Automatic directional drilling machine using large-specification drill rod

Abstract

The invention relates to an automatic directional drilling machine using a large-specification drill rod, and belongs to the field of coal mine directional drilling machines. According to the drilling machine, the structural design that the movable platform is integrated with the drill rod box and the mechanical arm is innovatively adopted, accurate adjustment of the space poses of the drill rods is achieved through the double-swing-arm mechanism of the dip angle joint, and an automatic drill rod taking, placing and conveying system is formed in cooperation with the modular storage layout of the side hanging type drill rod box. The hydraulic system adopts a load-sensitive control technology to drive a power head to rotate and cooperatively work with a manipulator, and the control system realizes automatic correction of the axis of the drill rod and process connection and disassembly based on a PLC (Programmable Logic Controller). According to the scheme, the industrial problems that a traditional drilling machine is low in drilling rod loading and unloading efficiency and poor in alignment precision in a narrow roadway are effectively solved, and the drilling machine has the comprehensive advantages of being high in overall stability, high in construction continuity and low in safety risk and is particularly suitable for automatic directional drilling operation under the large-dip-angle complex geological condition.

Description

Technical Field

[0001] The invention belongs to the field of coal mine directional drilling machines, and relates to an automatic directional drilling machine using a large-size drill rod. Background Art

[0002] Automated transport of large drill pipes has always been a technical challenge in tunnel drilling projects. Existing directional drilling rigs often use cranes to assist with lifting or simple robotic arms to transport drill pipes. For example, drill pipe handling devices disclosed in patent literature often utilize a single-degree-of-freedom swing arm structure with manual positioning, resulting in low positioning accuracy and difficulty aligning the drill pipe axis. Particularly in narrow tunnel environments, traditional robotic arms, due to their limited degrees of freedom, struggle to adapt to the spatial variations of the drilling rig's drilling axis, resulting in inefficient drill pipe docking and increased construction risks due to frequent manual intervention.

[0003] In the current mainstream solutions, drill rod storage devices mostly use independent bracket structures, which require additional working space and cannot be integrated with the drilling rig's mobile platform, resulting in interruptions in the drill rod replenishment process. Some patents attempt to set up fixed pallet-type drill rod boxes on the side of the drilling rig, but they lack a quick disassembly and assembly mechanism, requiring repeated disassembly when moving the machine, seriously affecting construction continuity. In addition, existing manipulator inclination adjustment mechanisms generally use a single-hinge support structure. For example, the single-cylinder-driven swing arm solution described in a patent is prone to structural deformation under the load of large-scale drill rods, resulting in end positioning offset, and in severe cases even causing the drill rod threaded connection to fail.

[0004] A more prominent issue lies in the closed-loop control of the drill rod's posture. Existing technologies typically rely on the operator to visually adjust the manipulator's posture, lacking a means of real-time calibration between the drill rod axis and the drilling axis of the gantry. While some patents propose installing photoelectric sensors within the drill rod box to detect the drill rod's position, these fail to address the issue of monitoring the drill rod's dynamic posture during manipulator transport. Consequently, manual fine-tuning is still required after the drill rod reaches the drilling station. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an integrated automatic directional drilling rig, which, through the collaborative design of a multi-degree-of-freedom manipulator and an onboard drill rod box, can realize the full-process automation of large-size drill rods from storage, grasping, posture adjustment to precise docking, completely eliminate the manual intervention link, and provide reliable guarantee for efficient tunnel drilling.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention relates to an automatic directional drilling rig using large-size drill rods, comprising a mobile platform with a walking function; a frame fixedly mounted on the mobile platform; a power head and a clamp mounted on the frame; a drill rod box arranged on one side of the mobile platform; a manipulator for grabbing the drill rod in conjunction with the drill rod box; an anchoring system comprising a top plate support mechanism and a bottom plate support mechanism; a hydraulic system for providing power to various actuators; and a control system for controlling the coordinated operation of various components.

[0008] The conveying manipulator for directional drill pipes includes an inclination adjustment mechanism, a horizontal displacement mechanism, a lifting joint, a flip joint, a telescopic joint, and a claw joint. The inclination adjustment mechanism includes two rotating connection points fixed to the mobile platform at intervals; the two ends of the rigid swing arm are respectively hinged to the rotating connection points to form a double rotating pair structure; and a connecting rod mechanism connecting the mobile platform and the swing arm. The horizontal displacement mechanism includes a support frame fixed to the swing arm; a linear guide assembly provided on the support frame; a bearing seat slidably assembled by the linear guide assembly; and a linear drive assembly that drives the bearing seat to move horizontally. The fixed end of the lifting joint is connected to the bearing seat, the base of the flip joint is connected to the output end of the lifting actuator, the fixed end of the telescopic joint is connected to the output end of the flip actuator, and the claw joint is installed at the output end of the axial telescopic mechanism.

[0009] Optionally, the inclination adjustment mechanism is an inclination joint, which includes two swing arm seats spaced apart along the length of the drill pipe; the two ends of the swing arm are hinged to the two swing arm seats through pins to form a double rotation pair; the cylinder barrel and piston rod end of the inclination cylinder are respectively hinged to the mobile platform and the swing arm to form a four-bar drive mechanism.

[0010] Optionally, the horizontal displacement mechanism is a translation joint, which includes a bracket fixedly mounted on the swing arm; a track and a translation motor provided on the bracket; and a supporting base slidably connected to the track through a slider and driven horizontally by the translation motor.

[0011] Optionally, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder, and the lifting outer cylinder is fixedly connected to the bearing seat.

[0012] Optionally, the flip joint includes a flip seat and a flip arm, and the flip seat is fixedly connected to the top end of the lifting inner cylinder.

[0013] Optionally, the telescopic joint includes an outer cylinder and an inner cylinder, wherein the outer cylinder is fixedly connected to the end of the flip arm.

[0014] Optionally, the gripper joint includes a clamping drive and a clamping claw, which are fixedly connected to the top end of the inner cylinder of the telescopic joint.

[0015] Optionally, the drill rod box includes a drill rod box body with an open-top frame structure formed by a bottom plate and vertical plates on both sides; a plurality of partitions vertically arranged inside the drill rod box body to divide the space into multiple rows of storage cavities; and a bracket assembly fixedly connected to the bottom of the drill rod box body for lateral hanging.

[0016] Optionally, the bracket assembly includes at least two spaced-apart hanging members, and the hanging members are detachably connected to the connecting structure on the side of the mobile platform.

[0017] Optionally, the inclination adjustment mechanism includes an inclination sensor assembly, and the trigger member and the sensor are respectively installed under the swing arm and the frame, and the sensor is configured to receive a trigger member signal when the inclination angle of the swing arm is consistent with the drilling axis.

[0018] The beneficial effects of the present invention are:

[0019] This solution, through the collaborative design of an integrated manipulator system and a modular drill pipe storage device, solves the long-standing technical bottlenecks in the field of tunnel drilling in multiple dimensions. Its core innovative benefits are mainly reflected in the following aspects:

[0020] In terms of mechanical structure, the four-degree-of-freedom manipulator system overcomes the limitations of traditional single-degree-of-freedom loading and unloading devices. The inclination adjustment mechanism with dual rotational supports significantly improves structural stability during the transportation of large-sized drill pipes and effectively reduces the risk of deformation during the swing of long drill pipes. The multi-joint linkage design of horizontal-lift-flip-telescopic enables precise position adjustment of the drill pipe in three dimensions, resolving the industry's difficult problem of difficult alignment of the drill pipe axis with the borehole axis in narrow tunnel environments. In particular, the application of a four-bar drive mechanism ensures that the inclination adjustment process combines mechanical rigidity with smooth motion.

[0021] In terms of automated control, an integrated inclination sensing system enables closed-loop control of the drill pipe's posture. By real-time monitoring of the deviation between the swing arm's inclination and the drilling axis, the control system automatically compensates for the manipulator's motion trajectory, significantly reducing the need for manual intervention. Compared to traditional visual alignment methods, this solution elevates drill pipe docking reliability to a new level.

[0022] In terms of construction efficiency, the side-mounted drill pipe box design integrates drill pipe storage with the drilling rig. The quickly removable support assembly eliminates the need for drill pipe replenishment during rig relocation, ensuring construction continuity. The multi-row storage compartment layout, combined with the multi-degree-of-freedom motion of the manipulator, significantly shortens the cycle time for a single drill pipe replenishment operation.

[0023] In terms of safety, the coordinated control of the anchoring system and the hydraulic system ensures the stability of the entire machine during drill rod transportation. The dual support mechanism of the top plate and bottom plate effectively offsets the overturning moment caused by drill rod swing, reducing the safety risks of heavy equipment when operating in inclined tunnels.

[0024] The modular joint design allows for independent maintenance of each functional unit. The track slider mechanism of the translation joint and the sleeve structure of the lifting joint all utilize standardized interfaces, reducing the maintenance difficulty and replacement costs of key components.

[0025] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0027] Figure 1 This is a schematic diagram of the structure of the manipulator cooperating with the drill rod box;

[0028] Figure 2 It is the side view of the manipulator axis;

[0029] Figure 3 This is the front view of the robot;

[0030] Figure 4 This is a schematic diagram of the directional drilling rig in this scheme;

[0031] Figure 5 It is the local view of the translation joint;

[0032] Figure 6 This is the axonometric drawing of the drill rod box of this scheme;

[0033] Figure 7 This is the main view of the drill rod box of this scheme;

[0034] Figure 8 Schematic diagram of the tilt sensor assembly.

[0035] Figures: Manipulator 1, drill pipe box 2, mobile platform 3, anchoring system 4, frame 5, clamp 6, hydraulic system 7, control system 8, power head 9, tilt joint 101, translation joint 102, lifting joint 103, flip joint 104, telescopic joint 105, claw joint 106, tilt sensor assembly 107, swing arm seat 10101, swing arm 10102, pin 10103, tilt cylinder 10104, tilt cylinder seat 10105, bracket 10201, track 10202, slider 10203, translation sensor 1 0204, translation motor 10205, bearing seat 10206, lifting cylinder 10301, lifting outer cylinder 10302, lifting inner cylinder 10303, flip seat 10401, flip arm 10402, flip axis 10403, flip driver 10404, telescopic cylinder 10501, telescopic sensor 10502, clamping drive 10601, trigger 10701, sensor 10702, drill pipe box body 201, bracket 202, bottom plate 203, side plate 204, partition 205, pad 206, drainage hole 207. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0037] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0038] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0039] See also Figures 1 to 8 This is an automatic directional drilling rig using large-sized drill pipe. It comprises a manipulator 1, a drill pipe box 2, a mobile platform 3, an anchoring system 4, a frame 5, a clamp 6, a hydraulic system 7, a control system 8, and a power head 9. The manipulator 1 has four degrees of freedom: inclination, translation, lift, and flip. It transports the drill pipes in the drill pipe box to the drilling axis of the main drilling machine (frame, power head). The drill pipe box 2 is an onboard storage device for drill pipes. The mobile platform 3 is used to carry other components and systems and also has mobility. The anchoring system 4 stabilizes the drilling machine during drilling. Hydraulic cylinders apply pressure to the tunnel roof and the ground to ensure the machine remains stable during drilling. The frame 5 supports components such as the power head and clamp, as well as the drilling feed drive. The clamp 6 is primarily responsible for clamping the drill pipe, maintaining its position within the drilled hole, and also cooperates with the power head to enable threaded connection and removal of the drill pipe. The hydraulic system 7 is the drilling rig's operating power system, driven by an electric motor and outputting hydraulic power. The control system 8 mainly refers to the electronic control system, including the controller and its supporting functional modules, sensors, human-computer interaction system, drilling trajectory measurement system, etc. The power head 9 is the driving device for the rotation of the drill rod, and is connected to the frame and the drill rod to transmit the feed force to the drill rod.

[0040] The specific structure of the drilling rig includes:

[0041] 1. Main frame integration

[0042] The mobile platform 3 utilizes a crawler-type travel mechanism as the foundation for the entire machine's movement. The mounting base for the frame 5 is welded to its upper portion. The frame 5 utilizes a box-beam structure, with a power head 9 and a gripper 6 mounted at the front to form the drilling execution unit. The power head 9 utilizes a hydraulic motor to drive the spindle, while the gripper 6 utilizes a three-jaw hydraulic clamping mechanism to position the drill rod. The anchoring system 4 comprises top and bottom plate support cylinders, symmetrically positioned at the top and bottom of the frame 5. A hydraulic locking mechanism ensures overall stability during drilling.

[0043] 2. Drill pipe conveying system

[0044] The drill rod box 2 is mounted on the side of the mobile platform 3 via a bracket assembly 202. Partitions 205 are installed within its frame-like main body 201 to form multiple storage cavities, capable of accommodating directional drill rods with diameters ranging from 73 to 127 mm. The manipulator 1 utilizes a modular design with six degrees of freedom: the inclination joint 101 is articulated to the mobile platform 3 via a double swing arm mount 10101 and is driven by an inclination cylinder 10104 for tilting. The translation joint 102 achieves horizontal displacement via a track 10202 and a slider 10203. The lifting joint 103 utilizes a telescopic hydraulic cylinder for vertical positioning. The end-mounted gripper 10601 accommodates drill rods of varying specifications.

[0045] 3. Power and control system

[0046] The hydraulic system 7 uses a load-sensing pump to power the power head 9, the manipulator 1, and the anchoring system 4. The control system 8 utilizes a programmable logic controller (PLC) to coordinate multiple mechanisms. After the manipulator 1 grasps the drill pipe, the inclination sensor 107 automatically corrects the deviation between the drill pipe axis and the borehole axis. The gripper 6 then cooperates with the power head 9 to connect the drill pipe. During drilling, a logic valve group automatically switches the hydraulic circuit based on the drill pipe connection and disconnection conditions, streamlining the drilling, retraction, and unloading operations.

[0047] The conveying manipulator 1 for directional drill pipe comprises: an inclination adjustment mechanism: two rotating connection points fixed to the mobile platform 3 at intervals; a rigid swing arm 10102, both ends of which are respectively hinged to the rotating connection points to form a double rotating pair structure; an inclination drive assembly, comprising a connecting rod mechanism connecting the mobile platform 3 and the swing arm 10102, for driving the swing arm 10102 to tilt within a limited inclination range; a horizontal displacement mechanism, comprising: a support frame 10201 fixed to the swing arm 10102; a linear guide assembly provided on the support frame 10201; a bearing seat 10206 slidably assembled by the linear guide assembly; a linear drive assembly that drives the bearing seat 10206 to move horizontally; a lifting joint 10 3, whose fixed end is connected to the bearing seat 10206; the flip joint 104, whose base is connected to the output end of the lifting actuator 103; the telescopic joint 105, whose fixed end is connected to the output end of the flip actuator 104; the claw joint 106, installed at the output end of the axial telescopic mechanism 105; the drill rod box 2 includes a drill rod box body 201, which is surrounded by a bottom plate 203 and vertical plates 204 on both sides to form a frame structure with an open top; a plurality of partitions 205, which are vertically arranged inside the drill rod box body 201 to divide the internal space into multiple rows of storage cavities; a bracket assembly 202, fixedly connected to the bottom of the drill rod box body 201, for laterally hanging the drill rod box 2 on the outer side of the mobile platform 3.

[0048] Robot structure

[0049] 1. Dip Joints 101

[0050] The two swing arm seats 10101 are spaced 500 mm apart along the length of the drill pipe and are fixed to the surface of the mobile platform 3 by bolts; the sockets at both ends of the rectangular tubular swing arm 10102 are hinged to the swing arm seat 10101 through the pin 10103 to form a double rotation pair; the cylinder end of the tilt cylinder 10104 is hinged to the mobile platform 3 through the tilt cylinder seat 10105, and the piston rod end is hinged to the middle part of the swing arm 10102 through the tilt cylinder seat 10105, forming a four-bar mechanism.

[0051] Swing arm seat 10101: The connecting part between the entire manipulator and the mobile platform 3, two of which are set along the length direction of the manipulator (i.e. the length direction of the drill pipe), and are connected to the two ends of the swing arm through pins to form two rotating pairs, so that the swing arm can be tilted up and down under the drive of the tilt cylinder to adjust the inclination angle of the manipulator.

[0052] Swing arm 10102: The main support component of the manipulator. The swing arm is constructed of a rectangular or circular tube. Sockets are located at the front and rear ends of the swing arm for connecting to the swing arm base. These sockets have holes for the pins to pass through (in addition to the holes, the other two holes are weight-reducing holes). An inclination sensor mounting hole is located on the bottom or side of the swing arm. The translation joint 102 is fixed to the swing arm with bolts.

[0053] Tilt cylinder 10104: This element drives the manipulator's tilt adjustment. The cylinder barrel and piston are connected to the swing arm and mobile platform 3, respectively, via the tilt cylinder mount 10105, forming a four-bar linkage driven by a sliding pair. The cylinder's stroke and the mounting position of the tilt cylinder mount are adjusted based on the drilling rig's tilt adjustment range. Since large directional drilling rigs typically operate in near-horizontal conditions, there's no need for a cylinder to drive the manipulator's wide range of tilt adjustment.

[0054] 2. Translation joint 102

[0055] The U-shaped bracket 10201 is bolted to the upper surface of the swing arm 10102; the double track 10202 is bolted to the inner side of the bracket 10201; the supporting seat 10206 is embedded in the double track 10202 through the slider 10203; the translation motor 10205 drives the supporting seat 10206 to move horizontally through the gear rack pair, and the translation sensor 10204 detects the displacement in real time.

[0056] Bracket 10201 supports the lifting joint and also provides a mounting location for the track. One end of the bracket is a connecting seat used to secure the bracket to the swing arm 10102. The main body of the bracket is a crossbeam structure, with a slide rail provided on the side facing the drill rod box (or on the side away from the drill rod box; the specific structure is slightly different). Slide rails are provided on the upper and lower sides of the track (either simultaneously or on one side), and the slide rails cooperate with the slider to form a moving pair; a rack is provided in the middle, which mates with the gear of the translation motor to form a rack and pinion pair. A certain amount of space is left between the bracket and the drill rod box to accommodate the lifting joint.

[0057] The slider is embedded in this guide rail, with one side fixedly connected to the support base 10206. Therefore, the translation motor, through a rack and pinion pair, drives the support base, which in turn drives the lifting joint horizontally. The support base connects the translation joint to the lifting joint. Translation sensor 10204 measures the displacement change during the lifting joint's translation.

[0058] 3. Lifting joint 103

[0059] The lifting outer cylinder 10302 is flange-connected to the bearing seat 10206; the lifting inner cylinder 10303 slides with the lifting outer cylinder 10302 through the inner slide rail; the cylinder of the lifting cylinder 10301 is fixed to the bottom of the lifting outer cylinder 10302, and the piston rod is connected to the lifting inner cylinder 10303.

[0060] The lifting outer cylinder 10302 is connected to the bearing seat of the translation joint. A removable inner slide rail is provided inside the lifting outer cylinder to guide the movement of the lifting inner cylinder. The cylinder barrel of the lifting oil cylinder is connected to the bottom of the lifting outer cylinder, and the piston rod is fixedly connected to the lifting inner cylinder or the flip joint. The piston rod is extended and retracted to drive the inner cylinder and flip joint to move up and down. The lifting inner cylinder is a movable component for lifting. The lower end is provided with a slider that matches the inner slide rail of the lifting outer cylinder. It is inserted into the interior of the lifting outer cylinder and is guided by a guide rail to reduce deviation during the lifting process. The upper end is fixedly connected to the flip joint to transmit the lifting motion to the flip joint.

[0061] 4. Flip joint 104

[0062] The flip seat 10401 is flange-connected to the top of the lifting inner cylinder 10303; the flip shaft 10403 is installed on the flip seat 10401 through a bearing; one end of the flip arm 10402 is key-connected to the flip shaft 10403, and the other end is flange-connected to the telescopic joint 105; the flip driver 10404 (hydraulic motor) drives the flip shaft 10403 to rotate.

[0063] The left side of the flip seat is provided with a mounting flange for the flip driver, and the left side is provided with an end cover connected with a flange, and the inner cavity is provided with a mounting hole for mounting the flip shaft. After the end cover is fixedly mounted on the flip seat, the axial position of the flip shaft can be limited.

[0064] The basic structure of the tilt shaft is a cylindrical shaft with a flange on the right end that mates with the tilt arm and a connection structure, such as a spline or key, on the left end that mates with the tilt actuator. The tilt arm is a long rod or tubular component that connects the tilt shaft to the telescopic joint. A hollow tubular shape is preferred for ease of processing and weight control.

[0065] 5. Telescopic joint 105

[0066] The outer tube flange is connected to the end of the flip arm 10402; the inner tube slides with the outer tube through a guide rail; the cylinder of the telescopic cylinder 10501 is fixed to the top of the outer tube, and the piston rod is connected to the inner tube; the telescopic sensor 10502 detects the displacement of the inner tube.

[0067] The telescopic joint is an inner-outer sleeve structure similar to a lifting joint. A telescopic cylinder 10501 is mounted on its top. The cylinder barrel is connected to the top of the outer barrel, and the piston rod is fixedly connected to the inner barrel or the grip joint. The piston rod's extension and retraction drives the grip joint up and down. A telescopic sensor 10502 is installed on the telescopic joint to measure the change in telescopic displacement.

[0068] 6. Hand joint 106

[0069] The base bolts are fixed to the top of the inner tube of the telescopic joint 105; the clamping actuator 10601 (hydraulic cylinder) drives the jaws to open and close. The claw joint can be a variety of clamping mechanisms, and the clamping actuator 10601 can be a variety of linear or rotary elements (such as a cylinder, motor, etc.). The clamping actuator drives the jaws to clamp and release, thereby clamping and releasing the drill pipe. In this application, the clamping actuator is preferably a linear cylinder.

[0070] 7. Tilt sensor assembly 107

[0071] The drilling rig's inclination angle is the angle between the drilling axis and the plane of the mobile platform. When the manipulator transports the drill rod, its own inclination angle must be roughly consistent with the drilling inclination angle to ensure smooth delivery of the drill rod to the drilling axis. The function of the inclination sensor is to ensure that the manipulator angle is consistent with the drilling inclination angle of the frame.

[0072] The tilt sensor assembly consists of a trigger 10701 and a sensor 10702, mounted below the swing arm and frame, respectively. The sensor can be a proximity-triggered or distance-measuring sensor, such as a Hall effect sensor, photoelectric sensor, or laser rangefinder.

[0073] Drill box structure

[0074] The structure of this easily disassembled drill pipe box primarily includes core components such as the drill pipe box body 201, brackets 202, bottom plate 203, side plates 204, partitions 205, pads 206, and drain holes 207. The drill pipe box body 201 is welded from steel plates and includes the bottom plate 203 and symmetrically arranged side plates 204. Together, these three components form a U-shaped frame structure with an open top. The side plates 204 have reinforced flanges at the top and anti-collision rubber strips welded inside.

[0075] Bracket 202 utilizes two spaced L-shaped mounting brackets. Its vertical portion is secured to base plate 203 via intermittent welding. Its horizontal portion features connection holes and is bolted or fastened to the side of the mobile platform via quick-release latches. Triangular reinforcing ribs are installed at the junction of bracket 202 and base plate 203, and wear-resistant alloy blocks are embedded in the area of base plate 203 corresponding to bracket 202.

[0076] Four vertical partitions 205 are installed inside the drill pipe box body 201, dividing the interior into five storage chambers. The partitions 205 are connected to the base plate 203 via T-slots and can be adjusted within an integer multiple of the spacing. Pads 206 are bolted to each side of each partition 205. By changing the pads 206 to different thicknesses, the drill pipe box can accommodate at least two different drill pipe specifications.

[0077] Drain holes 207 are evenly distributed in a rectangular array on the bottom plate 203. The drill rod box is suspended laterally on the outer side of the mobile platform through the bracket 202, maintaining a certain distance from the platform to facilitate the removal and maintenance of drill rods.

[0078] Workflow

[0079] Initial state: the manipulator 1 is in the non-interference position, and the gripper joint 106 is released;

[0080] Select the column: the control system 8 selects the column with drill rods in the drill rod box 2;

[0081] Lowering: The lifting cylinder 10301 and the telescopic cylinder 10501 cooperate to drive the claw joint 106 to the grasping position;

[0082] Grasping: The clamping drive 10601 closes the jaws to grab the drill rod;

[0083] Lifting: the lifting joint 103 and the telescopic joint 105 lift the drill rod out of the drill rod box 2;

[0084] Translation: The translation motor 10205 drives the bearing seat 10206 to move outward, so that the drill rod moves out of the drill rod box 2 area;

[0085] Tilt: The tilt cylinder 10104 drives the swing arm 10102 until the tilt sensor 10702 is triggered (the tilt angle matches the drilling axis of the frame 5);

[0086] Flip: The flip driver 10404 drives the drill rod to rotate 90° to the drilling axis direction;

[0087] Telescopic: Telescopic cylinder 10501 pushes the drill rod to the drilling axis of frame 5;

[0088] Connection: The power head 9 cooperates with the clamp 6 to complete the threaded connection of the drill pipe.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic directional drilling rig using large-size drill pipe, characterized in that: include: The mobile platform (3) has a walking function; the frame (5) is fixedly installed on the mobile platform (3); the power head (9) is installed on the frame (5); the clamp (6) is installed on the frame (5); the drill rod box (2) is set on one side of the mobile platform (3); the manipulator (1) cooperates with the drill rod box (2) and is used to grab the drill rod; the anchoring system (4) includes a top plate support mechanism and a bottom plate support mechanism; the hydraulic system (7) provides power to each actuator; the control system (8) is used to control the coordinated operation of each component; The directional drilling rod conveying manipulator (1) comprises: Tilt adjustment mechanism: Two rotation connection points fixed to the mobile platform (3) at intervals; A rigid swing arm (10102), both ends of which are respectively hinged to the rotation connection point to form a double rotation pair structure; A tilt drive assembly comprising a connecting rod mechanism connecting the mobile platform (3) and the swing arm (10102), and configured to drive the swing arm to tilt within a limited tilt angle range; Horizontal displacement mechanism, including: A support frame (10201) fixed to the swing arm (10102); A linear guide assembly provided on the support frame (10201); A bearing seat (10206) slidably assembled through the linear guide assembly; A linear drive assembly for driving the bearing seat (10206) to move horizontally; A lifting joint (103), a fixed end of which is connected to the bearing seat (10206); A flip joint (104), the base of which is connected to the output end of the lifting actuator (103); a telescopic joint (105), a fixed end of which is connected to the output end of the flip actuator (104); The hand claw joint (106) is installed at the output end of the axial telescopic mechanism (105).

2. The automatic directional drilling rig using large-size drill pipe according to claim 1, characterized in that: The tilt adjustment mechanism is a tilt joint (101), comprising: Two swing arm seats (10101) are spaced apart along the length of the drill pipe and fixed to the mobile platform (3); The two ends of the swing arm (10102) are respectively hinged to the two swing arm seats (10101) through the pin shaft (10103) to form a double rotation pair; The cylinder barrel and piston rod end of the tilt cylinder (10104) are respectively hinged to the mobile platform (3) and the swing arm (10102) through the tilt cylinder seat (10105), forming a four-bar drive mechanism.

3. The automatic directional drilling rig using large-size drill pipe according to claim 1, characterized in that: The horizontal displacement mechanism is a translation joint (102), comprising: A bracket (10201) is fixedly mounted on the swing arm (10102); The track (10202) and the translation motor (10205) are arranged on the bracket (10201); The supporting seat (10206) is slidably connected to the track (10202) via the slider (10203) and is driven by the translation motor (10205) to move horizontally.

4. The automatic directional drilling rig using large-size drill pipe according to claim 3, characterized in that: The lifting joint (103) comprises a lifting outer cylinder (10302) and a lifting inner cylinder (10303), wherein the lifting outer cylinder (10302) is fixedly connected to the bearing seat (10206).

5. The automatic directional drilling rig using large-size drill pipe according to claim 4, characterized in that: The flip joint (104) comprises a flip seat (10401) and a flip arm (10402), wherein the flip seat (10401) is fixedly connected to the top end of the lifting inner cylinder (10303).

6. The automatic directional drilling rig using large-size drill pipe according to claim 5, characterized in that: The telescopic joint (105) comprises an outer cylinder and an inner cylinder, wherein the outer cylinder is fixedly connected to the end of the flip arm (10402).

7. The automatic directional drilling rig using large-size drill pipe according to claim 1, characterized in that: The hand claw joint (106) comprises a clamping drive member (10601) and a clamping claw, which is fixedly connected to the top end of the inner cylinder of the telescopic joint (105).

8. The automatic directional drilling rig using large-size drill pipe according to claim 1, characterized in that: The drill rod box (2) comprises a drill rod box body (201), which is enclosed by a bottom plate (203) and vertical plates (204) on both sides to form a frame structure with an open top; a plurality of partitions (205) vertically arranged inside the drill rod box body (201) to divide the internal space into multiple rows of storage chambers; and a bracket assembly (202) fixedly connected to the bottom of the drill rod box body (201) and used to laterally hang the drill rod box on the outer side of a mobile platform.

9. The automatic directional drilling rig using large-size drill pipe according to claim 8, characterized in that: The support assembly (202) comprises at least two spaced-apart hanging members, and the hanging members are detachably connected to the connecting structure on the side of the mobile platform.

10. The automatic directional drilling machine using large-size drill pipe according to claim 1, characterized in that: The tilt adjustment mechanism includes a tilt sensor (107) assembly, including a trigger (10701) and a sensor (10702), which are respectively installed below a swing arm (10102) and a frame (5) of a directional drilling machine; the sensor (10702) is configured to receive a signal from the trigger (10701) when the tilt angle of the swing arm (10102) is consistent with the drilling axis of the frame (5).

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