Supporting device of vertical shaft drilling machine and control method of supporting device

Abstract

The invention relates to the technical field of shaft drilling machine supporting, in particular to a shaft drilling machine supporting device and a control method thereof.The shaft drilling machine supporting device comprises a supporting frame, a first positioning unit, a second positioning unit, a detection unit and a control unit, and the supporting frame is arranged above a shaft; the first positioning unit is arranged on the upper portion of the supporting frame and comprises a positioning ring, a gear disc, a driving gear, a limiting plate and a connecting rod, the second positioning unit is arranged on the lower portion of the supporting frame and comprises at least three positioning clamping assemblies evenly distributed on the lower portion of a drill rod to be installed in the circumferential direction, and each positioning clamping assembly comprises a driving mechanism and a clamping plate; the first positioning unit, the second positioning unit and the detection unit are all in circuit connection with the control unit; the problems that an existing drilling rig is single in function, manual operation judgment is needed when a drill rod deviates, a manual judgment result has large hysteresis quality, the construction perpendicularity of the drill rod is difficult to feed back in time, and the difficulty of follow-up treatment and repair of the drill rod is increased are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of support for shaft drilling rigs, and particularly provides a support device for a shaft drilling rig and a control method therefor. Background Art

[0002] A shaft refers to a vertically walled well-shaped pipeline. Common shafts include coal mine shafts, ventilation shafts, and wind power pile foundation shafts, etc. To balance construction efficiency and safety, most existing shafts are constructed using the drilling method. The core equipment for drilling method construction is a shaft drilling rig, which drills vertically downward to form a shaft. When the shaft drilling rig constructs a shaft, the construction verticality of the shaft drilling rig will directly affect the verticality of the final formed shaft, which is an important construction parameter that needs to be measured in real time. For shaft construction with a depth of more than 500 meters, a net diameter exceeding 8 meters, and a drilling diameter exceeding 10 meters, this parameter usually needs to be controlled within 0.15% to meet the construction verticality requirements of the shaft drilling rig.

[0003] Generally, a shaft drilling rig is installed above the shaft through a drill tower. A hoisting device is provided at the top of the drill tower, and the hoisting device can control the lowering degree of the shaft drilling rig, enabling the drill pipe on the shaft drilling rig to apply pressure through its own rotation and its own weight, breaking the rock at the bottom of the well to achieve shaft drilling. During the construction process of the existing shaft method, the entire shaft is filled with mud, and most of the mud is mixed with sand particles. When the drill pipe drills, it will shake and vibrate, making it difficult to accurately ensure the construction verticality. Currently, the function of the drill tower is single and can only support and fix the shaft drilling rig. When the drill pipe deviates, it is necessary to comprehensively determine whether the construction verticality is within the specified range according to parameters such as the torque value, drilling pressure, shaking amplitude, and vibration amplitude of the drill pipe. However, this method has high requirements for operators and there is a certain misjudgment rate, and the manual judgment result has a large lag, making it difficult to timely feedback the construction verticality of the drill pipe, increasing the difficulty of subsequent processing and repair of the drill pipe. Summary of the Invention

[0004] The present invention provides a support device for a shaft drilling rig and a control method therefor, aiming to solve the problem that the existing drill tower of the shaft drilling rig has a single function and can only support and fix the shaft drilling rig. When the drill pipe deviates, manual operation and judgment are required, and the manual judgment result has a large lag, making it difficult to timely feedback the construction verticality of the drill pipe, increasing the difficulty of subsequent processing and repair of the drill pipe.

[0005] In a first aspect, the present invention provides a support device for a shaft drilling rig, including: A support frame, provided above the shaft; A first positioning unit, provided at the upper part of the support frame, including a positioning ring, a gear disk, a driving gear, a limiting plate, and a connecting rod; The positioning ring is horizontally installed on the support frame; The gear disk is coaxially arranged below the positioning ring and is rotatably connected to the support frame. The driving gear meshes with the gear disk to drive the gear disk to rotate. The gear disk is evenly distributed with N chutes along the circumferential direction, N≥2, and a limiting rod is arranged in each chute. The limiting rod is fixedly connected to the support frame to limit the rotation angle of the gear disk. M limiting plates are evenly distributed below the positioning ring along the circumferential direction, M≥3. One end of each limiting plate is rotatably connected to the positioning ring through a rotating shaft, and the other end is hinged to the gear disk through the connecting rod. When the gear disk rotates, it can drive each limiting plate to rotate around the corresponding rotating shaft, so that the M limiting plates can be simultaneously rotated and opened to the outside of the positioning ring, or simultaneously rotated and closed to the inside of the positioning ring to form an annular clamping plate. The second positioning unit is arranged at the lower part of the support frame and includes at least three positioning and clamping assemblies evenly distributed circumferentially on the lower part of the drill pipe to be installed. Each positioning and clamping assembly includes a driving mechanism and a clamping plate. The driving mechanism is used to drive the clamping plate to move along the horizontal radial direction, so that the four clamping plates can clamp and limit the drill pipe. The detection unit includes an inclination sensor, a contact switch and a pressure sensor. The inclination sensor is arranged on the drill pipe to obtain the inclination angle of the drill pipe. A contact switch is arranged at the top of each clamping plate to detect whether the clamping plate is in contact with the drill pipe. A pressure sensor is arranged on each clamping plate to detect the clamping pressure of the clamping plate on the drill pipe. The control unit is electrically connected to the first positioning unit, the second positioning unit and the detection unit through circuits.

[0006] Further, a telescopic support rod is arranged between the driving mechanism and the clamping plate in each group of positioning and clamping assemblies. At least two telescopic support rods are evenly distributed on the clamping plate, and a damping spring is sleeved on each telescopic support rod. Rotating balls are embedded in the clamping surface of the clamping plate, and the distance between the trigger end of the contact switch and the drill pipe is less than the distance between the rotating ball and the drill pipe.

[0007] Further, the driving mechanism includes a motor, a reducer, a mounting seat, a spline shaft, a transmission shaft, a gear, a screw rod and a support plate. The motor, the reducer and the mounting seat are sequentially installed on the lower part of the support frame along the driving direction. One end of the spline shaft is connected to the output shaft of the reducer, and the other end is rotatably connected to the mounting seat. The transmission shaft is arranged in parallel on one side of the spline shaft. One end of the transmission shaft is rotatably connected to the outer shell of the reducer, and the other end is coaxially connected to one end of the screw. The gear is mounted on the transmission shaft and meshes with the spline shaft. The screw is threadedly connected to the mounting seat. The other end of the screw passes through the mounting seat and is rotatably connected to one side of the support plate. The other side of the support plate is fixedly connected to the telescopic support rod. The pressure sensor is arranged between the support plate and the shock-absorbing spring and is mounted on the support plate.

[0008] Further, a guiding mechanism is respectively arranged on both sides of the screw. Each guiding mechanism includes a guiding rod and a return spring sleeved on the guiding rod. Two guiding holes are opened at one end of the mounting seat close to the clamping plate for mounting the two guiding mechanisms respectively. An annular boss is arranged at one end of each guiding hole close to the clamping plate. One end of each of the two guiding rods extends into the guiding hole, and the other end extends out of the mounting seat and is fixedly connected to the support plate. The two return springs are both abutted against the annular boss.

[0009] Further, the limiting plate is in the shape of a trapezoidal plate. An installation groove is radially opened on each limiting plate. A buffer mechanism is installed in the installation groove. The buffer mechanism includes a guiding telescopic rod, a mounting block and a ball. A compression spring is sleeved on the guiding telescopic rod. One end of the guiding telescopic rod is fixedly connected to the inner wall of the installation groove, and the other end is fixedly connected to one end of the mounting block. A receiving cavity is arranged at the other end of the mounting block. The ball can roll in the receiving cavity, and the rolling surface of the ball can roll on the drill pipe.

[0010] Further, the inclination sensor adopts a three-axis gyroscope, and the pressure sensor adopts a capacitive pressure sensor.

[0011] Further, the clamping surface of each clamping plate is arc-shaped and is adapted to the cylindrical wall surface of the drill pipe; the value of N is 5, and the value of M is 5.

[0012] In a second aspect, the present invention further provides a control method for a support device of a shaft drilling rig, including the following steps: Step 1: First, hoist the shaft drilling rig on the support device. Then, control the first positioning unit and the second positioning unit to open, so that the drill pipe is coaxially passed through the middle of the first positioning unit and the second positioning unit, and then install the drill pipe on the shaft drilling rig. Step 2: Control M limiting plates to rotate and close to the inner side of the positioning ring to form an annular clamping plate. At this time, the clamping pressure of the limiting plate on the drill pipe is F0, and control the clamping pressure of the clamping plate on the drill pipe to be F1, where 0 < F1 < F0. Step 3: Control the drill pipe to work. The inclination sensor transmits the inclination angle to the control unit in real time. If the inclination angle θ < α, where 5° ≤ α ≤ 20°, the drill pipe continues to operate. If the inclination angle θ ≥ α, the drill pipe stops operating, and then proceed to the next step; Step 4: The control unit calculates the adjustment distance of each clamp according to the inclination angle θ, and then controls each clamp to move according to the corresponding adjustment distance to straighten the drill pipe; Step 5: Obtain the trigger status of each contact switch. If the trigger status of each contact switch is the triggered state, the drill pipe continues to work; if there is an untriggered state in the trigger status of the contact switch, then determine the clamp corresponding to the untriggered contact switch as the deformed clamp, the drill pipe stops working, and proceed to the next step; Step 6: Drive the deformed clamp towards the drill pipe until the contact switch on the deformed clamp is triggered, the deformed clamp stops moving, and record the moving distance of the deformed clamp as △X; Step 7: Keep the moving distance △X of the deformed clamp unchanged, and repeat Steps 3 to 6 until the drill pipe is scrapped; Step 8: Replace the drill pipe with a new one, drive the deformed clamp to move 0.8△X, control the clamping pressure of the remaining normal clamps on the drill pipe as F1, and the clamping pressure of the limit plate on the drill pipe as F0. Then, drive the deformed clamp to move, and at the same time the control unit obtains the value of the inclination sensor until the inclination angle θ is 0°, and the deformed clamp stops advancing; Step 9: Repeat Steps 3 to 8 until the shaft drilling rig completes the operation.

[0013] Further, in Step 8, each time a new drill pipe is replaced, the deformed clamp can be moved to 0.8△X, and then the control unit obtains the value of the inclination sensor and drives the deformed clamp to move the remaining 0.2△X of the moving distance.

[0014] Further, in Step 2, the specific steps to control the clamping pressure of the clamp on the drill pipe as F1 are as follows: Control the clamp to move towards the drill pipe. When the contact switch is triggered, control the pressure sensor to work until the pressure F2 of the pressure sensor is equal to the clamping pressure F1, and then stop the clamp from moving.

[0015] The support device of the shaft drilling rig provided by the present invention, by setting a first positioning unit, a second positioning unit, a detection unit and a control unit on the support frame, can not only perform double positioning on the drill pipe of the shaft drilling rig to ensure the perpendicularity of the drill pipe construction, but also timely feedback and judge the perpendicularity of the drill pipe, realize the adjustment of the inclination angle of the drill pipe, and thus ensure the construction perpendicularity of the drill pipe and improve the construction efficiency of the drill pipe. At the same time, the first positioning unit set by the present invention has a clever structure and convenient operation. By driving the driving gear to drive the gear disc to rotate, the limiting plates on the gear disc can be rotated and opened to the outside of the positioning ring at the same time, or rotated and closed to the inside of the positioning ring at the same time to form an annular clamping plate, which can respectively quickly perform synchronous circumferential opening and synchronous circumferential clamping operations on the upper part of the drill pipe, realizing the quick opening and closing positioning of the drill pipe and improving the installation and positioning efficiency of the drill pipe; the second positioning unit set by the present invention can not only perform positioning and clamping on the lower part of the drill pipe in at least three directions, but also adjust the inclination angle of the drill pipe, maintain the perpendicularity of the drill pipe during the working process, and meet the construction perpendicularity requirements of the shaft drilling rig.

[0016] 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 by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a three-dimensional structural diagram of the support device of the shaft drilling rig provided by the present invention; Figure 2 is a front view of the support device of the shaft drilling rig provided by the present invention; Figure 3 is a side view of the support device of the shaft drilling rig provided by the present invention; Figure 4 is a three-dimensional structural diagram of the first positioning unit in the support device of the shaft drilling rig provided by the present invention; Figure 5 is an internal structural diagram of the first positioning unit provided by the present invention; Figure 6 is Figure 5 the top view of; Figure 7 is a structural schematic diagram of the limiting plate in the first positioning unit provided by the present invention; Figure 8 is a structural schematic diagram of the buffer mechanism in the first positioning unit provided by the present invention; Figure 9 It is the top view of the buffer mechanism in the first positioning unit provided by the present invention; Figure 10 It is the structural schematic diagram of the second positioning unit provided by the present invention; Figure 11 It is the top view of the second positioning unit provided by the present invention; Figure 12 It is the structural schematic diagram of the positioning and clamping assembly provided by the present invention; Figure 13 It is the top view of the positioning and clamping assembly provided by the present invention; Figure 14 It is the internal structure diagram of the positioning and clamping assembly provided by the present invention; Figure 15 It is the position diagram of the annular boss in the positioning and clamping assembly provided by the present invention; Figure 16 It is the position distribution diagram of the rotating balls in the positioning and clamping assembly provided by the present invention; Figure 17 It is the circuit connection diagram of the support device of the shaft drilling rig provided by the present invention.

[0019] Reference numerals: 1, support frame; 11, support round table; 2, first positioning unit; 21, positioning ring; 22, gear disk; 221, chute; 23, driving gear; 24, limiting plate; 241, guiding telescopic rod; 242, mounting block; 243, ball; 244, compression spring; 25, connecting rod; 3, second positioning unit; 30, driving mechanism; 301, motor; 302, reducer; 303, mounting seat; 3031, guiding hole; 3032, annular boss; 304, spline shaft; 305, transmission shaft; 306, gear; 307, screw; 308, support plate; 309, guiding mechanism; 3091, guiding rod; 3092, return spring; 31, clamping plate; 32, telescopic support rod; 33, shock-absorbing spring; 34, rotating ball; 4, detection unit; 41, inclination sensor; 42, pressure sensor; 43, contact switch; 5, control unit; 6, drill pipe; 7, lifting equipment. Detailed implementation manners

[0020] 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 with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0021] 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.

[0022] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and defined, 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 circumstances.

[0023] In the embodiments of the present invention, unless otherwise clearly specified and defined, 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 simply means that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal height than the second feature.

[0024] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. 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.

[0025] The following combines Figures 1 to 17 the embodiments shown to describe the technical solution of the present invention: The embodiments of the present invention provide a support device for a shaft drilling rig, as Figures 1 to 3As shown in the figure, it includes a support frame 1, a first positioning unit 2, a second positioning unit 3, a detection unit 4 and a control unit 5. The support frame 1 is arranged above the shaft, and a lifting device 7 for lifting the shaft drilling rig is arranged above the support frame 1 to control the lowering height of the drill pipe 6. The first positioning unit 2 is arranged on the upper part of the support frame 1. The first positioning unit 2 is used to position the upper part of the drill pipe 6. As Figures 4 to 6 shown, the first positioning unit 2 includes a positioning ring 21, a gear disk 22, a driving gear 23, a limiting plate 24 and a connecting rod 25. The positioning ring 21 is horizontally installed on the support frame 1. The gear disk 22 is coaxially arranged below the positioning ring 21 and is rotatably connected to the support frame 1. The driving gear 23 is arranged on one side of the gear disk 22 and is driven by a driving motor to rotate. The driving gear 23 meshes with the gear disk 22 to drive the gear disk 22 to rotate. Five sliding grooves 221 are evenly distributed along the circumferential direction of the gear disk 22, and a limiting rod is arranged in each sliding groove 221. The limiting rod is fixedly connected to the support frame 1 to limit the rotation angle of the gear disk 22. Five limiting plates 24 are evenly distributed along the circumferential direction below the positioning ring 21. One end of each limiting plate 24 is rotatably connected to the positioning ring 21 through a rotating shaft, and the other end is hinged to the gear disk 22 through a connecting rod 25. The rotation of the gear disk 22 can drive each limiting plate 24 to rotate around the corresponding rotating shaft, so that the five limiting plates 24 can be simultaneously rotated and opened to the outside of the positioning ring 21, or simultaneously rotated and closed to the inside of the positioning ring 21 to form an annular clamping plate. As Figures 7 to 9 shown, the limiting plate 24 is in the shape of a trapezoidal plate. An installation groove is radially opened on each limiting plate 24, and a buffer mechanism is installed in the installation groove. The buffer mechanism includes a guiding telescopic rod 241, an installation block 242 and a ball 243. A compression spring 244 is sleeved on the guiding telescopic rod 241. One end of the guiding telescopic rod 241 is fixedly connected to the inner wall of the installation groove, and the other end is fixedly connected to one end of the installation block 242. The other end of the installation block 242 is provided with a receiving cavity, and the ball 243 can roll in the receiving cavity. The compression force of the compression spring 244 acts on the ball 243. When the drill pipe 6 moves up and down or rotates, the ball 243 can limit and clamp the drill pipe 6. At the same time, the ball 243 can roll on the drill pipe 6 and can also reduce the friction between the drill pipe 6 and the limiting plate 24.

[0026] As Figures 10 to 13 shown, the second positioning unit 3 is arranged on the lower part of the support frame 1. The second positioning unit 3 is used to position the lower part of the drill pipe 6. The second positioning unit 3 includes four positioning and clamping components evenly distributed circumferentially around the lower part of the drill pipe to be installed. Each positioning and clamping component includes a driving mechanism 30 and a clamping plate 31. The driving mechanism 30 is used to drive the clamping plate 31 to move horizontally in the radial direction, so that the four clamping plates 31 can clamp and limit the drill pipe 6 of the shaft drilling rig. The clamping surfaces of the four clamping plates 31 are all arc-shaped and are adapted to the cylindrical wall surface of the drill pipe 6. And asFigure 16 As shown in the figure, a plurality of rotating balls 34 are embedded in the clamping surface of the clamping plate 31. When the drill pipe 6 moves up and down or rotates, the rotating balls 34 can roll on the drill pipe 6. At the same time, the rotating balls 34 can clamp and limit the drill pipe 6, and can also reduce the friction between the drill pipe 6 and the clamping plate 31.

[0027] In this embodiment, a support frustum 11 is provided at the lower part of the support frame 1. A circular through hole for accommodating the drill pipe 6 is provided in the middle of the support frustum 11. The four positioning and clamping assemblies are evenly distributed in the circumferential direction of the support frustum 11. An expansion strut 32 is provided between the driving mechanism 30 and the clamping plate 31 in each group of positioning and clamping assemblies. The four expansion struts 32 are evenly distributed on the clamping plate 31, and a shock-absorbing spring 33 is sleeved on each expansion strut 32.

[0028] The driving mechanism 30 is used to drive the clamping plate 31 to move radially along the support frustum 11. The driving mechanism 30 includes a motor 301, a reducer 302, a mounting seat 303, a spline shaft 304, a transmission shaft 305, a gear 306, a screw 307 and a support plate 308. The motor 301, the reducer 302 and the mounting seat 303 are sequentially installed on the support frustum 11 at the lower part of the support frame 1 along the driving direction; One end of the spline shaft 304 is connected to the output shaft of the reducer 302, and the other end is rotatably connected to the mounting seat 303. The transmission shaft 305 is arranged in parallel on one side of the spline shaft 304. One end of the transmission shaft 305 is rotatably connected to the outer shell of the reducer 302, and the other end is coaxially connected to one end of the screw 307. The gear 306 is installed on the transmission shaft 305 and meshes with the spline shaft 304. The screw 307 is threadedly connected to the mounting seat 303. The other end of the screw 307 passes through the mounting seat 303 and is rotatably connected to one side of the support plate 308. The other side of the support plate 308 is fixedly connected to the expansion strut 32.

[0029] In this embodiment, as Figure 14 and Figure 15 shown, a guiding mechanism 309 is provided on each side of the screw 307. Each guiding mechanism 309 includes a guiding rod 3091 and a return spring 3092 sleeved on the guiding rod 3091. Two guiding holes 3031 are provided at one end of the mounting seat 303 close to the clamping plate 31 for installing the two guiding mechanisms 309 respectively. An annular boss 3032 is provided at one end of each guiding hole 3031 close to the clamping plate 31. One end of each of the two guiding rods 3091 extends into the guiding hole 3031, and the other end extends out of the mounting seat 303 and is fixedly connected to the support plate 308. The two return springs 3092 are both abutted against the annular boss 3032.

[0030] In this embodiment, the detection unit 4 includes an inclination sensor 41, a contact switch 43 and a pressure sensor 42. As Figure 2As shown in the figure, the inclination sensor 41 is fixed to the top of the drill pipe 6 for obtaining the inclination angle of the drill pipe 6. Two inclination sensors 41 can be provided. The two inclination sensors 41 are circumferentially distributed on the top of the drill pipe 6 and are fixed to the side wall of the drill pipe 6 by cable ties, so as to avoid the deflection force generated by the weight of the inclination sensor 41 on the drill pipe 6. While the drill pipe 6 is in force balance, the average value of the inclination angles of the two inclination sensors 41 can be obtained as the inclination angle of the drill pipe 6, thereby improving the accuracy of the inclination angle measured by the inclination sensor 41; As Figure 12 As shown in the figure, a contact switch 43 is fixed to the middle of the top surface of each clamping plate 31. The distance between the trigger end of the contact switch 43 and the drill pipe 6 is less than the distance between the rotating ball 34 and the drill pipe 6. Specifically, it can be set as follows: along the radial direction of the support frustum 11, the distance that the rotating ball 34 protrudes from the clamping plate 31 is 2 mm to 3 mm, and the distance that the contact switch 43 protrudes from the clamping plate 31 is 4 mm to 5 mm. When the trigger end of the contact switch 43 is compressed to the clamping surface of the rotating ball 34, the contact switch is triggered, and the control unit can obtain that the clamping plate 31 is in contact with the drill pipe 6; When the trigger end of the contact switch 43 is not compressed to the clamping surface of the rotating ball 34, that is, the contact switch is not triggered, the clamping plate 31 is in a state of releasing the drill pipe 6. Furthermore, the contact switch 43 can synchronously send to the control unit 5 whether the clamping plate 31 is in contact with the drill pipe 6, which is convenient for the control unit 5 to control the pressure sensor 42. The pressure sensor 42 is arranged between the support plate 308 and the shock-absorbing spring 33 and is fixedly installed on the support plate 308. The pressure sensor 42 can detect the clamping pressure of the clamping plate 31 on the drill pipe 6; Among them, the inclination sensor 41 can adopt a three-axis gyroscope, and the pressure sensor 42 can adopt a capacitive pressure sensor.

[0031] As Figure 17 As shown in the figure, the first positioning unit 2, the second positioning unit 3, and the detection unit 4 are all electrically connected to the control unit 5.

[0032] The control method of the support device of the shaft drilling rig provided by the present invention will be described below. The control method of the support device of the shaft drilling rig described below can be mutually referred to the support device of the shaft drilling rig described above.

[0033] The present invention also provides a control method for a support device of a shaft drilling rig, including the following steps: Step 1: First, suspend the shaft drilling rig on the support device, and then control the first positioning unit 2 and the second positioning unit 3 to open, so that the drill pipe 6 coaxially passes through the middle of the first positioning unit 2 and the second positioning unit 3, and then install the drill pipe 6 on the shaft drilling rig; Step 2: Control the 5 limit plates 24 to rotate and close to the inner side of the positioning ring 21 to form an annular clamping plate. At this time, the clamping pressure of the limit plates 24 on the drill pipe 6 is F0, and the clamping pressure of the clamping plate 31 on the drill pipe 6 is F1, where 0 < F1 < F0; Step 3: Control the drill pipe 6 to work. The inclination sensor 41 transmits the inclination angle to the control unit 5 in real time. If the inclination angle θ < 15°, the drill pipe 6 continues to operate. If the inclination angle θ ≥ 15°, the drill pipe 6 stops operating, and then proceed to the next step; Step 4: The control unit 5 calculates the adjustment distances of the four clamping plates 31 according to the inclination angle θ, and then controls each clamping plate to move according to the corresponding adjustment distance to straighten the drill pipe 6; Step 5: Obtain the trigger states of the four contact switches 43. If the trigger states of all four contact switches 43 are in the triggered state, the drill pipe 6 continues to work. If there is an untriggered state among the trigger states of the four contact switches 43, it is determined that the clamping plate 31 corresponding to the untriggered contact switch 43 is a deformed clamping plate. The drill pipe 6 stops working and proceeds to the next step; Step 6: Drive the deformed clamping plate towards the drill pipe 6 until the contact switch 43 on the deformed clamping plate is triggered. The deformed clamping plate stops moving, and record the moving distance of the deformed clamping plate as △X, which is the deformation compensation distance of the deformed clamping plate; Step 7: Keep the moving distance △X of the deformed clamping plate unchanged, and repeat Steps 3 to 6 until the drill pipe 6 is scrapped; Step 8: Replace the new drill pipe 6, drive the deformed clamping plate to move 0.8△X, control the clamping pressure of the remaining normal clamping plates 31 on the drill pipe 6 as F1, and control the clamping pressure of the limit plate 24 on the drill pipe 6 as F0. Then, drive the deformed clamping plate to move, and at the same time the control unit 5 obtains the value of the inclination sensor 41 until the inclination angle θ is 0°. The deformed clamping plate stops advancing. Through the detection of the inclination angle of the drill pipe 6 by the inclination sensor 41, the straightening data of the drill pipe 6 is more real and accurate, reducing the error of the deformation compensation distance; Step 9: Repeat Steps 3 to 8 until the shaft drilling rig completes the operation.

[0034] In this embodiment, in step 8, each time a new drill pipe 6 is replaced, the deformation splint can be moved to 0.8△X. Then the control unit 5 obtains the value of the inclination sensor 41 and drives the deformation splint to move the remaining 0.2△X distance. This enables the control unit 5 not to obtain the value of the inclination sensor 41 during the period when the deformation splint moves to 0.8△X, saving a large amount of computing power of the control unit 5, reducing the power consumption of the control unit 5, shortening the time for clamping and adjusting the deformation splint, and thus the deformation splint can quickly return to the correct position, improving the working efficiency of the drill pipe 6. At the same time, each time a new drill pipe is replaced, the moving distance of the deformation splint can be updated to replace the moving distance of the deformation splint in the previous replacement. For example, when the moving distance of the deformation splint in the first time is △X, when a new drill pipe 6 is replaced, due to the machining error of the diameter of the new drill pipe 6, the new moving distance is 1.1 times △X, then 1.1 times △X is used to replace the original moving distance △X, further reducing the distance error of the movement of the deformation splint.

[0035] In step 2 of this embodiment, the specific steps for the control splint to apply a clamping pressure F1 to the drill pipe 6 are as follows: The control splint 31 moves towards the drill pipe 6. When the contact switch 43 is triggered, the pressure sensor 42 starts to work. When the pressure F2 of the pressure sensor 42 is equal to the clamping pressure F1, the movement of the splint 31 stops.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. 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 described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A support device for a shaft drilling rig, characterized in that Comprising: A support frame, provided above the shaft; A first positioning unit, provided at the upper part of the support frame, including a positioning ring, a gear disk, a driving gear, a limiting plate and a connecting rod; The positioning ring is horizontally installed on the support frame; The gear disk is coaxially provided below the positioning ring and is rotatably connected to the support frame. The driving gear meshes with the gear disk to drive the gear disk to rotate. N chutes are evenly distributed along the circumferential direction of the gear disk, N≥2, and a limiting rod is provided in each chute. The limiting rod is fixedly connected to the support frame to limit the rotation angle of the gear disk; M limiting plates are evenly distributed along the circumferential direction below the positioning ring, M≥3. One end of each limiting plate is rotatably connected to the positioning ring through a rotating shaft, and the other end is hinged to the gear disk through the connecting rod. When the gear disk rotates, it can drive each limiting plate to rotate around the corresponding rotating shaft, so that the M limiting plates can be simultaneously rotated and opened to the outside of the positioning ring, or simultaneously rotated and closed to the inside of the positioning ring to form an annular clamping plate; A second positioning unit, provided at the lower part of the support frame, including at least three positioning and clamping components evenly distributed circumferentially on the lower part of the drill pipe to be installed. Each positioning and clamping component includes a driving mechanism and a clamping plate. The driving mechanism is used to drive the clamping plate to move horizontally in the radial direction, so that each clamping plate can clamp and limit the drill pipe; A detection unit, including an inclination sensor, a contact switch and a pressure sensor. The inclination sensor is provided on the drill pipe to obtain the inclination angle of the drill pipe. A contact switch is provided on the top of each clamping plate to detect whether the clamping plate contacts the drill pipe. A pressure sensor is provided on each clamping plate to detect the clamping pressure of the clamping plate on the drill pipe; A control unit, and the first positioning unit, the second positioning unit and the detection unit are all circuit-connected to the control unit.

2. The support device of the shaft drilling rig according to claim 1, wherein A telescopic support rod is provided between the driving mechanism and the clamping plate in each group of the positioning and clamping components. At least two telescopic support rods are evenly distributed on the clamping plate, and a damping spring is sleeved on each telescopic support rod. A rotating ball is embedded on the clamping surface of the clamping plate, and the distance between the triggering end of the contact switch and the drill pipe is less than the distance between the rotating ball and the drill pipe.

3. The support device of the shaft drilling rig according to claim 2, wherein The driving mechanism includes a motor, a reducer, a mounting seat, a spline shaft, a transmission shaft, a gear, a screw rod and a support plate. The motor, the reducer and the mounting seat are sequentially installed on the lower part of the support frame along the driving direction; One end of the spline shaft is connected to the output shaft of the reducer, and the other end is rotatably connected to the mounting seat. The transmission shaft is arranged parallel to one side of the spline shaft. One end of the transmission shaft is rotatably connected to the outer shell of the reducer, and the other end is coaxially connected to one end of the screw rod. The gear is mounted on the transmission shaft and meshes with the spline shaft. The screw rod is threadedly connected to the mounting seat. The other end of the screw rod passes through the mounting seat and is rotatably connected to one side of the support plate. The other side of the support plate is fixedly connected to the telescopic support rod. The pressure sensor is arranged between the support plate and the shock-absorbing spring and is mounted on the support plate.

4. The support device of the shaft drilling rig according to claim 3, wherein One guiding mechanism is respectively arranged on both sides of the screw rod. Each guiding mechanism includes a guiding rod and a return spring sleeved on the guiding rod. Two guiding holes are opened at one end of the mounting seat close to the clamping plate and are respectively used for mounting the two guiding mechanisms. An annular boss is arranged at one end of each guiding hole close to the clamping plate. One end of each of the two guiding rods extends into the guiding hole, and the other end extends out of the mounting seat and is fixedly connected to the support plate. The two return springs are both abutted against the annular bosses.

5. The support device of the shaft drilling rig according to any one of claims 1-4, characterized in that, The limiting plate is in the shape of a trapezoidal plate. An installation groove is radially opened on each limiting plate. A buffer mechanism is installed in the installation groove. The buffer mechanism includes a guiding telescopic rod, an installation block and a ball. A compression spring is sleeved on the guiding telescopic rod. One end of the guiding telescopic rod is fixedly connected to the inner wall of the installation groove, and the other end is fixedly connected to one end of the installation block. A receiving cavity is arranged at the other end of the installation block. The ball can roll in the receiving cavity, and the rolling surface of the ball can roll on the drill pipe.

6. The support device of the shaft drilling rig according to claim 5, wherein The inclination sensor adopts a three-axis gyroscope, and the pressure sensor adopts a capacitive pressure sensor.

7. The support device of the shaft drilling rig according to claim 6, wherein The clamping surface of each clamping plate is in an arc shape and is adapted to the cylindrical wall surface of the drill pipe; the value of N is 5, and the value of M is 5.

8. A control method for a support device of a shaft drilling rig, characterized in that, It includes the following steps: Step 1: First, suspend the shaft drilling rig on the support device. Then, control the first positioning unit and the second positioning unit to open, so that the drill pipe coaxially passes through the middle of the first positioning unit and the second positioning unit, and then install the drill pipe on the shaft drilling rig; Step 2: Control the M limiting plates to rotate and close to the inner side of the positioning ring to form an annular clamping plate. At this time, the clamping pressure of the limiting plates on the drill pipe is F0, and control the clamping pressure of the clamping plates on the drill pipe to be F1, where 0 < F1 < F0; Step 3: Control the drill pipe to work. The inclination sensor transmits the inclination angle to the control unit in real time. If the inclination angle θ < α, where 5° ≤ α ≤ 20°, the drill pipe continues to operate. If the inclination angle θ ≥ α, the drill pipe stops operating, and then proceed to the next step; Step 4: The control unit calculates the adjustment distance of each clamping plate according to the inclination angle θ, and then controls each clamping plate to move according to the corresponding adjustment distance to straighten the drill pipe. Step 5: Obtain the trigger status of each contact switch. If the trigger status of each contact switch is the triggered state, the drill pipe continues to work; if there is an untriggered state in the trigger status of the contact switches, it is determined that the clamping plate corresponding to the untriggered state contact switch is the deformed clamping plate, the drill pipe stops working, and proceed to the next step; Step 6: Drive the deformed clamping plate to move towards the drill pipe until the contact switch on the deformed clamping plate is triggered, the deformed clamping plate stops moving, and record the moving distance of the deformed clamping plate as △X; Step 7: Keep the moving distance △X of the deformed clamping plate unchanged, and repeat Step 3 to Step 6 until the drill pipe is scrapped; Step 8: Replace with a new drill pipe, drive the deformed clamping plate to move 0.8△X, control the clamping pressure of the remaining normal clamping plates on the drill pipe to be F1, and the clamping pressure of the limit plate on the drill pipe to be F0. Then, drive the deformed clamping plate to move, and at the same time the control unit obtains the value of the inclination sensor until the inclination angle θ is 0°, and the deformed clamping plate stops advancing; Step 9: Repeat Step 3 to Step 8 until the shaft drilling rig completes the operation.

9. The control method of the support device of the shaft drilling rig according to claim 8, characterized in that, In Step 8, each time a new drill pipe is replaced, the deformed clamping plate can be moved to 0.8△X, and the control unit then obtains the value of the inclination sensor and drives the deformed clamping plate to move the remaining 0.2△X of the moving distance.

10. The control method of the support device of the shaft drilling rig according to claim 9, characterized in that, In Step 2, the specific steps to control the clamping pressure of the clamping plate on the drill pipe to be F1 are as follows: Control the clamping plate to move towards the drill pipe. When the contact switch is triggered, control the pressure sensor to work, until the pressure F2 of the pressure sensor is equal to the clamping pressure F1, and stop the movement of the clamping plate.

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