and hinged to the inner side of the support arm at the other end.

[0012] Furthermore, an annular groove is provided on the connecting end surface between the second driving mechanism and the mounting cylinder, and a plurality of balls are arranged in the annular groove; the magnetic collet adopts a tapered sleeve structure, and a plurality of axial grooves are provided in the circumference of the tapered sleeve, and the plurality of axial grooves divide the tapered sleeve into a plurality of spring petals, and the plurality of spring petals enable the magnetic collet to contract or expand radially.

[0013] Furthermore, the salvage mechanism includes four salvage mechanisms, each of which includes two straightening telescopic rods, and the two straightening telescopic rods are symmetrically arranged on both sides of the telescopic arm; a lifting unit is connected above the support mechanism, and the lifting unit can adopt a hydraulic lift; the distance sensor adopts a laser ranging sensor.

[0014] In a second aspect, the present invention further provides a control method for a drill pipe salvage device for a vertical shaft drilling rig, which is applied to the drill pipe salvage device for the vertical shaft drilling rig, and comprises the following steps: S1: The control unit controls the support mechanism to be lowered into the shaft, and at the same time, the distance sensor collects the distance information S between the salvage mechanism and the drill pipe; S2: When the value of the distance information S is 60 cm ≤ S ≤ 100 cm, stop the lowering of the support mechanism. The image recognition camera collects information, and the control unit determines whether the drill pipe is below the arc-shaped fishing plate. If the drill pipe is below the arc-shaped fishing plate, proceed to the next step; otherwise, control the support mechanism to continue lowering until the image recognition camera collects the drill pipe information, then stop the lowering of the support mechanism and proceed to the next step; S3: The control unit controls the support arm to extend radially and limit the support on the inner wall of the shaft. Then, the control unit controls the telescopic mechanism to extend downward. When the height of the middle part of the arc-shaped fishing plate is the same as the height of the top of the drill pipe, the telescopic mechanism stops extending. After that, the control unit controls the second driving mechanism to rotate until the pressure strain gauge detects that the top of the drill pipe is located in the middle of the arc-shaped fishing plate, and then stop the rotation of the second driving mechanism; S4: The control unit controls the arc-shaped fishing plate to move the drill pipe towards the middle of the shaft through the telescopic arm. The arc-shaped fishing plate initially straightens the drill pipe, so that the lower end surface of the magnetic cylinder clamp magnetically attracts the drill pipe. At this time, the top of the drill pipe extends out of the top surface of the arc-shaped fishing plate. Then, the control unit controls the straightening telescopic rod to extend radially along the shaft to perform secondary straightening on the drill pipe, so that the drill pipe is coaxial with the magnetic cylinder clamp. At this time, the drill pipe is adsorbed into the magnetic cylinder clamp; S5: The control unit controls the electromagnet to adsorb the upper end of the adjusting rod, so that the adjusting rod moves upward, driving the magnetic cylinder clamp to lock the drill pipe; S6: The control unit controls the support arm to contract radially, and finally lifts the entire fishing device to the ground.

[0015] Further, in S6, after the entire fishing device is lifted to the ground, the outer cone sleeve can be rotated to make the outer cone sleeve move upward, pressing against the end of the rocker arm extending out of the outer cone sleeve, driving the rocker arm to rotate, and pushing the adjusting rod and the magnetic cylinder clamp to move downward, so that the magnetic cylinder clamp releases the drill pipe and the drill pipe can be taken out.

[0016] The drill pipe fishing device for a shaft drilling rig provided by the present invention, through the coordinated cooperation of a support unit, an azimuth adjustment unit, a locking unit, a fishing unit, and a control unit, can not only accurately adjust the circumferential position and axial position of the fishing device during a single lowering process, but also the fishing device can be stably supported on the wellbore after the adjustment is completed, providing a stable and reliable working environment for fishing the drill pipe. Moreover, when fishing the drill pipe, the drill pipe fishing device can also perform actions such as primary straightening, secondary straightening, locking, and lifting on the drill pipe, thereby realizing the vertical positioning and fixed fishing of the drill pipe. The operation process is simple, the fishing position is accurate, and the efficiency of drill pipe fishing is improved. At the same time, the support unit provided can stably limit the fishing device in the wellbore, making the operations of the azimuth adjustment unit, the locking unit, and the fishing unit more reliable. In particular, the locking unit can accurately and comprehensively lock the end position of the drill pipe, avoiding the back-and-forth shaking of the drill pipe and ensuring the safety and stability of the drill pipe lifting. In addition, the magnetic collet in the locking unit can not only magnetically adsorb the drill pipe, but also limit and lock the drill pipe, increasing the clamping force on the drill pipe, further enhancing the safety of drill pipe fishing, avoiding secondary fracture accidents of the drill pipe, and reducing the difficulty of drill pipe fishing.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a three-dimensional structure diagram of the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 2 is a front view of the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 3 is a top view of the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 4 is a structural schematic diagram of the support unit in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 5 is a structural schematic diagram of the azimuth adjustment unit in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 6 is a structural schematic diagram of the annular groove in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 7 is a cross-sectional view of the locking unit in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 8 is a schematic structural diagram of the fishing unit in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 9 is a bottom view of the fishing unit in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 10 is a secondary straightening state diagram of the straightening telescopic rod in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 11 is a schematic diagram of the distribution of pressure strain gauges in the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 12 is a circuit connection diagram of the drill pipe fishing device for a shaft drilling rig provided by the present invention; Figure 13 is a flowchart of the control method of the drill pipe fishing device for a shaft drilling rig of the present invention.

[0020] Reference numerals: 1. Support unit; 11. Support mechanism; 111. Support plate; 112. Screw; 113. Sleeve; 114. Connecting rod; 12. First driving mechanism; 13. Support arm; 2. Azimuth adjustment unit; 21. Telescopic mechanism; 22. Second driving mechanism; 23. Mounting cylinder; 24. Annular groove; 25. Ball; 3. Locking unit; 31. Upper mounting seat; 32. Disc spring mounting seat; 321. Moving cavity; 322. Disc spring; 33. Lower mounting seat; 331. Magnetic collet; 332. Outer conical sleeve; 34. Adjusting rod; 341. Moving block; 342. Limit through groove; 35. Rocker arm; 36. Electromagnet; 4. Fishing unit; 41. Image recognition camera; 42. Distance sensor; 43. Fishing mechanism; 431. Telescopic arm; 432. Arc-shaped fishing plate; 4321. Pressure strain gauge; 433. Straightening telescopic rod; 434. Clamping plate; 5. Control unit; 6. Drill pipe. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0023] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0024] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0025] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic descriptions of the above terms do not refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0026] The following combines Figures 1 to 13 the embodiments shown to describe the technical solution of the present invention: The embodiments of the present invention provide a drill pipe fishing device for a shaft drilling rig, as Figures 1 to 3As shown in the figure, it includes a support unit 1, an azimuth adjustment unit 2, a locking unit 3, a fishing unit 4 and a control unit 5; As Figure 3 shown in the figure, the support unit 1 includes a support mechanism 11, a first driving mechanism 12 and support arms 13. The first driving mechanism 12 is arranged on the top of the support mechanism 11. The four support arms 13 are circumferentially and evenly distributed on the support mechanism 11. The first driving mechanism 12 controls the support arms 13 to expand and contract radially and limit the support on the inner wall of the shaft. The support mechanism 11 includes a support plate 111, a screw rod 112, a sleeve 113 and a connecting rod 114. The support plate 111 is circumferentially provided with sliding grooves with the same number as the support arms 13. The lower end of the middle part of the support plate 111 is vertically installed with a screw rod 112. The sleeve 113 is threadedly connected to the screw rod 112. Each support arm 13 is provided with a slider at the upper end for cooperation with the sliding groove. One end of the connecting rod 114 is hinged to the sleeve 113, and the other end is hinged to the inner side of the support arm 13. The first driving mechanism 12 is arranged on the support plate 111 and is connected to the upper end of the screw rod 112. Each support mechanism 11 includes two connecting rods 114 arranged in parallel. One end of each connecting rod 114 is hinged to the sleeve 113, and the other end is hinged to the inner side of the support arm 13. The structure of the support unit 1 is simple and convenient to operate. The support unit 1 can stably support the drill pipe fishing device on the inner wall of the shaft, making the operations of the lower azimuth adjustment unit 2, locking unit 3 and fishing unit 4 more reliable, and providing guarantee for the vertical positioning and fixed fishing of the drill pipe 6.

[0027] As Figure 4 and Figure 5 shown in the figure, the azimuth adjustment unit 2 includes a telescopic mechanism 21, a second driving mechanism 22 and an installation cylinder 23 arranged in sequence below the support mechanism 11. The telescopic mechanism 21 can expand and contract along the axial direction of the shaft. The second driving mechanism 22 controls the installation cylinder 23 to rotate circumferentially in the shaft. The top of the installation cylinder 23 is provided with a receiving cavity; As Figure 6 shown in the figure, annular grooves 24 are provided on the connection end faces between the second driving mechanism 22 and the installation cylinder 23. A plurality of balls 25 are arranged in the annular grooves 24. When the installation cylinder 23 rotates, the friction force at the connection end face between the second driving mechanism 22 and the installation cylinder 23 can be reduced, further improving the service life of the second driving mechanism 22 and the installation cylinder 23. The azimuth adjustment unit 2 can not only adjust the up and down position of the fishing unit 4 through the telescopic mechanism 21, but also adjust the circumferential position of the fishing unit 4 through the second driving mechanism 22, so that the drill pipe 6 is located in the middle of the arc-shaped fishing plate 432, facilitating the straightening and positioning of the drill pipe 6 by the arc-shaped fishing plate 432, avoiding the accidental slipping of the drill pipe 6 from the arc-shaped fishing plate 432, and at the same time enabling the locking unit 3 to accurately and comprehensively lock the end position of the drill pipe 6, avoiding the back-and-forth shaking of the drill pipe 6, and ensuring the safety and stability of the lifting of the drill pipe 6. In this embodiment, the telescopic mechanism 21 adopts an electric telescopic rod.

[0028] As shown Figure 7 in FIG. 1, the locking unit 3 is installed in the accommodating cavity for locking the drill pipe 6 to be salvaged; the locking unit 3 includes an upper mounting seat 31, a disc spring mounting seat 32, and a lower mounting seat 33 arranged in sequence from top to bottom, as well as an adjusting rod 34 and a rocker arm 35. An electromagnet 36 is provided at the top of the upper mounting seat 31. The upper end of the disc spring mounting seat 32 extends into the accommodating cavity inside the upper mounting seat 31. A moving cavity 321 is provided at the lower end of the disc spring mounting seat 32. A disc spring 322 is arranged inside the disc spring mounting seat 32. The disc spring 322 is sleeved on the adjusting rod 34. A magnetic collet 331 is provided inside the lower mounting seat 33. An outer cone sleeve 332 is threadedly mounted on the outer wall of the lower mounting seat 33. The upper end of the adjusting rod 34 passes through the disc spring 322 and extends out of the upper mounting seat 31, and the lower end is mounted with the magnetic collet 331. A moving block 341 adapted to the moving cavity 321 is provided in the middle of the adjusting rod 34. A limiting through groove 342 is axially opened in the middle of the moving block 341. One end of the rocker arm 35 passes through the disc spring mounting seat 32 and extends into the limiting through groove 342, and the other end extends out of the outer cone sleeve 332 and is coaxially provided with a washer to prevent friction between the rocker arm 35 and the outer cone sleeve 332. The magnetic collet 331 adopts a conical sleeve structure. A plurality of axial grooves are circumferentially opened on the conical sleeve. The plurality of axial grooves divide the conical sleeve into a plurality of spring petals. The plurality of spring petals enable the magnetic collet 331 to contract or expand radially, so that the magnetic collet 331 can not only magnetically adsorb the drill pipe 6, but also limit and lock the drill pipe 6, increasing the clamping force of the drill pipe 6, further improving the safety of drill pipe salvage, avoiding secondary fracture accidents of the drill pipe 6, and reducing the difficulty of drill pipe salvage.

[0029] The rocker arm 35 is rotatably connected to the outer cone sleeve 332. The inner wall of the top of the magnetic collet 331 can be set as an internal hexagonal hole. The magnetic collet 331 can be installed on the adjusting rod 34 by screws. When the magnetic collet 331 needs to be disassembled and assembled, an internal hexagonal wrench can be used to screw different models of magnetic collets 331. Different models of magnetic collets 331 can clamp drill pipes 6 with different diameters. Therefore, the locking unit 3 can lock drill pipes 6 with different diameters, and the application range is wider.

[0030] In this embodiment, the middle of the limiting through groove 342 is set as a cylindrical groove, and the two sides of the limiting through groove 342 are symmetrically set as variable-diameter tubular grooves. The small end face of the variable-diameter tubular groove is adapted to the circular end face of the cylindrical groove, and the large end face of the variable-diameter tubular groove is arranged at one end far from the cylindrical groove. One end of the rocker arm 35 extending into the limiting through groove 342 is set as a frustum. The diameter of the small end face of the frustum is smaller than the diameter of the cylindrical groove, and the diameter of the large end face of the frustum is smaller than the diameter of the large end face of the variable-diameter tubular groove. The variable-diameter tubular groove provides a rotating space for the rocker arm 35, so that while the rocker arm 35 rotates on the outer cone sleeve 332, the end of the rocker arm 35 extending into the cylindrical groove can be limited and installed, ensuring the stability of the rocker arm 35 during operation.

[0031] As shown Figure 8 in FIG. 2Figure 9 As shown, the salvage unit 4 includes an image recognition camera 41, a distance sensor 42 and four salvage mechanisms 43 evenly distributed outside the mounting tube 23. The image recognition camera 41 and the distance sensor 42 are both arranged on the mounting tube 23. The image recognition camera 41 adopts a high-definition camera, and the distance sensor 42 can adopt a laser distance sensor. The salvage mechanism 43 includes a telescopic arm 431, an arc-shaped salvage plate 432 and a straightening telescopic rod 433. One end of the telescopic arm 431 is hinged to the bottom of the mounting tube 23. The telescopic arm 431 can drive the arc-shaped salvage plate 432 to move radially along the shaft. The arc-shaped salvage plate 432 is adapted to the shaft wall, and the thickness of the arc-shaped salvage plate 432 gradually decreases from top to bottom. One end of the straightening telescopic rod 433 is arranged on the upper inner wall of the arc-shaped salvage plate 432, and the other end is fixedly installed with a clamping plate 434. The straightening telescopic rod 433 can be extended and retracted radially along the shaft, so that the clamping plate 434 can clamp the drill pipe 6 to be salvaged. Figure 11 As shown, the arc-shaped salvage plate 432 is also provided with nine pressure strain gauges 4321, which are evenly distributed on the inner wall of the arc-shaped salvage plate 432 and are used to detect the position information of the end of the drill pipe 6 on the arc-shaped salvage plate 432; each salvage mechanism 43 includes two straightening telescopic rods 433, which are symmetrically arranged on both sides of the telescopic arm 431; a lifting unit is connected above the support mechanism 11, and the lifting unit can be a hydraulic lift. In this embodiment, the telescopic arm 431 includes a hydraulic rod and two connecting rods, one end of the hydraulic rod is hinged to the outer wall of the mounting tube 23, and the other end is installed on the inner wall of the arc-shaped salvage plate 432, and the two connecting rods are connected by a rotating shaft, one end of the two connecting rods is hinged to the outer wall of the bottom of the mounting tube 23, and the other end is fixed to the other end of the hydraulic cylinder. In this embodiment, the image recognition camera 41, the distance sensor 42 and the pressure strain gauge 4321 can efficiently and accurately determine the position and orientation information between the drill rod salvage device and the drill rod 6, so that the salvage mechanism 43 can accurately salvage the drill rod 6. At the same time, the thickness of the arc salvage plate 432 gradually decreases from top to bottom, and the arc salvage plate 432 can be inserted between the inner wall of the shaft and the drill rod 6 with a small downward thrust, further improving the salvage efficiency of the arc salvage plate 432. The pressure strain gauge 4321 in this embodiment can be a resistance strain gauge.

[0032] like Figure 12 As shown, the supporting unit 1 , the azimuth adjusting unit 2 , the locking unit 3 and the salvaging unit 4 are all connected to the control unit 5 by circuit.

[0033] When the drill pipe fishing device for a shaft drilling rig in this embodiment is in use, first, the lifting unit is used to lower the support mechanism 11 into the shaft. When the value of the distance information S between the bottom of the arc-shaped fishing plate 432 of the fishing mechanism 43 and the drill pipe 6 is 80 cm, the lifting unit stops lowering; then, the image recognition camera 41 collects and judges whether the drill pipe 6 is below the arc-shaped fishing plate 432. If the drill pipe 6 is not below the arc-shaped fishing plate 432, the support mechanism 11 is controlled to continue lowering until the image recognition camera 41 collects the information of the drill pipe 6, and then the lowering of the support mechanism 11 is stopped; after that, the first driving mechanism 12 drives the screw 112 to rotate, so that the support arm 13 extends radially and is limited and supported on the inner wall of the shaft; then, the telescopic mechanism 21 is controlled to extend downward. When the height of the middle part of the arc-shaped fishing plate 432 is the same as the height of the top end of the drill pipe 6, the telescopic mechanism 21 stops extending. Then, the second driving mechanism 22 is controlled to rotate. When the pressure strain gauge 4321 detects that the top end of the drill pipe 6 is located in the middle of the arc-shaped fishing plate 432, the rotation of the second driving mechanism 22 is stopped. At this time, the arc-shaped fishing plate 432 is inserted between the drill pipe 6 and the inner wall of the shaft. Then, the arc-shaped fishing plate 432 is controlled by the telescopic arm 431 to move the drill pipe 6 towards the middle of the shaft, and the drill pipe 6 is initially straightened, so that the drill pipe 6 is within the magnetic absorption range of the magnetic cylinder clamp 331, and the lower end surface of the magnetic cylinder clamp 331 performs magnetic absorption; as Figure 10 shown, then the straightening telescopic rod 433 is controlled to extend radially along the shaft to perform secondary straightening on the drill pipe 6. After secondary straightening, the drill pipe 6 is coaxial with the magnetic cylinder clamp 331. At this time, the drill pipe 6 is adsorbed into the magnetic cylinder clamp 331; finally, the electromagnet 36 is controlled to adsorb the upper end of the adjusting rod 34, and the adjusting rod 34 moves upward, driving the magnetic cylinder clamp 331 to lock the drill pipe 6. Then, the support arm 13 is controlled to contract radially, and the whole fishing device is lifted to the ground. Finally, by rotating the outer conical sleeve 332, the outer conical sleeve 332 presses against the end of the rocker arm 35 extending out of the outer conical sleeve 332, driving the rocker arm 35 to rotate. The rocker arm 35 pushes the adjusting rod 34 and the magnetic cylinder clamp 331 to move downward, so that the magnetic cylinder clamp 331 releases the drill pipe 6, and the drill pipe 6 can be taken out.

[0034] Next, the control method of the drill pipe fishing device for a shaft drilling rig provided by the present invention will be described. The control method of the drill pipe fishing device for a shaft drilling rig described below can be mutually corresponding and referred to with the drill pipe fishing device for a shaft drilling rig described above.

[0035] As Figure 13 shown, this embodiment provides a control method for a drill pipe fishing device for a shaft drilling rig, including the following steps: S1: The control unit 5 controls the support mechanism 11 to be lowered into the shaft, and at the same time, the distance sensor 42 collects the distance information S between the fishing mechanism 43 and the drill pipe 6; S2: When the value of the distance information S is 80 cm, stop the lowering of the support mechanism 11. The image recognition camera 41 collects information about the drill pipe 6. The control unit 5 determines whether the drill pipe 6 is below the arc-shaped fishing plate 432. If the drill pipe 6 is below the arc-shaped fishing plate 432, proceed to the next step; otherwise, the control unit 5 controls the support mechanism 11 to continue lowering until the image recognition camera 41 collects information about the drill pipe 6, then stop the lowering of the support mechanism 11 and proceed to the next step; S3: The control unit 5 controls the support arm 13 to extend radially and limit the support on the inner wall of the shaft. Then the control unit 5 controls the telescopic mechanism 21 to extend downward. When the height of the middle part of the arc-shaped fishing plate 432 is the same as the height of the top of the drill pipe 6, the telescopic mechanism 21 stops extending. After that, the control unit 5 controls the second driving mechanism 22 to rotate until the pressure strain gauge 4321 detects that the top of the drill pipe 6 is located in the middle of the arc-shaped fishing plate 432, and then stop the rotation of the second driving mechanism 22; S4: The control unit 5 controls the arc-shaped fishing plate 432 to move the drill pipe 6 towards the middle of the shaft through the telescopic arm 431. The arc-shaped fishing plate 432 performs primary straightening on the drill pipe 6, so that the lower end surface of the magnetic cylinder clamp 331 magnetically adsorbs the drill pipe 6. At this time, the top of the drill pipe 6 extends out of the top surface of the arc-shaped fishing plate 432. Then the control unit 5 controls the straightening telescopic rod 433 to extend radially along the shaft to perform secondary straightening on the drill pipe 6, so that the drill pipe 6 is coaxial with the magnetic cylinder clamp 331. At this time, the drill pipe 6 is adsorbed into the magnetic cylinder clamp 331; S5: The control unit 5 controls the electromagnet 36 to adsorb the upper end of the adjusting rod 34, so that the adjusting rod 34 moves upward, driving the magnetic cylinder clamp 331 to lock the drill pipe 6; S6: The control unit 5 controls the support arm 13 to contract radially, and finally lifts the support mechanism 11 to the ground; In S6, after the entire fishing device is lifted to the ground, the outer cone sleeve 332 can be rotated manually to make the outer cone sleeve 332 move upward, pressing against the end of the rocker arm 35 extending out of the outer cone sleeve 332, driving the rocker arm 35 to rotate, pushing the adjusting rod 34 and the magnetic cylinder clamp 331 to move downward, so that the magnetic cylinder clamp 331 releases the drill pipe 6 and the drill pipe 6 can be taken out.

[0036] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drill pipe fishing device for a shaft drilling rig, characterized in that, include: The support unit comprises a support mechanism, a first driving mechanism and a support arm, wherein the first driving mechanism is arranged at the top of the support mechanism, a plurality of the support arms are evenly distributed on the support mechanism in the circumferential direction, and the first driving mechanism controls the support arms to extend and retract radially and to be limitedly supported on the inner wall of the shaft; An azimuth adjustment unit, comprising a telescopic mechanism, a second driving mechanism and a mounting tube arranged in sequence below the supporting mechanism, wherein the telescopic mechanism can be telescoped along the shaft axis, the second driving mechanism controls the mounting tube to rotate in the shaft circumferentially, and a receiving cavity is provided at the top of the mounting tube; A locking unit, installed in the accommodating cavity, used to lock the drill pipe to be salvaged; A salvage unit, comprising an image recognition camera, a distance sensor and a plurality of salvage mechanisms uniformly distributed outside a mounting tube, wherein the image recognition camera and the distance sensor are both arranged on the mounting tube, and the salvage mechanism comprises a telescopic arm, an arcuate salvage plate and a straightening telescopic rod, wherein one end of the telescopic arm is hinged to the outer wall of the bottom of the mounting tube, and the other end is arranged on the inner wall of the arcuate salvage plate, and the telescopic arm can drive the arcuate salvage plate to move radially along the shaft, and the arcuate salvage plate is adapted to the wall surface of the shaft, and the thickness of the arcuate salvage plate gradually decreases from top to bottom, one end of the straightening telescopic rod is arranged on the inner wall of the upper part of the arcuate salvage plate, and a clamping plate is fixedly installed on the other end, and the straightening telescopic rod can be extended and retracted radially along the shaft so that the clamping plate can clamp the drill pipe to be salvaged, and a plurality of pressure strain gauges are also arranged on the arcuate salvage plate; The control unit, the support unit, the azimuth adjustment unit, the locking unit and the salvage unit are all connected to the control unit circuit.

2. The drill pipe fishing device for a shaft drilling rig according to claim 1, characterized in that, The locking unit includes an upper mounting seat, a disc spring mounting seat and a lower mounting seat, as well as an adjusting rod and a rocker arm, which are arranged in sequence from top to bottom. An electromagnet is provided on the top of the upper mounting seat, the upper end of the disc spring mounting seat extends into the accommodating cavity in the upper mounting seat, and a moving cavity is provided at the lower end of the disc spring mounting seat. A disc spring is arranged in the disc spring mounting seat, and a magnetic collet is arranged in the lower mounting seat. An outer conical sleeve is threadedly installed on the outer wall of the lower mounting seat, the upper end of the adjusting rod passes through the disc spring and extends out of the upper mounting seat, and the lower end is installed with the magnetic collet, a moving block adapted to the moving cavity is provided in the middle of the adjusting rod, a limiting through groove is radially opened in the middle of the moving block, one end of the rocker arm passes through the disc spring mounting seat and extends into the limiting through groove, and the other end extends out of the outer conical sleeve, and the rocker arm is rotatably connected to the outer conical sleeve.

3. The drill pipe fishing device for a shaft drilling rig according to claim 2, characterized in that, The inner wall of the top of the magnetic collet can be arranged as a hexagonal hole, and the magnetic collet can be detachably mounted on the adjusting rod.

4. The drill pipe fishing device for a shaft drilling rig according to claim 3, characterized in that, The middle part of the limiting groove is set as a cylindrical groove, and the two sides of the limiting groove are symmetrically set as variable diameter tubular grooves, the small end face of the variable diameter tubular groove is adapted to the circular end face of the cylindrical groove, and the large end face of the variable diameter tubular groove is set at the end away from the cylindrical groove, and the end of the rocker arm extending into the limiting groove is set as a frustum, the small end face diameter of the frustum is smaller than the diameter of the cylindrical groove, and the large end face diameter of the frustum is smaller than the large end face diameter of the variable diameter tubular groove.

5. The drill pipe fishing device for a shaft drilling rig according to any one of claims 1-4, characterized in that, The support mechanism includes a support plate, a screw, a sleeve and a connecting rod. The support plate is circumferentially provided with sliding grooves that are the same in number as the support arms. The screw is vertically installed at the lower end of the middle part of the support plate. The sleeve is threadedly connected to the screw. Each of the support arms is provided with a sliding block that cooperates with the sliding groove at the upper end. One end of the connecting rod is hinged to the sleeve, and the other end is hinged to the inner side of the support arm. The first driving mechanism is arranged on the support plate and connected to the upper end of the screw.

6. The drill pipe fishing device for a shaft drilling rig according to claim 5, characterized in that, There are four support arms, and the four support arms are evenly distributed on the support plate in the circumferential direction; each of the support mechanisms includes two connecting rods arranged in parallel, and each of the connecting rods is hinged to the sleeve at one end and hinged to the inner side of the support arm at the other end.

7. The drill pipe fishing device for a shaft drilling rig according to claim 2, characterized in that, An annular groove is provided on the connecting end surface between the second driving mechanism and the mounting cylinder, and a plurality of balls are arranged in the annular groove; the magnetic collet adopts a tapered sleeve structure, and a plurality of axial grooves are provided in the circumference of the tapered sleeve, and the plurality of axial grooves divide the tapered sleeve into a plurality of spring petals, and the plurality of spring petals enable the magnetic collet to contract or expand radially.

8. The drill pipe fishing device for a shaft drilling rig according to claim 7, characterized in that, The salvage mechanism includes four salvage mechanisms, each of which includes two straightening telescopic rods, and the two straightening telescopic rods are symmetrically arranged on both sides of the telescopic arm; a lifting unit is connected above the support mechanism, and the lifting unit can adopt a hydraulic lift; the distance sensor adopts a laser ranging sensor.

9. A control method for a drill pipe fishing device for a shaft drilling rig, applied to the drill pipe fishing device for a shaft drilling rig according to claim 8, characterized in that, The following steps are involved: S1: The control unit controls the support mechanism to be lowered into the shaft, and at the same time, the distance sensor collects the distance information S between the salvage mechanism and the drill pipe; S2: When the value of the distance information S is 60cm≤S≤100cm, the support mechanism is stopped from being lowered, the image recognition camera collects the drill rod information, and the control unit determines whether the drill rod is below the arc-shaped salvage plate. If the drill rod is below the arc-shaped salvage plate, the next step is executed; otherwise, the control unit controls the support mechanism to continue to be lowered until the image recognition camera collects the drill rod information, then stops the support mechanism from being lowered, and the next step is executed; S3: The control unit controls the support arm to extend radially and limit the support arm on the inner wall of the shaft, and then controls the telescopic mechanism to extend downward. When the height of the middle of the arc-shaped salvage plate is the same as the height of the top of the drill pipe, the telescopic mechanism stops extending. Then the control unit controls the second drive mechanism to rotate until the pressure strain gauge detects that the top of the drill pipe is located in the middle of the arc-shaped salvage plate, and stops the rotation of the second drive mechanism. S4: The control unit controls the arc-shaped salvage plate to move the drill pipe toward the middle of the shaft through the telescopic arm. The arc-shaped salvage plate performs initial straightening on the drill pipe, so that the lower end surface of the magnetic collet magnetically attracts the drill pipe. At this time, the top of the drill pipe extends out of the top surface of the arc-shaped salvage plate. Then, the control unit controls the straightening telescopic rod to extend along the radial direction of the shaft to perform secondary straightening on the drill pipe, so that the drill pipe and the magnetic collet are coaxial. At this time, the drill pipe is adsorbed into the magnetic collet. S5: The control unit controls the electromagnet to adsorb the upper end of the adjusting rod, so that the adjusting rod moves upward, driving the magnetic collet to lock the drill rod; S6: The control unit controls the support arm to contract radially, and finally lifts the salvage device as a whole to the ground.

10. The control method for a drill pipe fishing device for a shaft drilling rig according to claim 9, characterized in that, In S6, after the whole fishing device is lifted to the ground, the outer cone sleeve can be rotated to make the outer cone sleeve move upward, pressing against the end of the rocker arm extending out of the outer cone sleeve, driving the rocker arm to rotate, pushing the adjusting rod and the magnetic collet downward, so that the magnetic collet loosens the drill pipe and the drill pipe can be taken out.

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