Large-diameter drilling tool clamping and shackling device and automatic drilling rod assembling and disassembling control method

Abstract

The invention discloses a large-diameter drilling tool clamping and shackling device and an automatic drilling rod assembling and disassembling control method. The large-diameter drilling tool clamping and shackling device comprises a drilling tool clamping and shackling device body, a rod adding mechanical arm and a transfer table. During drilling, the mechanical arm grabs the drill rod from the transfer table, and after the drill rod is positioned through the rear clamping device, the power head completes automatic buckling of the driving drill rod, the drill rod and the drill rod in a hole in two stages according to a preset self-adaptive buckling algorithm; during shackling, the swing oil cylinder drives the front clamp holder to rotate anticlockwise to pre-loosen threads, the power head rotates reversely while the front clamp holder clamps, and automatic shackling between the power head and the drill rod in the hole is achieved according to a preset self-adaptive shackling algorithm. According to the invention, through cooperative movement control of the double holders, matching with the rotating speed of the power head and the feeding / pulling speed, accurate butt joint of drill rod threads is ensured, and manual intervention is not needed in the whole process; the time consumed for connecting and dismounting the drill rod is effectively reduced, the operation distance of workers is prolonged to a safe area outside 2 meters, labor intensity and accident risks are remarkably reduced, and technical guarantee is provided for safe operation of the drilling machine under complex geological conditions.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of directional drilling machine, and relates to a large-diameter drilling tool clamping and unthreading device and a drilling rod automatic feeding and unloading control method. BACKGROUND

[0002] The coal mine underground roadway drilling machine construction faces safety hazards such as gas outburst and jet hole, and the high temperature and high dust environment aggravates the risk of manual operation. The traditional hydraulic drilling machine adopts manual feeding and unloading of the drilling rod, the worker needs to disassemble the rear water braid at a close distance and manually butt joint the threads, the power head needs to be reversed during the thread connection, and the pipe wrench needs to be relied on during the thread unloading, which leads to low operation efficiency and easy mechanical injury. When the traditional drilling machine deals with the increased torque, the oil cylinder pressure of the clamp is usually increased to increase the unthreading braking torque. However, this way leads to a large size of the clamp unthreading device, and the high pressure easily causes the deformation of the clamp, which further causes the drilling rod to slip and deform, and seriously affects the service life of the drilling rod, the construction efficiency and the degree of automation. SUMMARY

[0003] In view of the problems in the prior art, the present application aims to provide a large-diameter drilling tool clamping and unthreading device and a drilling rod automatic feeding and unloading control method, which solve the problems of low efficiency of manual feeding and unloading of the drilling rod, safety hazards, easy slippage and deformation of the clamp when the traditional drilling machine deals with the increased torque, and low service life of the drilling rod, construction efficiency and degree of automation.

[0004] In order to solve the above technical problems, the present application adopts the following technical solutions: A large-diameter drilling tool clamping and unthreading device, comprising a clamp support, a clamping oil cylinder, a cover plate, an unthreading device support, a support plate assembly, an unthreading oil cylinder and an unthreading oil cylinder connecting plate; two groups of clamping oil cylinders are respectively connected with the clamp support and the unthreading device support, the cover plate is respectively arranged at the top of the clamp support and the unthreading device support, the unthreading device support is rotatably connected with the clamp support and the support plate assembly, one end of the unthreading oil cylinder is hingedly connected with the side surface of the unthreading device support, and the other end is hingedly connected with the unthreading oil cylinder connecting plate; when the unthreading oil cylinder is completely retracted to the initial position, the unthreading device support has an angle deviation from the clamp support, and when the unthreading oil cylinder is extended, the unthreading device support can rotate along the axis and relative to the clamp support and the support plate assembly, thereby increasing the entire unthreading stroke.

[0005] The present application also includes the following technical features: Specifically, the clamping oil cylinder is a top-pushing oil cylinder, and a slip is installed at the front end of the lever of the top-pushing oil cylinder.

[0006] Specifically, the clamp support and the unthreading device support are both U-shaped structures and are arranged adjacent to each other; the two groups of slips corresponding to the two groups of clamping oil cylinders are respectively located at the slotted portions of the clamp support and the unthreading device support, and the two groups of slips can coaxially clamp the drilling rod.

[0007] Specifically, the holder support bottom is provided with a bolt hole to be fixed on the base by bolts.

[0008] Specifically, the support plate assembly is a semi-ring structure with an opening upward; the support plate assembly bottom is provided with a bolt hole to be fixed on the base by bolts.

[0009] Specifically, the disconnection cylinder connecting plate is provided with a mounting hole to be fixed on the drilling machine.

[0010] Specifically, the cover plate is detachable.

[0011] Specifically, the holder support, the disconnection device support and the support plate assembly are sequentially arranged along the length direction of the drill pipe.

[0012] Specifically, the upper surface of the slip is provided with a slip cover plate; The upper pressing plates are respectively arranged on the slip cover plates of the two slips in the disconnection device support; the upper pressing plates are fixedly connected with the top cover plates through the side connecting plates above the upper pressing plates and the bolts to ensure no relative sliding; The dustproof plates are respectively arranged above the slip cover plates of the two slips in the holder support; the holder pressing plates are arranged on the dustproof plates. The cover plate at the top of the disconnection device support horizontally covers the opening of the U-shaped structure of the disconnection device support; the cover plates at the top of the holder supports are respectively arranged on the top surfaces of the two sides of the U-shaped structure of the holder supports.

[0013] Specifically, the holder support and the disconnection device support are both provided with self-lubricating bearings and joint type oil injection cups to provide self-lubricating function. The U-shaped positioning plates are arranged at the U-shaped structures of the holder supports; the centralizing rings are arranged at the front parts of the disconnection device supports; the U-shaped positioning plates and the centralizing rings are coaxial with the slips clamping the drill pipe.

[0014] A double holder middle rod adding system for an automatic directional drilling machine, comprising the large-diameter drill tool clamping and disconnection device; further comprising a rod adding manipulator and a transfer table. The large-diameter drill tool clamping and disconnection device is arranged on the drilling machine feeding guide rail and coaxially opposite to the power head on the guide rail; the power head is provided with a driving drill pipe; the holder support of the large-diameter drill tool clamping and disconnection device and the slips in the holder support serve as a rear holder; the disconnection device support, the slips in the disconnection device support and the disconnection cylinder serve as a front holder. The robotic arm, mounted on one side of the guide rail, comprises a series of interconnected components: an angle-adjusting cylinder, a primary rotating arm, a secondary rotating arm, a rotating support beam, a translational support beam, a primary telescopic cylinder, a telescopic arm, a drill pipe gripper, and a secondary telescopic cylinder. The angle-adjusting cylinder adjusts the angle of the primary rotating arm. The secondary rotating arm drives the rotating support beam, translational support beam, primary telescopic cylinder, and telescopic arm to rotate around their rotation center between 0 and 90 degrees. The translational support beam clamps onto the outside of the guide rail of the telescopic arm, allowing the telescopic arm to slide axially under the extension / retraction of the primary telescopic cylinder. The secondary telescopic cylinder within the telescopic arm allows the drill pipe gripper to slide axially under the extension / retraction of the primary telescopic cylinder. The transfer platform is located next to the rod-adding robot and connected to the rod compartment. The rod-adding robot can grab and unload drill rods from the transfer platform.

[0015] Specifically, the first-stage rotating arm has a corresponding zero-position proximity switch, which is installed on the drilling rig body and does not move up or down with the guide rail. It is used to detect whether the position of the first-stage rotating arm is vertical. The primary rotating arm also has a corresponding position proximity switch, which is installed below the feed guide rail of the drilling rig and rises and falls with the guide rail. It is used to detect whether the position of the primary rotating arm is parallel to the guide rail when loading and unloading drill rods. The telescopic arm is equipped with a rotation angle encoder, which can detect the angle when the telescopic arm rotates to the horizontal position and obtain the position of the telescopic arm. This is used to determine whether the position of the telescopic arm can place the drill rod in the large-diameter drill tool clamping and unhooking device and whether the telescopic arm can return to the zero position. A proximity switch is provided next to the drill pipe gripper to detect whether there is a drill pipe inside the drill pipe gripper; The transfer table is equipped with guide rods at both ends to clamp the drill rod, and also with proximity switches to detect whether there is a drill rod inside the transfer table.

[0016] A method for automatic loading and unloading of drill rods in the middle of a directional drilling rig, the method being based on the aforementioned double-clamping middle rod-adding system for automatic directional drilling rigs, including rod-adding process, drill rod loading control, and drill rod unloading control; The rod-adding process involves a rod-adding robot grabbing the drill rod from the transfer table and then cooperating with the large-diameter drill string clamping and uncoupling device and the power head to add the rod. During the rod-adding process, drill rod coupling control and drill rod uncoupling control are achieved based on pitch adaptive matching. In the drill rod coupling control, automatic coupling between the active drill rod and the drill rod, and between the drill rod and the drill rod in the hole are completed in two stages. The drill rod uncoupling control achieves automatic uncoupling between the power head and the drill rod in the hole.

[0017] Specifically, it includes the following steps: S1: First, the status of the proximity switch of the transfer table is detected. When a drill rod is detected, the transfer table clamps the drill rod along the guide rods on both sides, and then moves to the rod-adding position waiting point. S2: When the first-stage rotating arm swings to the vertical position, the zero-position proximity switch detects the zero-position state, the telescopic arm extends, and when the gripper proximity switch detects the drill rod, the drill rod gripper closes, the telescopic arm retracts, and then the first-stage rotating arm swings to the position and the position proximity switch detects the position. S3: The telescopic arm rotates 90° clockwise, extending the first-stage telescopic cylinder and the second-stage telescopic cylinder, and then presses down and swings into the rear clamp. After the rear clamp clamps and positions itself, the time for the rear clamp to extend to the position is t1. The power head performs drill rod threading control according to the adaptive threading algorithm to complete the threading of the active drill rod and the drill rod. S4: When the output pressure of the pump reaches the upper clamping limit and the position of the power head is greater than the upper clamping point of the active drill rod + 30mm, the upper clamping is marked as completed, the clamp is released, and the power head is fed into the upper clamping point of the drill rod in the hole. S5: Clamp the front clamp. The front clamp extends to the position in time t1. The power head uses the adaptive upper clamping algorithm to control the upper clamping of the drill rod and complete the upper clamping of the drill rod with the drill rod in the hole. S6: The front and rear clamps are released, and the power head is fed to the front end of the guide rail. At this time, the connection between the active drill rod and the drill rod in the hole is located between the front and rear clamps. This position is the starting point for the active drill rod and the drill rod in the hole to be uncoupled. S7: During uncoupling, the front and rear clamps perform clamping actions for a time of t1. After clamping, the uncoupling cylinder drives the front clamp to rotate counterclockwise to pre-loosen the threads. To ensure maximum stroke, the cylinder extends for t1. When relative sliding occurs at the connection between the two drill rods, the drill rod inside the hole is clamped, and the power head reverses direction. The uncoupling of the active drill rod and the drill rod inside the hole are uncoupled according to the adaptive uncoupling algorithm. The power head retracts to the end of the guide rail. S8: Repeat steps S1-S7 until the designed drilling depth is reached.

[0018] Specifically, the adaptive top-off algorithm in S3 and S5 includes: dynamically calculating and matching the rotation speed and feed speed through drill pipe pitch, using closed-loop PID control, opening the first and second rotation valves of the six-valve group for drilling control of the drilling rig, and adaptively adjusting the rotation speed at a fixed time interval of 100ms and an increment of 1r / min based on feedback from the power head angle encoder; when adjusting the feed speed, closing the floating valve of the drilling rig, opening the slow feed start valve of the six-valve group, and adaptively adjusting the feed speed at a fixed time interval of 100ms and an increment of 1mm / s based on feedback from the power head displacement encoder, and determining the top-off algorithm by combining pressure over-limit and displacement over-limit. The adaptive uncoupling algorithm in S7 includes: dynamically calculating and matching the rotation speed and the pull-out speed through the drill pipe pitch; using closed-loop PID control; opening the first and second rotation valves of the six-valve group for drilling control of the drilling rig; and adaptively adjusting the rotation speed at a fixed time interval of 100ms and an increment of 10r / min based on feedback from the power head angle encoder. When adjusting the pull-out speed, the drilling rig floating valve is opened, and the slow feed pull-out valve of the six-valve group is opened. The pull-out speed is adaptively adjusted at a fixed time interval of 100ms and an increment of 1mm / s based on feedback from the power head displacement encoder. When the set uncoupling distance is reached, the drilling rig floating valve is opened for 7s to ensure complete uncoupling, and the uncoupling state is completed.

[0019] Compared with the prior art, the present invention has the following technical effects: This invention utilizes the coordinated motion control of dual grippers to match the power head speed and feed / pull-out speed, ensuring precise thread connection of the drill pipe without any manual intervention. Application results show that the automatic drill pipe loading and unloading system reduces drill pipe loading and unloading time by 35%, extends the worker's operating distance to a safe zone of 2 meters, significantly reduces labor intensity and accident risk, and provides technical support for safe drilling operations under complex geological conditions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the clamping and unhooking device.

[0021] Figure 2 This is a schematic diagram of the front end of the clamping and unhooking device.

[0022] Figure 3 This is a schematic diagram of the rear end of the clamping and unhooking device.

[0023] Figure 4 A schematic diagram of the clamping cylinder layout.

[0024] Figure 5 This is a schematic diagram of the rod-attached robotic arm structure.

[0025] Figure 6 This is a schematic diagram of the transfer station layout.

[0026] Figure 7 A schematic diagram showing the layout of the power head and clamping and unscrewing device on the guide rail.

[0027] Figure 8 This is a schematic diagram of a six-valve manifold.

[0028] The meanings of the labels in the diagram are as follows: 10. Guide rail; 20. Power head; 30. Large diameter drill bit clamping and unhooking device; 40. Active drill rod; 50. Center angle adjustment device; 60. Lifting cylinder assembly; 70. Rod extension robot; 80. Transfer table. 3-1. Clamping bracket; 3-2. Clamping cylinder; 3-3. Unscrew bracket; 3-4. Unscrew cylinder; 3-5. Unscrew cylinder connecting plate; 3-6. Support plate assembly; 3-7. Cover plate; 3-8. Pin; 3-9. Side connecting plate; 3-10. Upper pressure plate; 3-11. Slip cover plate; 3-12. Dustproof plate; 3-13. Clamping pressure plate; 3-14. Self-lubricating bearing; 3-15. Connector-type pressure injection cup; 3-16. U-shaped positioning plate; 3-17. Straightening ring; 3-18. Rigid support ring. 7-1. Angle-adjusting cylinder; 7-2. Primary rotating arm; 7-3. Secondary rotating arm; 7-4. Rotating support beam; 7-5. Drill pipe gripper; 7-6. Telescopic arm; 7-7. Telescopic arm limit assembly; 7-8. Secondary telescopic cylinder; 7-9. Primary telescopic cylinder; 7-10. Translation support beam. 8-1. Guided code bar; 8-2. Proximity switch; 9-1. First rotation valve, 9-2. Second rotation valve, 9-3. First rapid feed pull-out valve, 9-4. Second rapid feed pull-out valve, 9-5. Slow rotation valve, 9-6. Slow feed pull-out valve. Detailed Implementation

[0029] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0030] Example 1: like Figures 1 to 4 As shown, this embodiment provides a large-diameter drill bit clamping and uncoupling device. This clamping and uncoupling device is riveted and fixed to the front end of the drill rig's feed device. It includes a clamping bracket 3-1, clamping cylinders 3-2, pins 3-8, a cover plate 3-7, an uncoupling bracket 3-3, a support plate assembly 3-6, an uncoupling cylinder 3-4, and an uncoupling cylinder connecting plate 3-5. Two sets of clamping cylinders 3-2 are respectively hinged to the clamping bracket 3-1 and the uncoupling bracket 3-3 via pins 3-8. The cover plate 3-7 is respectively located on the clamping bracket 3-1 and the uncoupling cylinder assembly. The top of the shackler bracket 3-3 is hinged to the clamp bracket 3-1 and the support plate assembly 3-6 respectively. One end of the shackler cylinder 3-4 is hinged to the side of the shackler bracket 3-3, and the other end is hinged to the shackler cylinder connecting plate 3-5. When the shackler cylinder 3-4 is fully retracted to the initial position, the shackler bracket 3-3 and the clamp bracket 3-1 are angularly deviated. When the shackler cylinder 3-4 extends, it can make the shackler bracket 3-3 rotate along the axis and relative to the clamp bracket 3-1 and the support plate assembly 3-6, thereby increasing the entire shackle stroke.

[0031] The clamping cylinder 3-2 is a counter-rotating cylinder, and a slip is installed at the front end of the lever of the counter-rotating cylinder.

[0032] Both the clamping bracket 3-1 and the uncoupling bracket 3-3 are U-shaped structures and are arranged adjacent to each other; the two sets of slips corresponding to the two sets of clamping cylinders 3-2 are located at the slots of the clamping bracket 3-1 and the uncoupling bracket 3-3 respectively, and the two sets of slips can coaxially clamp the drill pipe.

[0033] The bottom of the clamp bracket 3-1 is provided with bolt holes for fixing it to the base by bolts.

[0034] The support plate assembly 3-6 is a semi-circular structure with the opening facing upwards; the bottom of the support plate assembly 3-6 is provided with bolt holes for fixing to the base by bolts.

[0035] The shackle cylinder connecting plate 3-5 is provided with mounting holes for fixed installation on the drilling rig.

[0036] Cover plates 3-7 are removable.

[0037] The clamp bracket 3-1, the uncoupling bracket 3-3, and the support plate assembly 3-6 are arranged sequentially along the length of the drill pipe.

[0038] The upper surface of the slip is provided with a slip cover plate 3-11; The slip cover plates 3-11 of the two slips inside the shackle bracket 3-3 are respectively provided with upper pressure plates 3-10. The upper pressure plates 3-10 are fixed to the top cover plate 3-7 by bolts through the side connecting plate 3-9 above them to ensure no relative sliding. The slip cover plates 3-11 of the two slips inside the clamp bracket 3-1 are respectively provided with dustproof plates 3-12. The clamp pressure plate 3-13 is provided on the dustproof plate 3-12. The top cover plate 3-7 of the shackle bracket 3-3 is horizontally covered on the opening of the U-shaped structure of the shackle bracket 3-3. The top cover plate 3-7 of the clamp bracket 3-1 is located on the top surfaces of the two sides of the U-shaped structure of the clamp bracket 3-1.

[0039] The unlatcher bracket 3-3, along with its clamping cylinders 3-2 and 3-4 and slips, forms the front clamp, while the clamp bracket 3-1, along with its clamping cylinders 3-2 and slips, forms the rear clamp. Both clamps are installed from top to bottom, optimizing the force transmission path: the load when the slips clamp the drill pipe is first transmitted to the clamp body, and then securely transferred to the machine body, effectively preventing deformation caused by load impact. Simultaneously, the design of the slip cover and dustproof plate significantly enhances sealing and dustproof performance, preventing construction dust from intruding and affecting slip expansion and contraction, thus improving system reliability. In key connecting components, the clamping cylinders at both ends of the front and rear clamps are radially hinged to the clamp side plates via pins. This connection method significantly saves lateral space and completely avoids the problem of deformation and failure common in traditional bolt connections. The clamping cylinder adopts a springless, pure hydraulic cylinder structure with an integrated rigid support ring. This gives it excellent resistance to eccentric loads under complex working conditions such as feeding, pulling, and clamping drill pipes. It can withstand both axial and radial forces simultaneously, far exceeding conventional cylinders that can only withstand axial forces. The hydraulic cylinder and the clamping body are also connected by upper and lower pin hinges, which facilitates the effective transmission and even distribution of load along the vertical direction to the entire clamping body and machine frame, further reducing the risk of deformation.

[0040] The upper part of both the clamp bracket 3-1 and the unscrewer bracket 3-3 is equipped with a self-lubricating bearing 3-14 and a joint-type pressure injection cup 3-15 to provide the device with self-lubricating function, effectively reducing wear and extending service life; A U-shaped positioning plate 3-16 is provided at the U-shaped structure on the clamp bracket 3-1, and a straightening ring 3-17 is provided at the front of the uncoupling bracket 3-3. Both the U-shaped positioning plate 3-16 and the straightening ring 3-17 are coaxial with the slips that clamp the drill pipe. The three U-shaped positioning plates and the straightening ring ensure that the concentricity of the front and rear clamps is consistent when clamping the drill pipe, and provide effective straightening after clamping, laying the foundation for subsequent uncoupling operations.

[0041] Specifically, to address the impact of the 1.5-meter drill rod length in the middle section, the stroke of the left and right hydraulic cylinders is set to 35mm (when both cylinders extend 30mm, the middle slip just clamps the ∅89 drill rod), with a 5mm gap reserved on each side to ensure that both sides are stressed and prevent drill rod deformation in case of inconsistent cylinder extension time or wear. Simultaneously, a ∅93mm diameter centering ring is provided, allowing the drill rod to deviate 2mm to the left or right within the ring, further reducing drill rod eccentricity and ensuring even stress on both sides of the drill rod, preventing deformation of the slip due to one-end misalignment, which would affect the service life of the clamping device. Rigid support rings 3-18 are provided between the clamping cylinder and the inner wall of the clamping device bracket 3-1, and between the clamping cylinder and the inner wall of the uncoupling device bracket 3-3.

[0042] The working process of the clamping and uncoupling device of this invention is as follows: First, centering initialization is performed: the rotary head clamps the drill rod, and the drill rod is successively inserted into the uncoupling cylinder in the clamping bracket and the uncoupling bracket; the clamping cylinder of the uncoupling bracket extends, and the extension amount at the moment of pressure stabilization, the extension amount at the moment of pressure change, and the extension amount at the moment of pressure change stabilization are recorded; the clamping cylinder of the clamping bracket extends, and the extension amount at the moment of pressure stabilization, the extension amount at the moment of pressure change, and the extension amount at the moment of pressure stabilization are recorded. After centering initialization, operation begins: The rotary head rotates to perform drilling operations, and the maximum torque of the power head during the drilling process is collected as a reference value for the unhooking torque. During drilling, the uncoupling bracket clamping cylinder extends simultaneously to complete the centering and clamping of the drill pipe; after the rotary head reverses and the active drill pipe is removed, the new drill pipe is placed into the clamping bracket, and the clamping bracket clamping cylinder extends simultaneously to complete the clamping; after the rotary head completes the connection between the active drill pipe and the new drill pipe tail, the clamping bracket clamping cylinder releases, and the connection between the new drill pipe head and the drill pipe tail is completed. The uncoupling bracket clamping cylinder is then released, and drilling continues. During uncoupling, the two drill pipes are connected between the chuck bracket and the uncoupling bracket. The uncoupling bracket extends its clamping cylinder to complete the clamping. Then, the chuck bracket extends its clamping cylinder to complete the clamping. After clamping, the uncoupling cylinder extends to uncouple. When the connection between the two drill pipes slides relative to each other, the chuck bracket opens its clamping cylinder. The drill pipe moves backward a certain distance under the reverse rotation of the power head. Then, the chuck bracket closes its clamping cylinder to clamp the next drill pipe. The rotary head continues to rotate in reverse to complete the uncoupling at the connection between the active drill pipe and the next drill pipe. The chuck bracket releases its clamping cylinder, the drill pipe is removed, and one uncoupling cycle is completed.

[0043] Example 2: like Figure 5 As shown, this embodiment provides a long drill bit rod adding robot. The rod adding robot is hinged to the drilling host and arranged in the upper middle position between the drilling host and the rod adding device. Through the coordinated transmission of actions among the three, multiple working modes such as automatic rod adding, rod adding and rod unloading are realized.

[0044] The lever-attaching manipulator includes, in sequence, an angle-adjusting cylinder 7-1, a primary rotating arm 7-2, a secondary rotating arm 7-3, a rotating support beam 7-4, a translational support beam 7-10, a primary telescopic cylinder 7-9, a telescopic arm 7-6, a drill pipe gripper 7-5, and a secondary telescopic cylinder 7-8. The angle-adjusting cylinder 7-1 can adjust the angle of the primary rotating arm 7-2. The secondary rotating arm 7-3 can drive the rotating support beam 7-4, the translational support beam 7-10, the primary telescopic cylinder 7-9, and the telescopic arm 7-6 to rotate as a whole around its rotation center from 0 to 90°. The translational support beam 7-10 is clamped on the outside of the guide rail of the telescopic arm 7-6 so that the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the primary telescopic cylinder 7-9. The secondary telescopic cylinder 7-8 inside the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the drill pipe gripper 7-5.

[0045] The primary rotating arm is hinged to the angle-adjusting cylinder 7-1; the secondary rotating arm 7-3 is riveted to the primary rotating arm 7-2; one end of the rotating support beam 7-4 is riveted to the secondary rotating arm 7-3, and the other end is riveted to the translation support beam 7-10; one end of the primary telescopic cylinder 7-9 is hinged to the translation support beam 7-10, and the other end is hinged to the telescopic arm 7-6; the front end of the inner cylinder of the telescopic arm 7-6 is riveted to the drill rod gripper 7-5, and the outer cylinder is riveted to the probe sensor assembly; a telescopic arm limiting assembly 7-7 is riveted to the side of the telescopic arm 7-6. The secondary rotating arm 7-3 allows the rotating and translation support beam 7-10 and the telescopic arm 7-6 to reciprocate within an angle of 0~90°. This reciprocating motion is achieved using a hydraulically driven swing cylinder, which also provides a certain load-bearing capacity. The rotating mechanism is designed with an adjustable mechanical limit device. The limit is achieved by the protruding part of the irregularly shaped limit plate. The protruding part is equipped with an adjusting screw. Rotating the screw allows for fine adjustment of the initial and final angles of the turntable, which not only meets the limit requirements but also allows for flexible adjustment to compensate for accumulated errors.

[0046] The lower end of the adjusting cylinder 7-1 is hinged to the mounting lug, and the upper end is hinged to the lower part of the first-stage rotating arm 7-2.

[0047] The upper end of the first-stage rotating arm 7-2 is riveted to one end of the horizontal second-stage rotating arm 7-3. The other end of the second-stage rotating arm 7-3 is the slewing end, which is riveted to one end of the rotating support beam 7-4. The other end of the rotating support beam 7-4 is riveted to the translation support beam 7-10.

[0048] The telescopic arm 7-6 is perpendicular to the secondary rotating arm 7-3. A guide rail is provided on the outer wall of the telescopic arm 7-6 along its length. The translation support beam 7-10 is clamped on the guide rail. Under the telescopic action of the primary telescopic cylinder 7-9, the telescopic arm 7-6 can move relative to the translation support beam 7-10.

[0049] The cylinder barrel of the secondary telescopic cylinder 7-8 is fixed to one end of the outer cylinder of the telescopic arm 7-6, and the cylinder rod of the secondary telescopic cylinder 7-8 is fixedly connected to the inner cylinder of the telescopic arm 7-6.

[0050] The probe sensor assembly is positioned close to the drill pipe gripper 7-5.

[0051] In automatic rod-adding mode, the rod-adding robot is in an initial vertical state before each loading and unloading of drill rods. The secondary rotating arm is in an initial 0° position, and the telescopic arm is in a fully retracted vertical state. The drilling host rotary head can drill normally along the machine axis without affecting the rod-adding robot. When a drill hole on the drilling host is fed into the hole, the rotary head retracts to the rear end of the feed device. At this time, the rod-adding and fastening procedure can be executed.

[0052] During construction, the drilling rig may encounter different working conditions such as horizontal, elevation, and depression angles, requiring different rod loading and unloading procedures. When the drilling rig is operating horizontally or at an elevation angle, the elevation rod loading procedure must be selected in the drilling rig control program, while the depression rod loading procedure must be executed when operating at a depression angle.

[0053] The process of adding a drill rod during horizontal or vertical drilling operations begins with the telescopic boom extending vertically. The extension length is entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper grasps the drill rod, the telescopic boom retracts to its initial position. For vertical drilling, the primary rotating boom rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt angle is determined by the tilt sensor assembly fixed on the feed device. When the sensor scans the primary rotating boom... When the upper calibration plate is on the robotic arm, the angle adjustment cylinder stops moving. At this time, the extension robot and the feeding device are at the same tilt angle, and the tilt angle is detected. Then, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. An angle limit block is installed on the end face of the secondary rotating arm, enabling mechanical positioning of the rotating arm from 0° to 90°. At this time, the telescopic arm is in a horizontal state. Simultaneously, the primary telescopic cylinder is fully retracted, and the secondary telescopic cylinder is fully extended, bringing the telescopic arm to its longest horizontal position. Its position is determined by the sum of the strokes of the primary and secondary telescopic cylinders. Mechanical positioning is now initiated. At this point, the secondary rotating arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise by a certain angle. As the telescopic arm is fully extended, it causes the telescopic arm limiting component fixed to its side to extend as well. During counterclockwise rotation, the telescopic arm limiting component collides with the limiting device fixed to the side of the feed device, restricting the telescopic arm from continuing to rotate counterclockwise. At this moment, the drill rod inside the drill rod gripper rotates to the center of the rotary head, coaxial with the active drill rod assembly, and is limited. Then, the upper clamping procedure is executed, and the gripper clamps the drill rod to be added. The rotary head rotates and the feed operates simultaneously. At this point, the drill rod gripper of the rod-adding robot continues to hold the drill rod. Once the active drill rod assembly and the drill rod to be added are successfully engaged, the drill rod gripper releases the drill rod, the first-stage telescopic cylinder extends fully, the second-stage telescopic cylinder retracts fully, and the telescopic arm retracts completely along a straight line. The second-stage rotating arm is now indefinitely locked and can continue to rotate counterclockwise back to the initial rod-adding position. The first-stage rotating arm also rotates a certain angle to return to the initial position. The initial position is determined by the sensor assembly of the center angle adjustment device, which is scanned and fixed by the lower calibration plate on the first-stage rotating arm. This completes the single drill rod adding process.

[0054] The rod-addition process during drilling at a downward angle: The telescopic boom extends vertically, its extension length entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper grasps the drill rod, the telescopic boom retracts to its initial position. For downward angle drilling, first, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. An angle limit block is installed on the end face of the secondary rotating arm, enabling mechanical positioning from 0° to 90°. Then, the primary rotating arm rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt angle position is determined by the tilt sensor assembly fixed on the feed device. When the sensor scans the upper calibration plate on the primary rotating arm, the angle-adjusting cylinder stops. At this point, the rod-addition manipulator is parallel to the feed device. Subsequent processes are the same as for horizontal or upward angle drilling.

[0055] In automatic rod unloading mode, the rod-adding robot switches to rod unloading control mode. First, the first-stage rotating arm of the rod-adding robot is controlled to rotate, forming the same angle as the feeding device. The drill rod gripper moves to the center of the rotary device, clamps the drill rod to be unloaded in the middle, and returns to the initial position along the original path to wait. At this time, the transfer tray of the rod-adding device extends, and the telescopic arm of the rod-adding robot partially extends under the action of the second-stage telescopic cylinder, placing the drill rod to be unloaded in the transfer tray. After the top-mounting device clamps the drill rod in the tray, the drill rod gripper releases the drill rod. The transfer tray retracts to the initial position, and then the top-mounting device releases.

[0056] Example 3: This embodiment provides a double-gripper mid-rod-adding system for an automatic directional drilling rig, including the large-diameter drill bit clamping and unhooking device 30 of Embodiment 1; it also includes a rod-adding robot 70 and a transfer table 80 of Embodiment 2; Figure 7 A schematic diagram showing the layout of the power head and clamping and unscrewing device on the guide rail.

[0057] The large-diameter drill bit clamping and uncoupling device 30 is mounted on the drill rig feed guide rail 10 and is coaxially opposite to the power head 20 on the guide rail 10. The power head 20 contains an active drill rod 40. A lifting cylinder assembly 60 is provided at one end of the drill rig feed guide rail 10. The clamping bracket 3-1 of the large-diameter drill bit clamping and uncoupling device 30 and its internal clamping cylinder 3-2 and slips serve as the rear clamping device, while the uncoupling bracket 3-3 and its internal clamping cylinder 3-2 and slips, as well as the uncoupling cylinder, serve as the front clamping device.

[0058] A lever-adding manipulator 70 is mounted on one side of the guide rail 10, and its lower part is hinged to the rotating shaft of the angle-adjusting device 50 in the lower part of the guide rail 10. The lever-adding manipulator 70 includes, in sequence, an angle-adjusting cylinder 7-1, a primary rotating arm 7-2, a secondary rotating arm 7-3, a rotating support beam 7-4, a translation support beam 7-10, a primary telescopic cylinder 7-9, a telescopic arm 7-6, a drill pipe gripper 7-5, and a secondary telescopic cylinder 7-8. The angle-adjusting cylinder 7-1 can adjust the angle of the primary rotating arm 7-2, and the secondary rotating arm 7-3 can drive the rotating support beam 7-8. 4. The translation support beam 7-10, the first-stage telescopic cylinder 7-9, and the telescopic arm 7-6 rotate as a whole around their rotation center from 0 to 90°; the translation support beam 7-10 is clamped on the outside of the guide rail of the telescopic arm 7-6 so that the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the first-stage telescopic cylinder 7-9; the second-stage telescopic cylinder 7-8 inside the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the drill pipe gripper 7-5; the transfer platform is located next to the rod-adding manipulator and is connected to the rod chamber, and the rod-adding manipulator can grab and unload drill pipes from the transfer platform.

[0059] The first-stage rotating arm 7-2 has a corresponding zero-position proximity switch, which is installed on the drilling rig body and does not rise or fall with the guide rail. It is used to detect whether the position of the first-stage rotating arm 7-2 is vertical. The first-stage rotating arm 7-2 also has a corresponding position proximity switch, which is installed below the drilling rig feed guide rail and rises or falls with the guide rail. It is used to detect whether the position of the first-stage rotating arm 7-2 is parallel to the guide rail when loading and unloading drill rods.

[0060] The telescopic boom 7-6 is equipped with a rotation angle encoder, which is located at the bottom of the swing cylinder. It can detect the angle when the telescopic boom 7-6 rotates to the horizontal position and obtain the position of the telescopic boom 7-6. This information is used to determine whether the position of the telescopic boom 7-6 is suitable for placing the drill rod in the large-diameter drill tool clamping and unhooking device and whether the telescopic boom 7-6 can return to the zero position.

[0061] A proximity switch is provided next to the drill pipe gripper 7-5 to detect whether there is a drill pipe inside the drill pipe gripper 7-5.

[0062] The transfer table is equipped with guide rods at both ends to clamp the drill rod, and also with proximity switches to detect whether there is a drill rod inside the transfer table.

[0063] Example 4: This embodiment provides an automatic control method for loading and unloading drill rods in the middle of a directional drilling rig. This control method is based on a double-clamping middle rod loading system for automatic directional drilling rigs and includes the rod loading process, drill rod loading control, and drill rod unloading control. The drill pipe addition process involves a robotic arm that picks up the drill pipe from the transfer table and then clamps and uncouples it with the large-diameter drill string, coordinating with the uncoupling device and power head. During this process, drill pipe coupling and uncoupling are controlled based on pitch adaptive matching. Specifically... During the drilling process, the rod-adding robot precisely grabs the drill rod from the transfer table. After being positioned by the rear clamp, the power head automatically engages the active drill rod with the drill rod and the drill rod with the drill rod inside the hole in two stages according to the preset adaptive engagement algorithm. The swing cylinder drives the front clamp to rotate counterclockwise to pre-loosen the thread. At the same time as the front clamp clamps, the power head reverses and automatically unengages the power head with the drill rod inside the hole according to the preset adaptive unengagement algorithm.

[0064] During the rod-addition process, the robotic arm precisely picks up the drill rod from the transfer table and places it into the rear clamp. After being clamped and positioned by the rear clamp, the active drill rod is engaged with the drill rod. The rear clamp is released, and the power head is fed to the engagement point with the drill rod in the hole, clamping the front clamp. The power head completes the engagement with the drill rod in the hole according to the preset adaptive engagement algorithm. During uncoupling, the two drill rods are connected between the two clamps, and the front clamp bracket clamping cylinder is extended to complete the clamping. Then, the rear clamp bracket clamping cylinder is extended to complete the clamping. After clamping, the swing cylinder drives the front clamp to rotate counterclockwise to pre-loosen the threads. When the connection between the two drill rods slides relative to each other, the rear clamp bracket clamping cylinder is opened, and the drill rod is uncoupled at the active drill rod and the drill rod in the hole under the reverse drive of the power head. The power head retracts to the end of the guide rail. The robotic arm repeats the rod-addition and engagement steps until the designed hole depth is reached.

[0065] Specifically, it includes the following steps: S1: First, the status of the proximity switch of the transfer table is detected. When a drill rod is detected, the transfer table clamps the drill rod along the guide rods on both sides, and then moves to the rod-adding position waiting point. S2: When the first-stage rotating arm swings to the vertical position, the zero-position proximity switch detects the zero-position state and extends the telescopic arm. When the gripper proximity switch detects the drill rod, the drill rod gripper closes and the telescopic arm retracts. Then, the first-stage rotating arm swings to the position and the position proximity switch detects the position. S3: The telescopic arm rotates 90° clockwise, extending the first-stage telescopic cylinder and the second-stage telescopic cylinder, and then presses down and swings into the rear clamp. After the rear clamp clamps and positions itself, the time for the rear clamp to extend to the position is t1. The power head performs drill rod threading control according to the adaptive threading algorithm to complete the threading of the active drill rod and the drill rod. S4: When the output pressure of the pump reaches the upper clamping limit and the position of the power head is greater than the upper clamping point of the active drill rod + 30mm, the upper clamping is marked as completed, the clamp is released, and the power head is fed into the upper clamping point of the drill rod in the hole. S5: Clamp the front clamp, the front clamp extends to the position in time t1, the rear clamp is released, between the two clamps, the power head performs drill rod up-coupling control according to the adaptive up-coupling algorithm to complete the up-coupling of the drill rod with the drill rod in the hole, the up-coupling completion state is consistent with S4; S6: The front and rear clamps are released, and the power head is fed to the front end of the guide rail. At this time, the connection between the active drill rod and the drill rod in the hole is located between the front and rear clamps. This position is the starting point for the active drill rod and the drill rod in the hole to be uncoupled. S7: During uncoupling, the hydraulic circuits of the front and rear clamps are equipped with sequence valves to ensure that the front and rear clamps are pressurized with oil during each uncoupling operation to perform the clamping action. The clamping time is t1, ensuring that the pressure reaches the set pressure of 21MPa before the clamping cylinder extends. After clamping, the uncoupling cylinder drives the front clamp to rotate counterclockwise to pre-loosen the threads. To ensure maximum stroke, the cylinder extension time is t1. When relative sliding occurs at the connection of the two drill rods, the drill rod in the hole is clamped, and the power head reverses. The drill rod uncoupling control is performed according to the adaptive uncoupling algorithm to complete the uncoupling of the active drill rod and the drill rod in the hole. The power head retracts to the end of the guide rail. S8: Repeat steps S1-S7 until the designed drilling depth is reached.

[0066] The adaptive top-off algorithm in S3 and S5 includes: dynamically calculating and matching the rotation speed and feed speed through drill pipe pitch, using closed-loop PID control, opening the first and second rotation valves of the six-valve group of the drilling rig's drilling control, and adaptively adjusting the rotation speed at a fixed time interval of 100ms and an increment of 1r / min based on feedback from the power head angle encoder; when adjusting the feed speed, closing the drilling rig's floating valve, opening the slow feed start valve of the six-valve group of the drilling rig's drilling control, and adaptively adjusting the feed speed at a fixed time interval of 100ms and an increment of 1mm / s based on feedback from the power head displacement encoder, and determining the completion of top-off by jointly judging the pressure exceeding the limit (>9MPa) and the displacement exceeding the limit (>top-off point +30mm); The adaptive uncoupling algorithm in S7 includes: dynamically calculating and matching the rotation speed and pull-out speed through drill pipe pitch; using closed-loop PID control; opening the first and second rotation valves of the six-valve group for drilling control of the drilling rig; and adaptively adjusting the rotation speed at fixed time intervals of 100ms and increments of 10r / min based on feedback from the power head angle encoder. When adjusting the pull-out speed, the drilling rig float valve is opened, and the slow feed pull-out valve of the six-valve group for drilling control of the drilling rig is opened. The pull-out speed is adaptively adjusted at fixed time intervals of 100ms and increments of 1mm / s based on feedback from the power head displacement encoder. When the set uncoupling distance is reached, the drilling rig float valve is opened for 7 seconds to ensure complete uncoupling, and the uncoupling state is completed.

[0067] like Figure 6The diagram shows a six-valve assembly for drilling rig control, including a first rotary valve (9-1), a second rotary valve (9-2), a first rapid feed and pull-out valve (9-3), a second rapid feed and pull-out valve (9-4), a slow rotary valve (9-5), and a slow feed and pull-out valve (9-6). The six-valve assembly is located below the rig body. The first and second rotary valves (Ls port) control the output flow of one pump via shuttle valves, while another high-pressure oil path enters the rotary control integrated valve to regulate the rotary motor speed, rotary constant speed, and thread pressure limit control. The slow feed and pull-out valve (Ls port) controls the output flow of two pumps via shuttle valves, while another high-pressure oil path enters the feed and pull-out control valve assembly to regulate the cylinder feed and pull-out speed. A floating valve is located below the rig body, with its inlet connected in parallel to the outlet of the feed and pull-out valve assembly to regulate the cylinder feed and pull-out speed.

[0068] More specifically: The core of the adaptive top-off and adaptive bottom-off algorithms in this invention lies in establishing a dynamic coupling relationship between the rotational speed and the feed / pull-out speed through the drill pipe pitch parameter, and combining real-time angle and displacement feedback to achieve closed-loop speed regulation. Based on the top-off and bottom-off stroke (L) and the feed / pull-out time (t), the theoretical feed / pull-out speed (V = L / t) is calculated; according to the drill pipe pitch (N), the theoretical number of drill pipe rotations for bottom-off (n = L / N) is determined, and then the rotational speed (v = n / t = V / N) is derived, establishing a linear matching relationship between the speeds. The difference between this method and the traditional buckle-on / off method is that the rotation speed and feed / pull-out speed are not constant values, but are dynamically calculated and matched through pitch (N). The rotation speed and feed / pull-out speed are not fixed values ​​and are not limited by the hydraulic oil temperature. The set values ​​of rotation speed and feed / pull-out speed are obtained through pitch calculation. During operation, the buckle-on / off stroke is adaptively increased by the encoder feedback based on the power head angle and displacement. The encoder feedback is used to realize adaptive speed change of stroke, eliminating the influence of hydraulic oil temperature fluctuations. The speed set value is generated in real time by the algorithm, improving the buckle-on / off efficiency and reliability.

[0069] The upper clamping control method achieves precise operation through a multi-level closed-loop system: First, upper clamping pressure is limited to 9 MPa to prevent excessive output pressure from the pump, which could cause the drill rod to become too tight to be unclamped, and to prevent excessive load impact from causing severe deformation of the clamp. During upper clamping, the first and second rotary valves are opened, and PID control is used. The rotation speed is dynamically adjusted in real time through the power head angle encoder. It is compared with the target rotation speed set value and adaptively increases or decreases the rotation speed. The adaptive algorithm is as follows: the increment is 1 every 100ms. The 100s set time is set to the optimal value based on the sensor characteristics and the feedback time of the hydraulic components. The rotation speed is adaptively increased or decreased until the upper clamping rotation speed set value is reached. Method for adjusting the feed speed of the power head during the upper clamping process: The floating valve is closed during the upper clamping process, and the slow feed valve block is activated to adjust the feed speed of the power head. PID control is used, calculating the current feed speed based on the displacement encoder feedback. This is compared with the target feed speed setpoint, and the feed speed is adaptively increased or decreased. The adaptive algorithm is as follows: the increment is 1 every 100ms. The 100s set time is set to the optimal value based on sensor characteristics and the feedback time of hydraulic components. The feed speed is adaptively increased or decreased until the upper clamping feed speed setpoint is reached. A pitch parameter is introduced to adaptively match the instantaneous feed speed and rotation speed. Simultaneously, the upper clamping completion status is detected. When the pump output pressure > upper clamping limit pressure and the power head position is greater than the upper clamping point + 30mm, the upper clamping action is considered complete.

[0070] During unhooking, open the first and second slewing valves to adjust the power head unhooking speed. PID control is used, calculating the current slewing speed based on angle encoder feedback and comparing it with the target slewing speed setpoint. The speed is adaptively increased or decreased, with the following algorithm: increments of 10 every 100ms. The 100s setpoint is optimized based on sensor characteristics and hydraulic component feedback timeliness. The speed is adaptively increased or decreased until the set unhooking speed is reached. The power head unhooking pull-out speed adjustment method is as follows: open the floating valve and activate the slow-speed feed valve block to adjust the power head unhooking speed. PID control is used, calculating the current pull-out speed based on displacement encoder feedback and comparing it with the target pull-out speed setpoint. The speed is adaptively increased or decreased, with the following algorithm: increments of 1 every 100ms. The 100s setpoint is optimized based on sensor characteristics and hydraulic component feedback timeliness. The speed is adaptively increased or decreased until the set unhooking speed is reached. The instantaneous pull-out speed and rotation speed are adaptively matched by the pitch between the drill pipes. The uncoupling rotation speed and pull-out speed are matched by an adaptive algorithm. When the set uncoupling distance is reached, the floating valve opens for 7 seconds to ensure complete uncoupling and the uncoupling state is completed.

[0071] During the uncoupling operation, the dynamic matching of rotation speed and feed speed is crucial. If these two speeds are not coordinated, it can easily lead to "pulling" or "collision" phenomena. Specifically, this manifests as follows: Impact on the gripper: Pulling or snapping the gripper generates a strong axial impact load. This can not only deform the gripper body but also accelerate abnormal wear of the slips (used to clamp the drill pipe).

[0072] Impact on drill pipe life: Impact loads are directly transmitted to the threaded connection of the drill pipe, causing thread damage (such as seizing and chipping), which significantly shortens the service life of the drill pipe.

[0073] Drill pipe misalignment: During drilling rotation under prolonged clamping force, the clamping force of the chuck fluctuates due to factors such as vibration and thermal effects. This fluctuation in clamping force can cause slight misalignment or bending of the clamped drill pipe, disrupting the concentricity of its rotation axis with the power head axis (i.e., "drill pipe misalignment"). Misaligned rotation exacerbates drill pipe wear, vibration, and fatigue, further affecting its lifespan and drilling quality. During the connection and disconnection process, if the chuck becomes unstable due to previous load or changes in condition, or if the drill pipe is slightly misaligned, it also increases the risk of pull-out / top-out.

[0074] By implementing a drill pipe pull-out control method based on pitch adaptive matching, pull-out and top-out phenomena caused by speed mismatch and the resulting destructive axial impact loads can be effectively eliminated. This not only protects the chuck (preventing deformation and reducing slip wear) and drill pipe (extending life and reducing thread damage), but also reduces the impact of disturbance loads by maintaining speed matching and helps alleviate drill pipe misalignment caused by changes in clamping force, thereby significantly improving the safety, efficiency, and equipment reliability of drilling operations. It prevents mismatch from causing pull-out or top-out of the power head, which subjects the chuck to axial impact loads, causing chuck deformation and slip wear, and affecting drill pipe lifespan. Simultaneously, the method addresses the issue of drill pipe misalignment caused by prolonged clamping force on the drill pipe in the hole and changes in clamping force due to power head rotation. By automatically matching the rotation and feed / pull-out speeds using the adaptive pull-out method, pull-out and top-out phenomena are reduced, lifespan is enhanced, and deformation caused by disturbance loads is prevented.

[0075] In terms of control, to address the adaptive adjustment requirement of the extension time (t) of the front and rear clamping cylinders, an algorithm model based on cylinder kinematics and slip wear compensation was established, and an open-loop adaptive time control algorithm was designed. According to hydraulic principles, the piston extension speed V is determined by the flow rate Q entering the cylinder and the effective cross-sectional area S of the cylinder, with the relationship V = Q / S. The cylinder stroke is L, so the theoretical extension time t = L / V = ​​(S * L) / Q. However, in practical applications, continuous wear of the slips and drill pipe causes the actual stroke L1 required to achieve effective clamping to gradually exceed the initial stroke L0. Based on empirical data and experimental research, it is confirmed that the wear amount is approximately linearly related to the number of operations or time within a certain range, which can be expressed as L1 = K * L0, where L0 is the initial stroke and K is a wear coefficient greater than 1 (increasing with increasing wear). Therefore, the actual required time t1 = (S * L1) / Q = (S * K * L0) / Q. To ensure the hydraulic cylinder has sufficient time to extend into position for reliable clamping, and to prevent insufficient extension time due to wear (which could cause uneven clamping force or drill pipe deformation), the control program includes: Setting the reference time: Based on the initial stroke L0 and rated flow rate Q, calculate and set the reference time t0 = (S * L0) / Q. Setting the maximum allowable time threshold t_max: Calculate t_max = (S * K_max * L0) / Q based on the maximum expected wear amount (corresponding to K_max), and set it as the upper limit value in the program. Achieving adaptive adjustment: The algorithm estimates the current wear coefficient K (between 1 and K_max) online based on the cumulative number of working times or time (as an indirect representation of the wear degree) or through pressure / position feedback under specific working conditions. Then, it dynamically adjusts the waiting time t1 for judging the cylinder extension to the position, so that it satisfies t0 ≤ t1 ≤ t_max, and t1 increases adaptively with the increase of K, i.e., t1 = (S * K * L0) / Q. This algorithm effectively compensates for the stroke increase caused by wear, ensuring that the cylinder can fully extend under various wear conditions, the clamping force is applied evenly, and the drill pipe deformation or clamping failure is prevented due to insufficient time.

[0076] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0077] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0078] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A large-diameter drill bit clamping and uncoupling device, characterized in that, The system includes a clamping bracket (3-1), clamping cylinders (3-2), a cover plate (3-7), a releaser bracket (3-3), a support plate assembly (3-6), a releaser cylinder (3-4), and a releaser cylinder connecting plate (3-5). Two sets of clamping cylinders (3-2) are connected to the clamping bracket (3-1) and the releaser bracket (3-3) respectively. The cover plate (3-7) is located on the top of both the clamping bracket (3-1) and the releaser bracket (3-3). The releaser bracket (3-3) is connected to the clamping bracket (3-1) and the releaser bracket (3-3) respectively. The shackle cylinder (3-4) and the support plate assembly (3-6) are rotatably connected. One end of the shackle cylinder (3-4) is hinged to the side of the shackler bracket (3-3), and the other end is hinged to the shackle cylinder connecting plate (3-5). When the shackle cylinder (3-4) is fully retracted to the initial position, the shackler bracket (3-3) and the clamp bracket (3-1) are angularly deviated. When the shackle cylinder (3-4) extends, it can make the shackler bracket (3-3) rotate along the axis and relative to the clamp bracket (3-1) and the support plate assembly (3-6), thereby increasing the entire shackle stroke.

2. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The clamping cylinder (3-2) is a counter-rotating cylinder, and a slip is installed at the front end of the lever of the counter-rotating cylinder.

3. The large-diameter drill bit clamping and uncoupling device as described in claim 2, characterized in that, The clamping device bracket (3-1) and the unscrewing device bracket (3-3) are both U-shaped structures and are arranged adjacent to each other; the two sets of slips corresponding to the two sets of clamping cylinders (3-2) are located at the slots of the clamping device bracket (3-1) and the unscrewing device bracket (3-3), and the two sets of slips can coaxially clamp the drill rod.

4. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The clamp bracket (3-1) has bolt holes at the bottom for fixing to the base with bolts.

5. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The support plate assembly (3-6) is a semi-circular structure with the opening facing upward; the bottom of the support plate assembly (3-6) is provided with bolt holes for fixing to the base by bolts.

6. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The shackle cylinder connecting plate (3-5) is provided with mounting holes for fixed installation on the drilling rig.

7. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The cover plate (3-7) is removable.

8. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The clamp bracket (3-1), the unhooking bracket (3-3), and the support plate assembly (3-6) are arranged sequentially along the length of the drill pipe.

9. The large-diameter drill bit clamping and uncoupling device as described in claim 2, characterized in that, The upper surface of the slip is provided with a slip cover plate (3-11); The slip cover plates (3-11) of the two slips inside the shackle bracket (3-3) are respectively provided with upper pressure plates (3-10). The upper pressure plates (3-10) are fixed to the top cover plate (3-7) by bolts through the side connecting plate (3-9) above them to ensure no relative sliding. The clamp bracket (3-1) has a dustproof plate (3-12) above the cover plate (3-11) of the two clamps, and a clamp pressure plate (3-13) is provided on the dustproof plate (3-12). The cover plate (3-7) at the top of the shackle bracket (3-3) is horizontally covering the opening of the U-shaped structure of the shackle bracket (3-3); the cover plate (3-7) at the top of the clamp bracket (3-1) is located on the top surface of both sides of the U-shaped structure of the clamp bracket (3-1).

10. The large-diameter drill bit clamping and uncoupling device as described in claim 1, characterized in that, The upper part of both the clamp bracket (3-1) and the unscrew bracket (3-3) is equipped with a self-lubricating bearing (3-14) and a joint-type pressure injection cup (3-15) to provide the device with self-lubrication function; A U-shaped positioning plate (3-16) is provided at the U-shaped structure on the clamping bracket (3-1), and a straightening ring (3-17) is provided at the front of the uncoupling bracket (3-3). The U-shaped positioning plate (3-16) and the straightening ring (3-17) are coaxial with the slips that clamp the drill pipe.

11. A double-clamping rod-adding system for an automatic directional drilling rig, characterized in that, It includes the large-diameter drill bit clamping and unhooking device (30) as described in any one of claims 2 to 10; it also includes a rod-adding manipulator (70) and a transfer table (80); The large-diameter drill bit clamping and uncoupling device (30) is located on the feed guide rail (10) of the drilling rig and is coaxially opposite to the power head (20) on the guide rail (10). The power head (20) is equipped with an active drill rod (40). The clamping bracket (3-1) and its internal clamping cylinder (3-2) and slips of the large-diameter drill bit clamping and uncoupling device (30) serve as the rear clamping device, and the uncoupling bracket (3-3) and its internal clamping cylinder (3-2) and slips and uncoupling cylinder serve as the front clamping device. The lever-adding manipulator (70) is located on one side of the guide rail (10) and includes, in sequence, an angle-adjusting cylinder (7-1), a primary rotating arm (7-2), a secondary rotating arm (7-3), a rotating support beam (7-4), a translation support beam (7-10), a primary telescopic cylinder (7-9), a telescopic arm (7-6), a drill pipe gripper (7-5), and a secondary telescopic cylinder (7-8). The angle-adjusting cylinder (7-1) can adjust the angle of the primary rotating arm (7-2), and the secondary rotating arm (7-3) can drive the rotating support beam (7-10). The beam (7-4), the translation support beam (7-10), the first-stage telescopic cylinder (7-9), and the telescopic arm (7-6) rotate as a whole around their rotation center from 0 to 90°; the translation support beam (7-10) is clamped on the outside of the guide rail of the telescopic arm (7-6) so that the telescopic arm (7-6) slides as a whole along the axis under the action of the extension / retraction of the first-stage telescopic cylinder (7-9); the second-stage telescopic cylinder (7-8) inside the telescopic arm (7-6) can make the drill pipe gripper (7-5) slide as a whole along the axis under the action of the extension / retraction; The transfer platform (80) is located next to the rod-adding robot (70) and connected to the rod storage compartment. The rod-adding robot (70) can grab and unload drill rods from the transfer platform (80).

12. The double-clamping rod system for automatic directional drilling rigs as described in claim 11, characterized in that, The first-stage rotating arm (7-2) has a corresponding zero-position proximity switch, which is installed on the drilling rig body and does not move up or down with the guide rail (10). It is used to detect whether the position of the first-stage rotating arm (7-2) is vertical. The first-stage rotating arm (7-2) also has a corresponding position proximity switch, which is installed below the drill rig feed guide rail (10) and rises and falls with the guide rail (10) to detect whether the position of the first-stage rotating arm (7-2) is parallel to the guide rail (10) when loading and unloading drill rods; The telescopic arm (7-6) is equipped with a rotation angle encoder, which can detect the angle when the telescopic arm (7-6) rotates to the horizontal position and obtain the position of the telescopic arm (7-6). This is used to determine whether the position of the telescopic arm (7-6) can place the drill rod in the large-diameter drill tool clamping and unhooking device (30) and whether the telescopic arm (7-6) can return to the zero position. A proximity switch is provided next to the drill pipe gripper (7-5) to detect whether there is a drill pipe inside the drill pipe gripper (7-5); The transfer table (80) is equipped with guide rods (8-1) at both ends to clamp the drill rod, and also with a proximity switch (8-2) to detect whether there is a drill rod inside the transfer table (80).

13. A method for automatically loading and unloading drill rods in the middle of a directional drilling rig, characterized in that, The control method is based on the double clamping rod system for automatic directional drilling rigs as described in claim 12, and includes the rod adding process, drill rod fastening control, and drill rod unfastening control. The rod-adding process involves a rod-adding robot grabbing the drill rod from the transfer table and then cooperating with the large-diameter drill string clamping and uncoupling device and the power head to add the rod. During the rod-adding process, drill rod coupling control and drill rod uncoupling control are achieved based on pitch adaptive matching. In the drill rod coupling control, automatic coupling between the active drill rod and the drill rod, and between the drill rod and the drill rod in the hole are completed in two stages. The drill rod uncoupling control achieves automatic uncoupling between the power head and the drill rod in the hole.

14. The automatic loading and unloading control method for the drill rod in the middle of a directional drilling rig as described in claim 13, characterized in that, Includes the following steps: S1: First, the status of the proximity switch of the transfer table is detected. When a drill rod is detected, the transfer table clamps the drill rod along the guide rods on both sides, and then moves to the rod-adding position waiting point. S2: When the first-stage rotating arm swings to the vertical position, the zero-position proximity switch detects the zero-position state, the telescopic arm extends, and when the gripper proximity switch detects the drill rod, the drill rod gripper closes, the telescopic arm retracts, and then the first-stage rotating arm swings to the position and the position proximity switch detects the position. S3: The telescopic arm rotates 90° clockwise, extending the first-stage telescopic cylinder and the second-stage telescopic cylinder, and then presses down and swings into the rear clamp. After the rear clamp clamps and positions itself, the time for the rear clamp to extend to the position is t1. The power head performs drill rod threading control according to the adaptive threading algorithm to complete the threading of the active drill rod and the drill rod. S4: When the output pressure of the pump reaches the upper clamping limit and the position of the power head is greater than the upper clamping point of the active drill rod + 30mm, the upper clamping is marked as completed, the clamp is released, and the power head is fed into the upper clamping point of the drill rod in the hole. S5: Clamp the front clamp. The front clamp extends to the position in time t1. The power head uses the adaptive upper clamping algorithm to control the upper clamping of the drill rod and complete the upper clamping of the drill rod with the drill rod in the hole. S6: The front and rear clamps are released, and the power head is fed to the front end of the guide rail. At this time, the connection between the active drill rod and the drill rod in the hole is located between the front and rear clamps. This position is the starting point for the active drill rod and the drill rod in the hole to be uncoupled. S7: During uncoupling, the front and rear clamps perform clamping actions for a time of t1. After clamping, the uncoupling cylinder drives the front clamp to rotate counterclockwise to pre-loosen the threads. To ensure maximum stroke, the cylinder extends for t1. When relative sliding occurs at the connection between the two drill rods, the drill rod inside the hole is clamped, and the power head reverses direction. The uncoupling of the active drill rod and the drill rod inside the hole are uncoupled according to the adaptive uncoupling algorithm. The power head retracts to the end of the guide rail. S8: Repeat steps S1-S7 until the designed drilling depth is reached.

15. The automatic on / off control method for the drill rod in the middle of a directional drilling rig as described in claim 14, characterized in that, The adaptive top-off algorithm in S3 and S5 includes: dynamically calculating and matching the rotation speed and feed speed through drill pipe pitch, using closed-loop PID control, opening the first and second rotation valves of the six-valve group for drilling control of the drilling rig, and adaptively adjusting the rotation speed at a fixed time interval of 100ms and an increment of 1r / min based on feedback from the power head angle encoder; when adjusting the feed speed, closing the floating valve of the drilling rig, opening the slow feed start valve of the six-valve group, and adaptively adjusting the feed speed at a fixed time interval of 100ms and an increment of 1mm / s based on feedback from the power head displacement encoder, and determining the top-off algorithm is completed by jointly judging pressure over-limit and displacement over-limit. The adaptive uncoupling algorithm in S7 includes: dynamically calculating and matching the rotation speed and the pull-out speed through the drill pipe pitch; using closed-loop PID control; opening the first and second rotation valves of the six-valve group for drilling control of the drilling rig; and adaptively adjusting the rotation speed at a fixed time interval of 100ms and an increment of 10r / min based on feedback from the power head angle encoder. When adjusting the pull-out speed, the drilling rig floating valve is opened, and the slow feed pull-out valve of the six-valve group is opened. The pull-out speed is adaptively adjusted at a fixed time interval of 100ms and an increment of 1mm / s based on feedback from the power head displacement encoder. When the set uncoupling distance is reached, the drilling rig floating valve is opened for 7s to ensure complete uncoupling, and the uncoupling state is completed.

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