Split type full-automatic directional drilling machine

Abstract

The invention relates to the technical field of coal mine drilling machines, in particular to a split type full-automatic directional drilling machine which is composed of a drill rod loading and unloading device and a drilling robot, the drill rod loading and unloading device can be in butt joint with the drilling robot so that the drill rod loading and unloading device can provide a drill rod for the drilling robot, and the drill rod loading and unloading device comprises a machine body. A drill rod storage frame, a horizontal sliding assembly and a lifting type drill rod receiving frame are arranged on the machine body. The drilling robot and the drill rod loading and unloading device are arranged in a split mode, so that the drilling robot and the drill rod loading and unloading device can be transported separately or transported integrally after being in butt joint, selection can be conducted according to actual application scenes, the drilling robot can adapt to complex environments, the drill rod loading and unloading device can automatically convey drill rods to the drilling robot, the long-mileage drilling requirement is met, and the working efficiency is improved. And after drilling is finished, when the drilling robot disassembles the drilling rods, the drilling rod loading and unloading device can also store and arrange the dissembled drilling rods, the full-automatic process is achieved, manual operation is not needed, and the working efficiency of the drilling machine is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine drills, and in particular to a split-type full-automatic directional drill. Background Art

[0002] A coal mine is an area where humans extract coal resources in coal-rich mining areas. In the coal mine industry, when coal mining operations are often carried out underground, it is necessary to drill holes for water exploration, gas exploration, fault exploration, water injection, etc. in the coal seam. And China's industrialized coal production process has now entered an era of safe and efficient mining. A coal mine is a reasonable space excavated by humans when excavating coal-rich geological strata, usually including roadways, shafts, and working faces, etc. When drilling a coal mine, drilling equipment is used, and the drill pipe and drill bit on the drilling equipment rotate through power output and drill the coal mine.

[0003] In the operation of tunneling a mine roadway by a drill, due to the limited volume of the drill pipe box on the drill, the number of drill pipes carried is usually small, and only short-distance drilling requirements can be met. When long-distance drilling requirements need to be met, a drill pipe box with a larger volume needs to be installed on the drill. The modified drill pipe box will make the overall shape of the machine larger, operate inflexibly in a narrow mine roadway, have poor adaptability, and it is very difficult to alternate with a roadheader for operation. In addition, if the drill pipes are transported separately by external equipment, then when drilling and retracting the drill pipes onto the drill later, equipment such as manual labor or a robotic arm needs to be relied on, and it is also difficult to ensure stable and efficient drilling and retracting, reducing the working efficiency of the drill. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a split-type full-automatic directional drill to solve the problems that existing drills are mostly of an integral structure without a drill pipe adding and unloading device, resulting in a limited number of automatically added drill pipes, the need to transport drill pipes to the drill manually or with the help of external equipment, the process is cumbersome and the efficiency is low. In addition, when the drill automatically disassembles the drill pipes (i.e., retracts the drill), it cannot organize and store the unloaded drill pipes.

[0005] For the above purposes, the present invention provides a split-type fully automatic directional drilling rig, which consists of a drill pipe adding and removing device and a drilling robot, and the drill pipe adding and removing device can be docked with the drilling robot to facilitate the drill pipe adding and removing device to provide drill pipes to the drilling robot; the drill pipe adding and removing device includes a body, on which a drill pipe storage frame, a horizontal sliding assembly and a lifting drill pipe picking-up frame are provided, and the horizontal sliding assembly is located between the drill pipe storage frame and the lifting drill pipe picking-up frame and below the drill pipe storage frame. A vertical sliding assembly is slidably provided on the horizontal sliding assembly, and an access drill pipe robotic arm assembly is provided on the vertical sliding assembly. The access drill pipe robotic arm assembly can grab the drill pipes in the drill pipe storage frame and place the grabbed drill pipes on the lifting drill pipe picking-up frame; the drilling robot includes a fuselage, on which a drill pipe box is provided, and a drill pipe picking and placing frame is rotatably provided on the drill pipe box. When the end of the drill pipe picking and placing frame close to the drill pipe adding and removing device is flipped to be lower than the top end of the lifting drill pipe picking-up frame, the drill pipe picking and placing frame can receive the drill pipes located on the lifting drill pipe picking-up frame. When the end of the drill pipe picking and placing frame close to the drill pipe adding and removing device is flipped to be higher than the top end of the lifting drill pipe picking-up frame, the drill pipes on the drill pipe picking and placing frame can roll into the drill pipe box.

[0006] Preferably, the drill pipe storage frame is a frame structure with openings at both the upper and lower ends and is installed on the body. A notch for the vertical sliding assembly to penetrate is provided at one end of the drill pipe storage frame close to the drilling robot. A number of partitions are fixedly connected inside the drill pipe storage frame, and the number of partitions can divide the space inside the drill pipe storage frame into a number of accommodation cavities for accommodating drill pipes.

[0007] Preferably, the horizontal sliding assembly includes a horizontal rack, on which a housing one is slidably provided. A cycloidal hydraulic motor one is fixedly installed on the housing one, and the output end of the cycloidal hydraulic motor one extends into the housing one and is fixedly connected with a gear one meshing with the horizontal rack. A pull rope sensor one is fixedly installed on the body, and the pull rope on the pull rope sensor one is fixedly installed on the housing one.

[0008] Preferably, the vertical sliding assembly includes a vertical rack. A support frame is fixedly installed on the housing one, and the vertical rack is fixedly installed on the side surfaces of the housing one and the support frame. A housing two is slidably provided on the vertical rack. A cycloidal hydraulic motor two is fixedly installed on the housing two, and the output end of the cycloidal hydraulic motor two extends into the housing two and is fixedly connected with a gear two meshing with the vertical rack. A pull rope sensor two is fixedly installed on the housing one, and the pull rope on the pull rope sensor two is fixedly installed on the cycloidal hydraulic motor two.

[0009] Preferably, the access drill pipe robotic arm assembly includes a spiral swing oil cylinder fixedly installed on the second housing. The output end of the spiral swing oil cylinder is fixedly connected with an access mechanical gripper through an L-shaped swing arm, and a proximity switch is installed on the access mechanical gripper.

[0010] Preferably, the lifting drill pipe receiving rack includes a bottom plate installed on the machine body. Two limit seats are installed on the bottom plate, and a connecting rod rack is slidably connected between the two limit seats. An elevating oil cylinder for pushing the connecting rod rack to move is installed on the bottom plate.

[0011] Preferably, the connecting rod rack is composed of two connecting rod vertical plates and a connecting plate. The connecting rod vertical plates are slidably connected with the limit seats. The connecting plate is installed between the two connecting rod vertical plates. The top end of the elevating oil cylinder is connected with the connecting plate. An inclined groove for placing the drill pipe is opened at the top end of the connecting rod vertical plate. Two drill pipe receiving and straightening oil cylinders are symmetrically installed on the lower surface of the bottom plate. The output end of the drill pipe receiving and straightening oil cylinder is installed with a drill pipe receiving and straightening plate, and a first guide rod is installed on the drill pipe receiving and straightening plate. A first guide sleeve for the first guide rod to penetrate is installed on the bottom plate.

[0012] Preferably, the drill pipe picking and placing rack includes a tipping plate hinged on the drill pipe box. Two first hook plates are fixedly connected to one side of the tipping plate close to the drill pipe box. Two second hook plates are fixedly connected to the side of the tipping plate away from the drill pipe box. Two rectangular notches are opened on the tipping plate, and the rectangular notches are located between the two second hook plates and correspond to the connecting rod vertical plates. A tipping plate oil cylinder for pushing the tipping plate to flip around the hinge point with the drill pipe box is hinged on the drill pipe box.

[0013] Preferably, two upper drill pipe straightening oil cylinders are symmetrically installed on the lower surface of the tipping plate. The output end of the upper drill pipe straightening oil cylinder is installed with an upper drill pipe straightening plate, and a second guide rod is installed on the upper drill pipe straightening plate. A second guide sleeve for the second guide rod to penetrate is installed on the lower surface of the tipping plate.

[0014] The beneficial effects of the present invention are as follows: Through the split setting of the drilling robot and the drill pipe adding and unloading device, the two can be transported separately or transported as a whole after docking, and can be selected according to the actual application scenario, and can adapt to a relatively complex environment. For example, when the space is relatively small, the two can be transported separately; in addition, the two can also be used separately or used as a whole after docking. When used separately, since the drill pipe box on the drilling robot is small and the carried drill pipes are limited, it can meet the short-distance drilling requirements, and the drill pipe adding and unloading device can act as a storage and transportation device for drill pipes; when used as a whole after docking, the drill pipe adding and unloading device can automatically convey drill pipes to the drilling robot to meet the long-distance drilling requirements. After the drilling is completed, when the drilling robot disassembles the drill pipes, the drill pipe adding and unloading device can also collect and sort the disassembled drill pipes, and the whole process is fully automatic without manual operation, improving the working efficiency of the drilling rig.

[0015] When the drill pipe adding / removing device provides a drill pipe to the drilling robot (i.e., the drilling robot drills), the drill pipe picking and placing frame first flips, so that the end of the drill pipe picking and placing frame close to the drill pipe adding / removing device flips to a position lower than the top of the lifting drill pipe picking frame. Subsequently, the drill pipe accessing manipulator assembly grabs the drill pipe in the drill pipe storage box and places the grabbed drill pipe on the lifting drill pipe picking frame. Then, the lifting drill pipe picking frame descends, so that the drill pipe on the lifting drill pipe picking frame can fall onto the drill pipe picking and placing frame. Then, the drill pipe picking and placing frame flips again. When the end of the drill pipe picking and placing frame close to the drill pipe adding / removing device flips to a position higher than the top of the lifting drill pipe picking frame, the drill pipe on the drill pipe picking and placing frame can roll into the drill pipe box, facilitating the drill pipe receiving and sending manipulator on the drilling robot to grab the drill pipe in the drill pipe box and install the grabbed drill pipe onto the power chuck on the drilling robot, realizing the full-automatic drill pipe addition for the drilling robot and improving the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of 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 only the 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.

[0017] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the drill pipe adding / removing device of the present invention; Figure 3 is a schematic structural diagram of the drilling robot of the present invention; Figure 4 is the present invention Figure 3 in the schematic structural diagram of the horizontal sliding assembly, the vertical sliding assembly and the drill pipe accessing manipulator assembly; Figure 5 is a schematic structural diagram of the lifting drill pipe picking frame and the drill pipe picking and placing frame of the present invention; Figure 6 is the present invention Figure 5 front view; Figure 7 is a schematic diagram of the process of the lifting drill pipe picking frame drilling on the drill pipe picking and placing frame of the present invention; Figure 8 is a schematic diagram of the process of the lifting drill pipe picking frame receiving the drill pipe from the drill pipe picking and placing frame of the present invention.

[0018] Figure: 1. Drill rod loading and unloading device; 1.1. Machine body; 1.2. Drill rod storage frame; 1.21. Partition; 1.3. Horizontal slide assembly; 1.31. Horizontal rack; 1.32. Housing 1; 1.33. Cycloidal hydraulic motor 1; 1.34. Pull rope sensor 1; 1.4. Liftable drill rod receiving rack; 1.41. Base plate; 1.42. Stopper; 1.43. Rod receiving rack; 1.431. Rod receiving riser; 1.432. Connecting plate; 1.44. Lifting cylinder; 1.45. Drilling and straightening cylinder; 1.46. Drilling and straightening plate; 1.47. Guide rod 1; 1.5. Vertical slide assembly; 1. 51. Vertical rack; 1.52. Housing 2; 1.53. Cycloidal hydraulic motor 2; 1.54. Pull rope sensor 2; 1.6. Drill rod storage and retrieval mechanical arm assembly; 1.61. Spiral swing cylinder; 1.62. Storage and retrieval mechanical gripper; 1.63. Proximity switch; 2. Drilling robot; 2.1. Body; 2.2. Drill rod box; 2.3. Drill rod retrieval rack; 2.31. Rocker; 2.32. Hook plate 1; 2.33. Hook plate 2; 2.34. Drill straightening cylinder; 2.35. Drill straightening plate; 2.36. Guide rod 2; 2.37. Rocker cylinder; 3. Drill rod receiving and delivery mechanical arm; 4. Power chuck. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8As shown in the figure, a split-type full-automatic directional drilling rig is composed of a drill pipe adding and removing device 1 and a drilling robot 2, and the drill pipe adding and removing device 1 can be docked with the drilling robot 2. The docking method can be controlled by a remote control, which belongs to the existing conventional technology. The docking method can be magnetic docking, electric buckle docking, etc., so as to facilitate the drill pipe adding and removing device 1 to provide drill pipes to the drilling robot 2; the drill pipe adding and removing device 1 includes a machine body 1.1, on which a drill pipe storage frame 1.2, a horizontal sliding assembly 1.3 and a lifting drill pipe picking and placing frame 1.4 are arranged. The horizontal sliding assembly 1.3 is located between the drill pipe storage frame 1.2 and the lifting drill pipe picking and placing frame 1.4 and is below the drill pipe storage frame 1.2. A vertical sliding assembly 1.5 is slidably arranged on the horizontal sliding assembly 1.3, and an access drill pipe manipulator assembly 1.6 is arranged on the vertical sliding assembly 1.5. The access drill pipe manipulator assembly 1.6 can grab the drill pipes in the drill pipe storage frame 1.2 and place the grabbed drill pipes on the lifting drill pipe picking and placing frame 1.4; the drilling robot 2 includes a fuselage 2.1, on which a drill pipe box 2.2 is arranged. A drill pipe receiving and sending manipulator 3 and a power chuck 4 are also arranged on the fuselage 2.1. The drill pipe receiving and sending manipulator 3 can grab the drill pipes in the drill pipe box 2.2 and install the grabbed drill pipes on the power chuck 4. A drill pipe picking and placing frame 2.3 is rotatably arranged on the drill pipe box 2.2. When the drill pipe adding and removing device 1 conveys drill pipes to the drill pipe box 2.2, the end of the drill pipe picking and placing frame 2.3 close to the drill pipe adding and removing device 1 first flips to a position lower than the top of the lifting drill pipe picking and placing frame 1.4, and then the lifting drill pipe picking and placing frame 1.4 descends so that the drill pipe picking and placing frame 2.3 can receive the drill pipes on the lifting drill pipe picking and placing frame 1.4. When the end of the drill pipe picking and placing frame 2.3 close to the drill pipe adding and removing device 1 flips to a position higher than the top of the lifting drill pipe picking and placing frame 1.4, the drill pipes on the drill pipe picking and placing frame 2.3 can roll into the drill pipe box 2.2.

[0022] In a preferred embodiment of the present invention, the drill pipe storage frame 1.2 is a frame structure with openings at both the upper and lower ends and is installed on the machine body 1.1. A notch for the vertical sliding assembly 1.5 to penetrate is provided at one end of the drill pipe storage frame 1.2 close to the drilling robot 2. A plurality of partition plates 1.21 are fixedly connected in the drill pipe storage frame 1.2. The plurality of partition plates 1.21 can divide the space in the drill pipe storage frame 1.2 into several accommodation cavities for accommodating drill pipes, and the drill pipes are stacked and placed in the accommodation cavities separated by the partition plates 1.21.

[0023] In another preferred embodiment of the present invention, the horizontal sliding assembly 1.3 includes a horizontal rack 1.31. A housing one 1.32 is slidably arranged on the horizontal rack 1.31. A guide rail is installed on the horizontal rack 1.31. A guide groove adapted to the guide rail is formed on the housing one 1.32. Through the cooperation of the guide rail and the guide groove, the housing one 1.32 can slide on the horizontal rack 1.31. A cycloidal hydraulic motor one 1.33 is fixedly installed on the housing one 1.32. The output end of the cycloidal hydraulic motor one 1.33 extends into the housing one 1.32 and is fixedly connected to a gear one meshing with the horizontal rack 1.31. The output end of the cycloidal hydraulic motor one 1.33 drives the gear one (not shown in the figure) to rotate. Since the gear one meshes with the horizontal rack 1.31, when the cycloidal hydraulic motor one 1.33 drives the gear one to rotate, the gear one can move along the horizontal rack 1.31, thereby driving the housing one 1.32 to move. A pull rope sensor one 1.34 is fixedly installed on the body 1.1, and the pull rope on the pull rope sensor one 1.34 is fixedly installed on the housing one 1.32.

[0024] The vertical sliding assembly 1.5 includes a vertical rack 1.51. A support frame is fixedly installed on the housing one 1.32. The vertical rack 1.51 is fixedly installed on the side surfaces of the housing one 1.32 and the support frame. A housing two 1.52 is slidably arranged on the vertical rack 1.51. A slide rail is installed on the support frame. A chute adapted to the slide rail is formed on the housing two 1.52, so that the housing two 1.52 can slide smoothly on the vertical rack 1.51. A cycloidal hydraulic motor two 1.53 is fixedly installed on the housing two 1.52. The output end of the cycloidal hydraulic motor two 1.53 extends into the housing two 1.52 and is fixedly connected to a gear two meshing with the vertical rack 1.51. The output end of the cycloidal hydraulic motor two 1.53 drives the gear two (not shown in the figure) to rotate. Since the gear two meshes with the vertical rack 1.51, when the cycloidal hydraulic motor two 1.53 drives the gear two to rotate, the gear two can move along the vertical rack 1.51, thereby driving the housing two 1.52 to move. A pull rope sensor two 1.54 is fixedly installed on the housing one 1.32, and the pull rope on the pull rope sensor two 1.54 is fixedly installed on the cycloidal hydraulic motor two 1.53.

[0025] The drill pipe access and storage robotic arm assembly 1.6 includes a spiral swing oil cylinder 1.61 fixedly installed on the housing two 1.52. The output end of the spiral swing oil cylinder 1.61 is fixedly connected to an access and storage mechanical gripper 1.62 through an L-shaped swing arm, and a proximity switch 1.63 is installed on the access and storage mechanical gripper 1.62.

[0026] The process of the access gripper 1.62 grasping the drill pipe in the drill pipe storage box 1.2 is as follows. The output end of the cycloidal hydraulic motor II 1.53 drives the gear II to rotate. Since the gear II meshes with the vertical rack 1.51, the gear II can move along the vertical rack 1.51 when it rotates. Thus, the rotation of the gear II drives the housing II 1.52 to move along the vertical rack 1.51, thereby driving the access gripper 1.62 to move, so that the access gripper 1.62 can move above the drill pipe. During the movement, the rope pull sensor II 1.54 can accurately control the displacement distance. Subsequently, the spiral swing oil cylinder 1.61 controls the access gripper 1.62 to rotate to directly above the drill pipe. Subsequently, the cycloidal hydraulic motor II 1.53 can continue to control the gripper to move downward. When the access gripper 1.62 moves downward, the proximity switch 1.63 can continuously monitor the distance from the drill pipe. When the access gripper 1.62 moves to the height where it can grasp the drill pipe, the access gripper 1.62 stops moving and grasps the drill pipe in the drill pipe storage box 1.2. After grasping the drill pipe, the housing II 1.52 drives the access gripper 1.62 to move upward. The spiral swing oil cylinder 1.61 drives the access gripper 1.62 to rotate to above the lifting drill pipe receiving rack 1.4. Subsequently, the housing II 1.52 drives the access gripper 1.62 to move downward so that the drill pipe is placed on the lifting drill pipe receiving rack 1.4. And the housing I 1.32 can drive the housing II 1.52 and the access gripper 1.62 to move horizontally, facilitating the access gripper 1.62 to grasp the drill pipes in different accommodating cavities.

[0027] In still another preferred embodiment of the present invention, the lifting drill pipe receiving rack 1.4 includes a bottom plate 1.41 installed on the machine body 1.1. Two limit seats 1.42 are installed on the bottom plate 1.41, and a connecting rod frame 1.43 is slidably connected between the two limit seats 1.42. A lifting oil cylinder 1.44 for pushing the connecting rod frame 1.43 to move is installed on the bottom plate 1.41.

[0028] The connecting rod frame 1.43 is composed of two connecting rod vertical plates 1.431 and a connecting plate 1.432. The connecting rod vertical plates 1.431 are slidably connected with the limit seats 1.42. The connecting plate 1.432 is installed between the two connecting rod vertical plates 1.431. The top end of the lifting oil cylinder 1.44 is connected to the connecting plate 1.432. An inclined groove for placing the drill pipe is opened at the top end of the connecting rod vertical plate 1.431. Two drill pipe receiving and straightening oil cylinders 1.45 are symmetrically installed on the lower surface of the bottom plate 1.41. The output end of the drill pipe receiving and straightening oil cylinder 1.45 is installed with a drill pipe receiving and straightening plate 1.46. A guide rod I 1.47 is installed on the drill pipe receiving and straightening plate 1.46. A guide sleeve I for the guide rod I 1.47 to penetrate is installed on the bottom plate 1.41.

[0029] The access robotic gripper 1.62 places the grasped drill pipe in the inclined slot of the pipe connection vertical plate 1.431. Two drill pipe retracting and aligning oil cylinders 1.45 drive two drill pipe retracting and aligning plates 1.46 to close and then separate, enabling the drill pipe retracting and aligning plates 1.46 to organize the position of the drill pipe located in the pipe connection vertical plate 1.431, eliminating the error generated during the docking of the two machines. This facilitates the subsequent accurate grasping of the drill pipe by the access robotic gripper 1.62 and placing it back into the drill pipe storage box 1.2 during drill pipe retraction.

[0030] It should be noted that the drill pipe loading and unloading rack 2.3 includes a tipping plate 2.31 hinged to the drill pipe box 2.2. On the side of the tipping plate 2.31 close to the drill pipe box 2.2, two first hook plates 2.32 are fixedly connected. On the side of the tipping plate 2.31 far from the drill pipe box 2.2, two second hook plates 2.33 are fixedly connected. Two rectangular notches are formed on the tipping plate 2.31, and the rectangular notches are located between the two second hook plates 2.33 and correspond to the pipe connection vertical plate 1.431. A tipping plate oil cylinder 2.37 for pushing the tipping plate 2.31 to rotate around the hinge point with the drill pipe box 2.2 is hinged on the drill pipe box 2.2.

[0031] Two upper drill pipe retracting and aligning oil cylinders 2.34 are symmetrically installed on the lower surface of the tipping plate 2.31. The output end of the upper drill pipe retracting and aligning oil cylinder 2.34 is equipped with an upper drill pipe retracting and aligning plate 2.35. A second guide rod 2.36 is installed on the upper drill pipe retracting and aligning plate 2.35, and a second guide sleeve for the second guide rod 2.36 to penetrate is installed on the lower surface of the tipping plate 2.31.

[0032] When the lifting oil cylinder 1.44 drives the pipe connection vertical plate 1.431 to move downward, the drill pipe on the pipe connection vertical plate 1.431 will fall onto the second hook plates 2.33. Subsequently, the tipping plate oil cylinder 2.37 drives the tipping plate 2.31 to rotate around the hinge point with the drill pipe box 2.2, causing the drill pipe located on the second hook plates 2.33 to first roll onto the first hook plates 2.32. Then, as the tipping plate 2.31 continues to rotate, the drill pipe located on the first hook plates 2.32 will fall into the drill pipe box 2.2. When the drill pipe is located on the first hook plates 2.32, the two upper drill pipe retracting and aligning oil cylinders 2.34 drive the two upper drill pipe retracting and aligning plates 2.35 to close and then separate, which can adjust the position of the drill pipe located on the first hook plates 2.32, facilitating the drill pipe to roll into the drill pipe box 2.2. This is convenient for the subsequent drill pipe handling robotic arm 3 to grasp the drill pipe in the drill pipe box 2.2 and install the grasped drill pipe onto the power chuck 4 on the drilling robot 2.

[0033] The process of the drill pipe loading and unloading device 1 loading the drill pipe onto the drilling robot 2 is as follows: The seesaw cylinder 2.37 drives the seesaw 2.31 to flip, causing the hook plate 2.33 on the seesaw 2.31 to flip to a height lower than the connecting rod vertical plate 1.431. Then, the retrieval mechanical gripper 1.62 places the drill rod grabbed from the drill rod storage box 1.2 into the inclined slot on the connecting rod vertical plate 1.431. Then, the lifting cylinder 1.44 drives the connecting rod vertical plate 1.431 to move downward, allowing the drill rod on the connecting rod vertical plate 1.431 to fall onto the hook plate 2.33. The seesaw cylinder 2.37 drives the seesaw 2.31 to flip. , so that the drill rod on the hook plate 2.33 can roll onto the hook plate 1 2.32, and then the two upper drill straightening cylinders 2.34 drive the two upper drill straightening plates 2.35 to close and then separate, so that the position of the drill rod on the hook plate 1 2.32 can be adjusted, and then the seesaw cylinder continues to drive the seesaw to flip, so that the drill rod can roll into the drill rod box 2.2, which is convenient for the subsequent drill rod receiving and delivering mechanical arm 3 to grab the drill rod in the drill rod box 2.2 and install the grabbed drill rod on the power chuck 4 on the drilling robot 2.

[0034] The process of the drill rod loading and unloading device 1 receiving the drill rod from the drilling robot 2 is as follows: The drill retracting action is the reverse of the drilling action. The seesaw oil cylinder 2.37 drives the seesaw 2.31 to flip, so that the hook plate 2.33 on the seesaw 2.31 flips to a height higher than the hook plate 1 2.32. Then, the drill rod receiving and delivering mechanical arm 3 grabs the drill rod box 2.2, or directly puts the drill rod removed from the power chuck 4 onto the hook plate 1 2.32. The seesaw oil cylinder 2.37 drives the seesaw 2.31 to flip, so that the hook plate 1 2.32 flips to a height higher than the hook plate 2.33. As a result, the drill rod on the hook plate 1 2.32 will roll onto the hook plate 2.33. At this time, the drill rod is located above the connecting rod vertical plate 1.431, and the lifting cylinder 1.44 drives the connecting rod vertical plate 1.431 to move upward, so that the inclined groove on the connecting rod vertical plate 1.431 can receive the drill rod. Then, the two drill retrieval and straightening cylinders 1.45 drive the two drill retrieval and straightening plates 1.46 to retract and then separate, so that the drill retrieval and straightening plates 1.46 can sort the position of the drill rod located in the connecting rod vertical plate 1.431, eliminating the error generated when the two machines are docked, so that when the drill is retrieved later, the storage and retrieval mechanical gripper 1.62 can accurately grab the drill rod and put it back into the drill rod storage box 1.2.

[0035] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0036] Embodiments of the present invention are intended 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 split-type full-automatic directional drilling rig, characterized in that, It is composed of a drill pipe adding and removing device (1) and a drilling robot (2), and the drill pipe adding and removing device (1) can be docked with the drilling robot (2) to facilitate the drill pipe adding and removing device (1) to provide drill pipes to the drilling robot (2); the drill pipe adding and removing device (1) includes a machine body (1.1), a drill pipe storage frame (1.2), a horizontal sliding assembly (1.3) and a lifting drill pipe picking and placing frame (1.4) are arranged on the machine body (1.1), and the horizontal sliding assembly (1.3) is located between the drill pipe storage frame (1.2) and the lifting drill pipe picking and placing frame (1.4) and is below the drill pipe storage frame (1.2). A vertical sliding assembly (1.5) is slidably arranged on the horizontal sliding assembly (1.3), and an access drill pipe manipulator assembly (1.6) is arranged on the vertical sliding assembly (1.5). The access drill pipe manipulator assembly (1.6) can grab the drill pipes in the drill pipe storage frame (1.2) and place the grabbed drill pipes on the lifting drill pipe picking and placing frame (1.4); the drilling robot (2) includes a fuselage (2.1), a drill pipe box (2.2) is arranged on the fuselage (2.1), and a drill pipe picking and placing frame (2.3) is rotatably arranged on the drill pipe box (2.2). When the drill pipe adding and removing device (1) transports drill pipes to the drill pipe box (2.2), the end of the drill pipe picking and placing frame (2.3) close to the drill pipe adding and removing device (1) first flips to a position lower than the top of the lifting drill pipe picking and placing frame (1.4), and then the lifting drill pipe picking and placing frame (1.4) descends so that the drill pipe picking and placing frame (2.3) can receive the drill pipes on the lifting drill pipe picking and placing frame (1.4). When the end of the drill pipe picking and placing frame (2.3) close to the drill pipe adding and removing device (1) flips to a position higher than the top of the lifting drill pipe picking and placing frame (1.4), the drill pipes on the drill pipe picking and placing frame (2.3) can roll into the drill pipe box (2.2).

2. The split-type full-automatic directional drilling rig according to claim 1, wherein, The drill pipe storage frame (1.2) is a frame structure with openings at both the upper and lower ends and is installed on the machine body (1.1). A notch for the vertical sliding assembly (1.5) to penetrate is opened at one end of the drill pipe storage frame (1.2) close to the drilling robot (2). A number of partition plates (1.21) are fixedly connected inside the drill pipe storage frame (1.2), and the number of partition plates (1.21) can divide the space inside the drill pipe storage frame (1.2) into a number of accommodation cavities for accommodating drill pipes.

3. The split-type full-automatic directional drill according to claim 1, characterized in that, The horizontal sliding assembly (1.3) includes a horizontal rack (1.31), a housing one (1.32) is slidably arranged on the horizontal rack (1.31), a cycloidal hydraulic motor one (1.33) is fixedly installed on the housing one (1.32), and the output end of the cycloidal hydraulic motor one (1.33) extends into the housing one (1.32) and is fixedly connected with a gear one meshing with the horizontal rack (1.31). A pull rope sensor one (1.34) is fixedly installed on the machine body (1.1), and the pull rope on the pull rope sensor one (1.34) is fixedly installed on the housing one (1.32).

4. The split-type full-automatic directional drill according to claim 3, wherein, The vertical sliding assembly (1.5) includes a vertical rack (1.51). A support frame is fixedly installed on the first housing (1.32). The vertical rack (1.51) is fixedly installed on the side surfaces of the first housing (1.32) and the support frame. A second housing (1.52) is slidably arranged on the vertical rack (1.51). A cycloidal hydraulic motor II (1.53) is fixedly installed on the second housing (1.52). The output end of the cycloidal hydraulic motor II (1.53) extends into the second housing (1.52) and is fixedly connected to a second gear that meshes with the vertical rack (1.51). A pull rope sensor II (1.54) is fixedly installed on the first housing (1.32), and the pull rope on the pull rope sensor II (1.54) is fixedly installed on the cycloidal hydraulic motor II (1.53).

5. The split-type full-automatic directional drilling rig according to claim 4, wherein, The drill pipe access manipulator assembly (1.6) includes a spiral swing oil cylinder (1.61) fixedly installed on the second housing (1.52). The output end of the spiral swing oil cylinder (1.61) is fixedly connected to an access manipulator (1.62) through an L-shaped swing arm, and a proximity switch (1.63) is installed on the access manipulator (1.62).

6. The split-type full-automatic directional drilling rig according to claim 1, wherein, The lifting drill pipe receiving frame (1.4) includes a bottom plate (1.41) installed on the machine body (1.1). Two limit seats (1.42) are installed on the bottom plate (1.41). A connecting rod frame (1.43) is slidably connected between the two limit seats (1.42). A lifting oil cylinder (1.44) for pushing the connecting rod frame (1.43) to move is installed on the bottom plate (1.41).

7. The split-type full-automatic directional drilling rig according to claim 6, characterized in that, The connecting rod frame (1.43) is composed of two connecting rod vertical plates (1.431) and a connecting plate (1.432). The connecting rod vertical plates (1.431) are slidably connected to the limit seats (1.42). The connecting plate (1.432) is installed between the two connecting rod vertical plates (1.431). The top end of the lifting oil cylinder (1.44) is connected to the connecting plate (1.432). An inclined slot for placing the drill pipe is formed at the top end of the connecting rod vertical plate (1.431). Two drill pipe receiving and straightening oil cylinders (1.45) are symmetrically installed on the lower surface of the bottom plate (1.41). The output end of the drill pipe receiving and straightening oil cylinder (1.45) is installed with a drill pipe receiving and straightening plate (1.46). A first guide rod (1.47) is installed on the drill pipe receiving and straightening plate (1.46), and a first guide sleeve for the first guide rod (1.47) to penetrate is installed on the bottom plate (1.41).

8. A split-type full-automatic directional drilling rig according to claim 7, characterized in that, The drill pipe loading and unloading rack (2.3) includes a seesaw (2.31) hinged to the drill pipe box (2.2), and two first hook plates (2.32) are fixedly connected to the side of the seesaw (2.31) close to the drill pipe box (2.2). Two second hook plates (2.33) are fixedly connected to the side of the seesaw (2.31) far from the drill pipe box (2.2). Two rectangular notches are formed in the seesaw (2.31), and the rectangular notches are located between the two second hook plates (2.33) and correspond to the connecting rod vertical plate (1.431). A seesaw oil cylinder (2.37) is hinged to the drill pipe box (2.2) and is used to push the seesaw (2.31) to flip around the hinge point with the drill pipe box (2.2).

9. The split-type full-automatic directional drilling rig according to claim 7, wherein, Two upper drill pipe straightening oil cylinders (2.34) are symmetrically installed on the lower surface of the seesaw (2.31). The output end of the upper drill pipe straightening oil cylinder (2.34) is provided with an upper drill pipe straightening plate (2.35). A second guide rod (2.36) is installed on the upper drill pipe straightening plate (2.35), and a second guide sleeve for the second guide rod (2.36) to penetrate is installed on the lower surface of the seesaw (2.31).

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