Semi-automatic directional drilling machine with upward drilling function

Abstract

The invention relates to the technical field of directional drilling machines, in particular to a semi-automatic directional drilling machine with a drill-up function, which comprises a machine body and a power head for driving a drill rod to rotate, a rack is movably mounted on the machine body, a plurality of groups of guide columns are movably mounted at one end of the rack, and a front angle adjusting guide mechanism is arranged outside the guide columns. An inner groove is formed in the top of the machine body, a bottom drill lifting mechanism is arranged in the inner groove, a horizontal drill feeding mechanism used for receiving conveying of a mechanical arm is arranged on the other side of the machine body, and a rotary clamping mechanism is arranged between the horizontal drill feeding mechanism and the bottom drill lifting mechanism. After the machine frame is adjusted to the angle needed by drilling through the front angle adjusting guide mechanism, a mechanical arm places a drill rod into the horizontal drill feeding mechanism, the drill rod is grabbed through the rotary clamping mechanism to fall into the bottom drill lifting mechanism till the drill rod is lifted to the drilling center position and corresponds to the center of a power head, and the clamp holder clamps the lifted drill rod to be connected with the power head. And then the drilling machine normally drills, so that the problem of rod clamping or deviation is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of directional drilling rigs, and in particular to a semi-automatic directional drilling rig with an upper drilling function. Background Art

[0002] A directional drilling rig is a special equipment for implementing directional drilling. It drives a drill pipe through a power head to perform non-vertical drilling, controls the drilling trajectory, and makes the drill bit drill obliquely or horizontally along a preset path to bypass obstacles or cover a larger mining area. During the drilling process of the drilling rig, when the drilling depth reaches a certain depth, a directional drill pipe needs to be connected to the drill pipe to adapt to operations at different depths.

[0003] In the prior art, a patent with the publication number CN112983308A discloses a novel automatic drill pipe loading mechanism for a horizontal directional drilling rig, which includes two sets of drill pipe loading mechanisms. Each drill pipe loading mechanism includes a girder, a power mechanism, a transmission structure, and an execution structure. The power mechanism includes a tilting cylinder installed on the girder. The transmission structure includes a fixed connecting rod and several moving connecting rods. One end of the fixed connecting rod is fixed on the girder, and the other end is connected to the moving connecting rods, which are connected in sequence. The execution structure includes a boom and a fixed manipulator. The boom is installed at the end of the transmission structure, and the fixed manipulator is installed on the boom.

[0004] The above structure realizes the functions of automatically loading and unloading drill pipes through a four-link structure. However, the entire drilling rig requires a relatively large space during operation, and the accuracy of loading drill pipes is not high, resulting in an inability to maintain stable propulsion and easily causing problems such as drill pipe jamming or deviation. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a semi-automatic directional drilling rig with an upper drilling function to solve the problems that the entire drilling rig requires a relatively large space during operation, the accuracy of loading drill pipes is not high, resulting in an inability to maintain stable propulsion, and easily causing problems such as drill pipe jamming or deviation.

[0006] For the above purposes, the present invention provides a semi-automatic directional drilling rig with an up-drilling function, including a machine body and a power head for driving the drill pipe to rotate. A robotic arm for conveying the drill pipe is fixedly installed on the machine body. A frame is also movably installed on the machine body. The power head is slidably installed outside the frame. A hydraulic component for driving the power head to extend and retract is arranged inside the frame. A fixture is fixedly installed at one end of the frame. A push-pull oil cylinder is fixedly installed inside the frame. The output end of the push-pull oil cylinder is movably connected to a gripper. The gripper is used for clamping and connecting between multiple groups of drill pipes. The gripper is slidably installed outside the frame. A plurality of guide columns are movably installed at one end of the frame. A front angle-adjusting guiding mechanism is arranged outside the guide columns. The front angle-adjusting guiding mechanism is movably connected to the frame. An inner groove is formed at the top of the machine body. A bottom drill-lifting mechanism is arranged inside the inner groove. The bottom drill-lifting mechanism is located below the frame. A horizontal drill-feeding mechanism for receiving the drill pipe conveyed by the robotic arm is arranged on the other side of the machine body. A rotary clamping mechanism is arranged between the horizontal drill-feeding mechanism and the bottom drill-lifting mechanism. The rotary clamping mechanism is fixedly installed on the machine body.

[0007] Preferably, the front angle-adjusting guiding mechanism includes a three-stage angle-adjusting oil cylinder movably installed in the machine body. The output end of the three-stage angle-adjusting oil cylinder is fixedly installed with a housing. The housing is sleeved outside the guide column. A plurality of slip jaws are slidably installed inside the housing. A hydraulic device is arranged on one side of the slip jaw. The hydraulic device is installed inside the housing. An oil injection port is formed on one side of the hydraulic device. The hydraulic device is used to push the slip jaw.

[0008] Preferably, through holes are equidistantly distributed outside the guide column, and safety pins are inserted into the through holes.

[0009] Preferably, the horizontal drill-feeding mechanism includes a lifting oil cylinder movably installed on one side of the machine body. The output end of the lifting oil cylinder is movably installed with a storage rack. Hydraulic telescopic rods are arranged on both sides of the bottom of the storage rack. The output end of the hydraulic telescopic rod is fixedly connected to a side plate. Two stoppers are fixedly installed on the top of the storage rack, and a socket groove is formed inside the storage rack.

[0010] Preferably, the stoppers are arranged symmetrically with respect to the center of the socket groove and are trapezoidal structures. The socket groove is located between adjacent stoppers.

[0011] Preferably, the rotary clamping mechanism includes a bracket fixedly installed on the machine body. A rotary reducer is fixedly installed at the bottom of the bracket. The output end of the rotary reducer is fixedly installed with a telescopic rotating arm. A hydraulic mechanical claw is fixedly installed at one end of the telescopic rotating arm. A hydraulic telescopic arm is fixedly installed on one side of the telescopic rotating arm. The output end of the hydraulic telescopic arm is fixedly connected to the hydraulic mechanical claw.

[0012] Preferably, the bottom drill lifting mechanism includes a drill lifting angle adjustment cylinder movably mounted on the inner wall of the inner groove, a support plate movably mounted on the output end of the drill lifting angle adjustment cylinder, a hinge seat is fixedly mounted on the top of the machine body, and the top end of the support plate is hingedly connected to the outside of the hinge seat; a top column is fixedly mounted on the top of the support plate, and a lifting rod cylinder is fixedly mounted on one side of the support plate, a double-layer parallelepiped linkage member is movably mounted on the output end of the lifting rod cylinder, the bottom end of the double-layer parallelepiped linkage member is movably mounted on the support plate, and a connecting rod frame is movably mounted on the top end of the double-layer parallelepiped linkage member.

[0013] Preferably, the double-layer parallelepiped linkage comprises a plurality of groups of mutually hinged linkages, wherein one end of the upper and lower groups of linkages are movably mounted on one side of the support plate and the connecting rod frame respectively, and one end of the other two groups of linkages are slidably mounted with sliding rods, which are mounted on one side of the support plate and the connecting rod frame.

[0014] Preferably, a notch for accommodating the hydraulic mechanical claw is provided inside the connecting rod frame, and an arc groove is provided at the top of the connecting rod frame.

[0015] Beneficial effects of the present invention: When the drilling rig is in operation, the frame is first adjusted to the required drilling angle through the front angle adjustment guide mechanism, and then the frame is tightly clamped outside the guide column so that the entire working mechanism can work stably. The mechanical arm puts the drill rod into the horizontal drill feeding mechanism, and after rolling to the pre-grabbing position on the horizontal drill feeding mechanism, the drill rod is grasped by the rotary clamping mechanism, and the horizontal drill feeding mechanism falls to leave space for rotary drilling. The drill rod is clamped by the rotating clamping mechanism and dropped into the bottom drill lifting mechanism. The rotating clamping mechanism returns to the original path, and the bottom drill lifting mechanism is used to drive the drill rod to gradually move upward until the drill rod is lifted to the center of the borehole, corresponding to the center of the power head. Then the push-pull cylinder drives the clamp forward, and the clamp clamps the lifted drill rod and connects it with the power head. The bottom drill lifting mechanism is lowered into the inner groove and is parallel to the machine body, preparing for the next rod connection cycle. After the power head rotates to connect the drill rod to the thread, the clamp returns to its original position, and then the drilling rig drills normally. The overall structure saves space for the drilling rig, ensures smooth advancement during the drill rod installation, and solves the problem of rod jamming or offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2Schematic side view structure diagram of the whole invention; Figure 3 Schematic structure diagram of the rotary clamping mechanism clamping the drill pipe in the invention; Figure 4 Schematic structure diagram after rotation of the rotary clamping mechanism in the invention; Figure 5 Schematic three - dimensional structure diagram of the rotary clamping mechanism in the invention; Figure 6 Schematic connection structure diagram of the frame and the gripper in the invention; Figure 7 Schematic front view structure diagram of the front angle - adjusting guiding mechanism in the invention; Figure 8 Schematic side - sectional view structure diagram of the front angle - adjusting guiding mechanism in the invention; Figure 9 Schematic structure diagram of the bottom drill - lifting mechanism in the invention.

[0018] The marks in the figure are: 1. Body; 2. Manipulator arm; 3. Frame; 4. Power head; 5. Front angle - adjusting guiding mechanism; 51. Three - stage angle - adjusting oil cylinder; 52. Housing; 53. Slip - on; 54. Hydraulic equipment; 55. Oil filling port; 56. Through - hole; 57. One - way hydraulic lock; 6. Gripper; 7. Bottom drill - lifting mechanism; 71. Drill - lifting angle - adjusting oil cylinder; 72. Support plate; 73. Jacking column; 74. Drill - lifting oil cylinder; 75. Slide bar; 76. Double - layer parallel four - link mechanism; 77. Connecting rod frame; 78. Hinge seat; 79. Notch; 8. Horizontal drill - feeding mechanism; 81. Lifting and lowering oil cylinder; 82. Storage rack; 83. Hydraulic telescopic rod; 84. Side plate; 85. Stopper; 86. Socket groove; 9. Rotary clamping mechanism; 91. Rotary reducer; 92. Telescopic rotating arm; 93. Hydraulic mechanical claw; 94. Bracket; 95. Hydraulic telescopic arm; 10. Push - pull oil cylinder; 11. Fixer; 12. Inner groove; 13. Guide post; 14. Connecting rod. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0020] Such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9As shown, a semi-automatic directional drilling rig with a drilling function includes a body 1 and a power head 4 for driving a drill rod to rotate, a mechanical arm 2 for conveying the drill rod is fixedly mounted on the body 1, a frame 3 is also movably mounted on the body 1, the power head 4 is slidably mounted on the outside of the frame 3, a hydraulic component for driving the power head 4 to extend and retract is arranged inside the frame 3, and a fixture 11 is fixedly mounted on one end of the frame 3; A push-pull oil cylinder 10 is fixedly installed inside the frame 3, and a clamp 6 is movably connected to the output end of the push-pull oil cylinder 10. The clamp 6 is used for clamping and connecting multiple groups of drill rods, and the clamp 6 is slidably installed on the outside of the frame 3; A plurality of guide columns 13 are movably mounted on one end of the frame 3, and a front angle adjustment guide mechanism 5 is disposed outside the guide column 13, and the front angle adjustment guide mechanism 5 is movably connected to the frame 3; An inner groove 12 is provided at the top of the body 1, and a bottom drill lifting mechanism 7 is arranged inside the inner groove 12. The bottom drill lifting mechanism 7 is located below the frame 3. A horizontal drill delivery mechanism 8 for receiving the drill delivered by the robotic arm 2 is provided on the other side of the body 1. A rotating clamping mechanism 9 is provided between the horizontal drill delivery mechanism 8 and the bottom drill lifting mechanism 7, and the rotating clamping mechanism 9 is fixedly mounted on the body 1.

[0021] In this embodiment, when the drilling rig is in operation, the frame 3 is first adjusted to the required drilling angle through the front angle adjustment guide mechanism 5, and then the frame 3 is clamped on the outside of the guide column 13 so that the entire working mechanism can work stably. The mechanical arm 2 puts the drill rod into the horizontal drill feeding mechanism 8, and after rolling to the pre-grabbing position on the horizontal drill feeding mechanism 8, the drill rod is gripped by the rotary clamping mechanism 9, and the horizontal drill feeding mechanism 8 falls to leave space for the rotary drill feeding; the drill rod is clamped by the rotary clamping mechanism 9 and falls into the bottom drill lifting mechanism 7, and the rotary clamping mechanism 9 returns to the original path, and the bottom drill lifting mechanism is used to lift the drill rod. 7 drives the drill rod to move gradually upward until the drill rod is lifted to the center of the borehole, corresponding to the center of the power head 4. Then the push-pull cylinder 10 drives the clamp 6 to move forward. The clamp 6 clamps the lifted drill rod and connects it with the power head 4, and the bottom drill lifting mechanism 7 is lowered to the inner groove 12 and is parallel to the machine body 1, preparing for the next rod connection cycle. After the power head 4 rotates to connect the drill rod to the thread, the clamp 6 returns to its original position, and then the drilling rig drills normally. The overall structure saves drilling rig space, ensures smooth advancement during the process of drilling the drill rod, and solves the problem of rod jamming or offset.

[0022] As an implementation method, Figure 6 , Figure 7 and Figure 8As shown, the front angle adjustment guide mechanism 5 includes a three-stage angle adjustment cylinder 51 movably installed in the body 1, and a shell 52 is fixedly installed on the output end of the three-stage angle adjustment cylinder 51. The shell 52 is sleeved on the outside of the guide column 13, and multiple groups of slips 53 are slidably installed inside the shell 52. A hydraulic device 54 is provided on one side of the slip 53, and the hydraulic device 54 is installed in the shell 52. An oil filling port 55 is opened on one side of the hydraulic device 54, and the hydraulic device 54 is used to push the slip 53.

[0023] Among them, the outside of the guide column 13 is evenly distributed with through holes 56, and a safety pin is inserted in the through hole 56. A one-way hydraulic lock 57 is connected to the shell 52 to ensure that the front angle adjustment guide mechanism 5 always maintains the locking force. Even if the power is off, it can be locked normally to ensure safety. At the same time, the through hole 56 on the guide column 13 can also be inserted with a safety pin, which is safer.

[0024] In this embodiment, the hydraulic device 54 is a single-acting hydraulic cylinder. When the three-stage angle adjustment cylinder 51 adjusts the frame 3 to the desired angle, pressurized oil is supplied through the oil filling port 55, so that the hydraulic device 54 firmly holds the guide column 13, so that the entire working mechanism can work stably. Compared with the ordinary mechanical clamping mechanism, this mechanism will not loosen and does not require manual tightening of the screws.

[0025] As an implementation method, Figure 1 , Figure 2 and Figure 3 As shown, the horizontal drilling mechanism 8 includes a lifting and lowering cylinder 81 movably mounted on one side of the machine body 1, and a reserve rack 82 is movably mounted on the output end of the lifting and lowering cylinder 81. Both sides of the bottom of the reserve rack 82 are provided with hydraulic telescopic rods 83, and the output end of the hydraulic telescopic rod 83 is fixedly connected to a side plate 84; Two groups of stoppers 85 are fixedly mounted on the top of the reserve rack 82 , and a socket slot 86 is provided inside the reserve rack 82 .

[0026] The stopper 85 is arranged in a mirror-symmetrical manner with respect to the center of the socket slot 86 , and the stopper 85 is a trapezoidal structure, and the socket slot 86 is located between adjacent stoppers 85 .

[0027] In this embodiment, after the robot arm 2 grabs the drill rod, it first lifts the reserve rack 82 through the lifting cylinder 81. A section of the reserve rack 82 is connected to one side of the machine body 1, so that the reserve rack 82 is tilted. At the same time, the hydraulic telescopic rods 83 on both sides drive the side plates 84 to move inward to prevent the drill rod from deviating. After the drill rod rolls on the reserve rack 82 to the pre-grabbing position, it is blocked by the block 85, and then inserted into the socket groove 86 in the rotating clamping mechanism 9 to grasp the drill rod. The reserve rack 82 falls to leave space for rotating the drill.

[0028] As an implementation method, Figure 2 , Figure 3 and Figure 4As shown, the rotating clamping mechanism 9 includes a bracket 94 fixedly mounted on the body 1, a rotary reducer 91 is fixedly mounted on the bottom of the bracket 94, a telescopic rotating arm 92 is fixedly mounted on the output end of the rotary reducer 91, a hydraulic mechanical claw 93 is fixedly mounted on one end of the telescopic rotating arm 92, a hydraulic telescopic arm 95 is fixedly mounted on one side of the telescopic rotating arm 92, and the output end of the hydraulic telescopic arm 95 is fixedly connected to the hydraulic mechanical claw 93.

[0029] In this embodiment, the rotary reducer 91 is driven and the position is controlled by an encoder. The reduction ratio is large and the control accuracy is high. After the hydraulic mechanical claw 93 grabs the drill rod, it is driven by the rotary reducer 91 to drive the telescopic arm 92 to rotate. At this time, the hydraulic telescopic arm 95 is in a retracted state. When the telescopic arm 92 rotates 180° into place, it extends out to transfer the drill rod, and the hydraulic mechanical claw 93 is released. The drill rod falls into the bottom drill lifting mechanism 7, and the hydraulic mechanical claw 93 returns to the starting position along the original path to wait for the next drill rod.

[0030] The mechanism is composed of a hydraulic mechanical claw 93, a hydraulic telescopic arm 95 and a rotary reducer 91, which transmits the drill rod in the horizontal plane, completes the drill rod transfer in the smallest space, saves the drilling rig space, and the action is almost completed in the drilling rig space, which is safe and reliable.

[0031] As an implementation method, Figure 2 , Figure 3 , Figure 6 and Figure 9 As shown, the bottom drill lifting mechanism 7 includes a drill lifting angle adjustment cylinder 71 movably mounted on the inner wall of the inner groove 12, a support plate 72 is movably mounted on the output end of the drill lifting angle adjustment cylinder 71, and a hinge seat 78 is fixedly mounted on the top of the machine body 1, and the top of the support plate 72 is connected to the outside of the hinge seat 78 by hinge connection; A top column 73 is fixedly installed on the top of the support plate 72, and a lifting cylinder 74 is fixedly installed on one side of the support plate 72. A double-layer parallelepiped linkage 76 is movably installed on the output end of the lifting cylinder 74. The bottom end of the double-layer parallelepiped linkage 76 is movably installed on the support plate 72, and a connecting rod frame 77 is movably installed on the top end of the double-layer parallelepiped linkage 76.

[0032] In this embodiment, after the drill rod falls into the rod receiving frame 77, the movement of one side of the top column 73 is restricted, and then the support plate 72 is adjusted to be parallel to the frame 3 by using the drill lifting and angle adjustment cylinder 71 until the top of the top column 73 contacts the frame 3, and then the rod lifting cylinder 74 is extended through the support plate 72, and the double-layer parallel four-link member 76 is used to move upward to lift the drill rod to the center of the borehole, and then the push-pull cylinder 10 on one side of the clamp 6 pushes the clamp 6 forward, and the clamp 6 clamps the lifted drill rod and connects it with the power head 4, and the bottom drill lifting mechanism 7 is lowered into the inner groove 12, parallel to the machine body 1, ready for the next rod receiving cycle.

[0033] As an implementation method,Figure 9 As shown, the double-layer parallelepiped linkage 76 includes multiple groups of mutually hinged linkages 14, wherein one end of the upper and lower groups of linkages 14 are movably mounted on one side of the support plate 72 and the connecting rod frame 77, respectively, and one end of the other two groups of linkages 14 is slidably mounted with a slide bar 75, which is mounted on one side of the support plate 72 and the connecting rod frame 77.

[0034] A notch 79 for accommodating the hydraulic mechanical claw 93 is formed inside the connecting rod frame 77 , and an arc groove is formed at the top of the connecting rod frame 77 .

[0035] In this embodiment, after the drill rod falls into the arc groove in the rod frame 77, when the rod lifting cylinder 74 is extended, it drives the bottom connecting rod 14 to move. Due to the combination of multiple sets of hinged connecting rods 14, the connecting rod 14 moves on the sliding rod 75, driving the top rod frame 77 to gradually move upward until the drill rod on the rod frame 77 is lifted to the center of the drill hole, corresponding to the center of the power head 4. The notch 79 in the rod frame 77, after the rotating clamping mechanism 9 moves to the bottom drill lifting mechanism 7, ensures that the rod frame 77 does not conflict with the hydraulic mechanical claw 93 when it gradually moves upward.

[0036] Working principle: When the drilling rig is in operation, the frame 3 is first adjusted to the required drilling angle through the three-stage angle adjustment cylinder 51, and then pressure oil is supplied through the oil filling port 55 to make the hydraulic equipment 54 firmly hold the guide column 13, so that the entire working mechanism can work stably. After the mechanical arm 2 grabs the drill rod, it first lifts the reserve rack 82 through the lifting cylinder 81. The reserve rack 82 is connected to one side of the machine body 1 to tilt the reserve rack 82. The mechanical arm 2 puts the drill rod on the reserve rack 82. At the same time, the hydraulic telescopic rods 83 on both sides drive the side plates 84 to move inward to prevent the drill rod from deviating. After the drill rod rolls to the pre-grabbing position on the drill rod reserve rack 82, it is blocked by the block 85, and then the hydraulic mechanical claw 93 is inserted into the socket slot 86 to grab the drill rod. The reserve rack 82 falls to leave space for rotating the drill. After the hydraulic mechanical claw 93 grabs the drill rod, it is driven by the rotary reducer 91 to drive the telescopic arm 92 to rotate. At this time, the hydraulic telescopic arm 95 is in a retracted state. When the telescopic arm 92 rotates 180° to the right position, it extends to transfer the drill rod, and the hydraulic mechanical claw 93 is released. The drill rod falls into the rod receiving frame 77, and the hydraulic mechanical claw 93 returns to the starting position along the original path to wait for the next drill rod. After the drill pipe falls into the arc groove of the rod connecting frame 77, the movement of one side of the top column 73 is restricted. Then, the lifting drill adjusting angle oil cylinder 71 is used to adjust the supporting plate 72 to be parallel to the machine frame 3 until the top end of the top column 73 contacts the machine frame 3. The rod lifting oil cylinder 74 extends to drive the movement of the bottom connecting rod 14. Due to the combination of multiple groups of hinged connecting rods 14, the connecting rod 14 moves on the sliding rod 75, driving the rod connecting frame 77 at the top to gradually move upward until the drill pipe on the rod connecting frame 77 is lifted to the center position of the drill hole, corresponding to the center of the power head 4. The notch 79 in the rod connecting frame 77 enables the rod connecting frame 77 to gradually move upward without conflicting with the hydraulic mechanical claw 93. Then, the push-pull oil cylinder 10 on one side of the gripper 6 pushes the gripper 6 forward, and the gripper 6 clamps the lifted drill pipe and connects it to the power head 4. The bottom lifting drill mechanism 7 descends into the inner groove 12 and is parallel to the machine body 1, preparing for the next rod connecting cycle; After the power head 4 rotates to thread the drill pipe, the gripper 6 returns to its original position, and then the drill rig drills normally, and all drill pipe feeding operations start the next cycle.

[0037] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0038] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A semi-automatic directional drilling rig with an up-drilling function, comprising a machine body (1) and a power head (4) for driving the drill pipe to rotate. A robotic arm (2) for conveying the drill pipe is fixedly installed on the machine body (1). A frame (3) is also movably installed on the machine body (1). The power head (4) is slidably installed outside the frame (3). A hydraulic component for driving the power head (4) to extend and retract is arranged inside the frame (3). A fixator (11) is fixedly installed at one end of the frame (3), characterized in that; A push-pull oil cylinder (10) is fixedly installed inside the frame (3). The output end of the push-pull oil cylinder (10) is movably connected to a gripper (6). The gripper (6) is used for clamping and connecting multiple drill pipes, and the gripper (6) is slidably installed outside the frame (3). A plurality of guide columns (13) are movably installed at one end of the frame (3). A front angle-adjusting guiding mechanism (5) is arranged outside the guide columns (13), and the front angle-adjusting guiding mechanism (5) is movably connected to the frame (3). An inner groove (12) is formed at the top of the machine body (1). A bottom drill-lifting mechanism (7) is arranged inside the inner groove (12). The bottom drill-lifting mechanism (7) is located below the frame (3). A horizontal drill-feeding mechanism (8) for receiving the mechanical arm (2) is arranged on the other side of the machine body (1). A rotary clamping mechanism (9) is arranged between the horizontal drill-feeding mechanism (8) and the bottom drill-lifting mechanism (7), and the rotary clamping mechanism (9) is fixedly installed on the machine body (1).

2. The semi-automatic directional drill with an up-drilling function according to claim 1, characterized in that, The front angle-adjusting guiding mechanism (5) includes a three-stage angle-adjusting oil cylinder (51) movably installed inside the machine body (1). The output end of the three-stage angle-adjusting oil cylinder (51) is fixedly installed with a housing (52). The housing (52) is sleeved outside the guide column (13). A plurality of slip jaws (53) are slidably installed inside the housing (52). A hydraulic device (54) is arranged on one side of the slip jaw (53). The hydraulic device (54) is installed inside the housing (52). An oil injection port (55) is formed on one side of the hydraulic device (54), and the hydraulic device (54) is used to push the slip jaw (53).

3. A semi-automatic directional drill with an up-drilling function according to claim 1, characterized in that, Through holes (56) are equidistantly distributed outside the guide column (13), and safety pins are inserted into the through holes (56).

4. A semi-automatic directional drill with an up-drilling function according to claim 1, characterized in that, The horizontal drill-feeding mechanism (8) includes a lifting oil cylinder (81) movably installed on one side of the machine body (1). The output end of the lifting oil cylinder (81) is movably installed with a storage rack (82). Hydraulic telescopic rods (83) are arranged on both sides of the bottom of the storage rack (82). The output end of the hydraulic telescopic rod (83) is fixedly connected to a side plate (84). Two stoppers (85) are fixedly installed on the top of the storage rack (82), and a socket groove (86) is formed inside the storage rack (82).

5. The semi-automatic directional drilling rig with an up-drilling function according to claim 4, characterized in that, The stoppers (85) are arranged symmetrically with respect to the center of the socket groove (86), and the stoppers (85) are trapezoidal structures. The socket groove (86) is located between adjacent stoppers (85).

6. A semi-automatic directional drilling rig with an up-drilling function according to claim 1, characterized in that, The rotary clamping mechanism (9) includes a bracket (94) fixedly installed on the machine body (1). A rotary reducer (91) is fixedly installed at the bottom of the bracket (94). The output end of the rotary reducer (91) is fixedly installed with a telescopic rotating arm (92). A hydraulic mechanical claw (93) is fixedly installed at one end of the telescopic rotating arm (92). A hydraulic telescopic arm (95) is fixedly installed on one side of the telescopic rotating arm (92). The output end of the hydraulic telescopic arm (95) is fixedly connected to the hydraulic mechanical claw (93).

7. A semi-automatic directional drill with an up-drilling function according to claim 6, characterized in that, The bottom drill lifting mechanism (7) includes a drill lifting angle adjusting oil cylinder (71) movably installed on the inner wall of the inner groove (12). The output end of the drill lifting angle adjusting oil cylinder (71) is movably installed with a support plate (72). The top of the machine body (1) is fixedly installed with a hinge seat (78). The top end of the support plate (72) is hinged to the outside of the hinge seat (78). The top of the support plate (72) is fixedly installed with a top column (73), and a drill lifting rod oil cylinder (74) is fixedly installed on one side of the support plate (72). The output end of the drill lifting rod oil cylinder (74) is movably installed with a double-layer parallel four-link member (76). The bottom end of the double-layer parallel four-link member (76) is movably installed on the support plate (72), and the top end of the double-layer parallel four-link member (76) is movably installed with a connecting rod frame (77).

8. A semi-automatic directional drill with an up-drilling function according to claim 7, characterized in that The double-layer parallel four-link member (76) includes multiple groups of connecting rods (14) hinged to each other. One ends of the upper and lower two groups of connecting rods (14) are respectively movably installed on one side of the support plate (72) and the connecting rod frame (77). One ends of the other two groups of connecting rods (14) are slidably installed with sliding rods (75), and the sliding rods (75) are installed on one side of the support plate (72) and the connecting rod frame (77).

9. The semi-automatic directional drill with an up-drilling function according to claim 7, characterized in that, A notch (79) for accommodating a hydraulic mechanical claw (93) is formed inside the connecting rod frame (77), and an arc groove is formed at the top end of the connecting rod frame (77).

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