A self-propelled large-diameter raise borer

Abstract

The application discloses a self-walking large-aperture raise drill, and relates to the technical field of mine machinery.The self-walking large-aperture raise drill comprises a main machine device, a secondary machine device and an intelligent control system which are connected through self-locking hydraulic joints; the main machine device is composed of a main machine chassis module, a main machine base module, a rotary-pitching hinged component, a main machine supporting module, a speed reducer module, a manipulator module and a main machine power unit; the secondary machine device is composed of a secondary machine chassis module, a secondary machine engine power unit, a motor power unit and an oil tank system unit, and each power unit is connected with the corresponding components of the main machine device through pipelines and circuits; the secondary machine chassis module adopts a caterpillar track type walking mode, and the secondary machine chassis module is used for bearing the secondary machine engine power unit, the motor power unit and the oil tank system unit.The self-walking large-aperture raise drill has a maximum guide hole thrust of greater than or equal to 2360KN, a maximum reaming pulling force of greater than or equal to 4900KN and a rated rotary torque of greater than or equal to 350KN.m, can efficiently deal with hard rock geology, and meets the demand of large-aperture deep mining.

Description

Technical Field

[0001] This invention belongs to the field of mining machinery technology, and in particular relates to a self-propelled large-diameter riser drilling rig. Background Technology

[0002] As an important type of construction machinery in mining, riser drilling rigs have been widely used in various shaft and tunnel constructions in mines. Currently, most mobile riser drilling rigs, both domestically and internationally, adopt a split structure, meaning that the power unit assembly, main unit assembly, and mobile chassis are all independent. This results in higher manufacturing costs, and disassembly and assembly on the construction site are labor-intensive and resource-intensive. Furthermore, the drilling rig lacks independent mobility, and on the surface, the main unit and power system are usually transported separately to the underground construction site using cages or underground loaders.

[0003] In underground drilling, riser drilling rigs are limited by the operating environment and geological conditions, especially in hard rock conditions where large-diameter drilling is required. Besides ensuring the reliability and accuracy of the drilling rig, torque and axial thrust are also crucial factors to consider. Currently, as domestic mines gradually shift towards deeper mining, shaft designs are mostly developing towards large-diameter boreholes of three meters or more. However, the development of domestic riser drilling equipment in this area is significantly insufficient, and in most hard rock conditions, only small-diameter drilling rigs can be used.

[0004] Therefore, this application incorporates advanced design concepts from similar products both domestically and internationally, and fully considers the mining process requirements of different regions in China, and has developed a self-propelled large-diameter riser drilling rig to solve the aforementioned existing technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a self-propelled large-diameter well drilling rig, which solves the problems mentioned in the background art by providing a specific design of the main unit, auxiliary unit and intelligent control system connected by a self-locking hydraulic joint.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: The present invention is a self-propelled large-diameter well drilling rig, including a main unit and a secondary unit connected by a self-locking hydraulic joint, as well as an intelligent control system; the main unit consists of a main chassis module, a main base module, a rotation and pitch hinge assembly, a main support module, a gearbox module, a robotic arm module, and a main power unit; the main base module is located at the front end of the main chassis module and the two are connected by the rotation and pitch hinge assembly; the main chassis module adopts tracked walking and supports high and low speed switching and single / dual steering modes.

[0007] The main support module is located on top of the main base module and is used to install the gearbox module. The main support module is used to provide the guide hole thrust and the hole expansion pull. The robot module is located on top of the main chassis module and can be interchanged left and right. The robot module is used to clamp the drill rod and align it with the gearbox rotary head to complete the rod connection. The main power unit is located at the rear of the main chassis module and is connected to each actuator through hydraulic pipelines and circuits.

[0008] The auxiliary unit consists of an auxiliary chassis module, an auxiliary engine power unit, an electric motor power unit, and a fuel tank system unit. Each power unit is connected to the corresponding component of the main unit through pipelines and circuits. The auxiliary chassis module adopts tracked walking and supports high and low speed switching and single / dual steering modes. The auxiliary chassis module is used to carry the auxiliary engine power unit, the electric motor power unit, and the fuel tank system unit.

[0009] The electric motor power unit is used to provide power to the main unit, and the auxiliary engine power unit is used to drive the auxiliary unit to move; the intelligent control system is used to adjust the propulsion force and rotation torque and is equipped with the KATF-RCS V2.0 intelligent control module, which supports wireless remote control and has fault diagnosis and memory functions; the KATF-RCS V2.0 intelligent control module is connected to the engine ECU via CAN bus.

[0010] In one implementation of the present invention, the main chassis module is driven by a dual-speed hydraulic motor and includes a main chassis welding assembly. A front outrigger cylinder and a rear outrigger cylinder are respectively installed at the front and rear ends of the main chassis welding assembly. A frame tilting limit frame is installed on the top of the main chassis welding assembly near the rear outrigger cylinder. A track assembly and a track guard plate assembly are installed on the main chassis welding assembly. A pitch cylinder is installed on the top of the main chassis welding assembly near the front outrigger cylinder.

[0011] Preferably, the main unit base module includes a base welding assembly, with a front boot plate and a rear boot plate installed at the four corners of the bottom of the base welding assembly; each boot plate is fixed to the ground support beam foundation for transmitting torque and pressure.

[0012] The base welding assembly is hinged to the front shoe plate by an adjusting bolt. The top of the base welding assembly is provided with a rotary pitch hinge seat and a lower insert plate. The main unit base module is used for adjusting and locking the 60-90° working angle. The rotary pitch hinge assembly consists of a pitch cylinder and a rotary pitch hinge seat hinged to the pitch cylinder.

[0013] Preferably, the main support module consists of two guide columns, four propulsion cylinders and a guide column connecting plate, which provides a guide hole thrust ≥2360KN and a hole expansion pull force ≥4900KN; the guide columns are bolted to the guide column connecting plate and the base welding assembly, and the lower end of the propulsion cylinder is bolted to the base welding assembly.

[0014] The gearbox module includes a gearbox housing. Guide column sleeves and propulsion cylinder sleeves are fixed on opposite sides of the gearbox housing. The guide column sleeves are fitted onto the guide columns. The upper end of the propulsion cylinder is connected to the propulsion cylinder sleeve through a spherical floating structure. Gearbox cover plates are installed on the top and bottom of the gearbox housing. A main shaft mechanism, a rotary motor, and a water sealing sleeve are provided between the gearbox housing and the gearbox cover plates. The gearbox module adopts a three-speed self-lubricating design. The low-speed, high-torque rotary motor can provide a rated torque of ≥350KN·m after gear reduction. The rated speed of the guide hole is ≥20r / min, and the rated speed of the reaming hole is ≥5r / min.

[0015] Based on this, the robotic arm module includes a fixed mounting frame connected to the welding assembly of the main chassis. The fixed mounting frame is equipped with a lifting cylinder. A rotating arm assembly is slidably mounted on the fixed mounting frame. The output end of the lifting cylinder is connected to a rotating arm cylinder that is hinged to the rotating arm assembly. A gripper and a gripper cylinder are hinged on the rotating arm assembly. The output end of the gripper cylinder is hinged to the gripper.

[0016] In the above scheme, the main power unit integrates the main diesel engine power group and the main motor power group. The main diesel engine power group is used to drive the main unit to move, and the main motor power group is used to drive the main unit to rotate and propel. The main power unit includes the main engine cover assembly fixed to the main chassis welded assembly. The main engine cover assembly is respectively provided with the main engine power unit, hydraulic oil tank and main electrical box.

[0017] In some embodiments, the auxiliary chassis module is driven by a dual-speed hydraulic motor and includes an auxiliary chassis welded assembly, on which a track assembly and a track guard plate assembly are mounted; the auxiliary engine power unit includes an auxiliary engine cover plate assembly located on top of the auxiliary chassis welded assembly, on which an auxiliary diesel engine power unit, a diesel tank and an auxiliary electrical box are respectively provided.

[0018] Optionally, the motor power unit includes a motor cover assembly, and the motor cover assembly houses the auxiliary motor power unit; the oil tank system unit includes a hydraulic oil tank assembly installed on the top of the auxiliary chassis welded assembly, and the hydraulic oil tank assembly has a working pump suction pipe on the side near the motor power unit.

[0019] In this embodiment, the hydraulic oil tank assembly is provided with a travel pump suction pipe on the side near the auxiliary engine power unit. The hydraulic oil tank assembly is provided with a valve group module. The hydraulic oil tank assembly is connected to the pump group through each suction pipe. The hydraulic oil output by the pump group is distributed to each oil cylinder and hydraulic motor through the valve group module.

[0020] The present invention has the following beneficial effects: 1. The large-diameter well drilling rig of the present invention has a maximum pilot hole thrust ≥2360KN, a maximum hole reaming pull ≥4900KN, and a rated slewing torque ≥350KN·m, which can efficiently cope with hard rock geology. At the same time, the nominal hole reaming diameter is 5000mm and the maximum drilling depth is 500m, which meets the needs of large-diameter deep mining and improves the operation efficiency compared with traditional drilling rigs.

[0021] 2. The large-diameter well drilling rig of this invention is highly efficient and convenient to move and relocate. The tracked chassis has a ground clearance of ≥385mm and a climbing ability of ≤14°. The main machine's traveling speed is: I gear 7.2±0.7m / min, II gear 12±1.2m / min, and the auxiliary machine's traveling speed is: I gear 11±1.1m / min, II gear 18±1.8m / min. It can move autonomously along slopes without disassembly and hoisting, which shortens the relocation time and reduces the construction preparation time.

[0022] 3. The large-diameter well drilling rig in this invention adopts wireless remote control + intelligent control, realizing full automation of drilling and rod connection and unloading. The hydraulic system's self-locking joints prevent contamination and oil leakage, and the electrical system automatically alarms for faults, reducing the accident rate.

[0023] 4. This invention uses an electric motor power unit to drive the operation, eliminating noise pollution. The load-sensitive hydraulic system has no energy waste, reducing energy consumption compared to traditional drilling rigs. This reduces manpower input and relocation costs, shortens the construction cycle, helps mines to operate efficiently, improves underground construction safety, and reduces the risk of safety accidents. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the main unit in the self-propelled large-diameter well drilling rig of the present invention.

[0026] Figure 2 This is a schematic diagram of the auxiliary unit in the self-propelled large-diameter well drilling rig of the present invention.

[0027] Figure 3 This is a schematic diagram of the main chassis module in the main unit device of the present invention.

[0028] Figure 4 This is a schematic diagram of the main unit base module in the main unit device of the present invention.

[0029] Figure 5This is a schematic diagram of the host support module in the host device of the present invention.

[0030] Figure 6 This is a schematic diagram of the gearbox module in the main unit of the present invention.

[0031] Figure 7 This is a schematic diagram of the robotic arm module in the main device of the present invention.

[0032] Figure 8 This is a schematic diagram of the main power unit in the main device of the present invention.

[0033] Figure 9 This is a schematic diagram of the sub-machine chassis module in the sub-machine device of the present invention.

[0034] Figure 10 This is a schematic diagram of the auxiliary engine power unit in the auxiliary engine device of the present invention.

[0035] Figure 11 This is a schematic diagram of the motor power unit in the auxiliary device of the present invention.

[0036] Figure 12 This is a schematic diagram of the oil tank system unit in the auxiliary unit of the present invention.

[0037] The attached diagram lists the components represented by each number as follows: 1. Main chassis module; 2. Main base module; 3. Main support module; 4. Gearbox module; 5. Main power unit; 6. Auxiliary chassis module; 7. Auxiliary engine power unit; 8. Electric motor power unit; 9. Fuel tank system unit; 10. Main chassis welded assembly; 11. Front outrigger cylinder; 12. Rear outrigger cylinder; 13. Frame tilting limit frame; 14. Track assembly; 15. Track guard plate assembly; 16. Pitch cylinder; 17. Base welded assembly; 18. Front boot plate; 19. Rear boot plate; 20. Adjusting bolt; 21. Rotation and pitch hinge seat; 22. Lower insert plate; 23. Guide column; 24. Propulsion cylinder; 25. Guide column connecting plate; 26. Gearbox housing; 27. Guide column sleeve; 2 8. Propulsion cylinder liner; 29. ​​Gearbox cover plate; 30. Main shaft mechanism; 31. Rotary motor; 32. Water sealing sleeve; 33. Fixed mounting bracket; 34. Lifting cylinder; 35. Swing arm assembly; 36. Swing arm cylinder; 37. Gripper; 38. Gripper cylinder; 39. Main engine cover plate assembly; 40. Main engine power unit; 41. Hydraulic oil tank; 42. Main engine electrical box; 43. Sub-engine chassis welding assembly; 44. Sub-engine engine cover plate assembly; 45. Sub-engine diesel engine power unit; 46. Diesel fuel tank; 47. Sub-engine electrical box; 48. Motor cover plate assembly; 49. Sub-engine motor power unit; 50. Hydraulic oil tank assembly; 51. Working pump suction pipe; 52. Travel pump suction pipe; 53. Valve module. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Example 1, please refer to Figure 1 and Figures 3 to 8 This invention relates to a self-propelled large-diameter riser drilling rig, suitable for underground mine riser construction and shaft drilling operations. It is adaptable to small and medium-sized mines, deep mining operations, and other scenarios, and can handle complex construction environments such as narrow tunnels, slopes with gradients ≤14° (applicable to -14°~+14°), and hard rock geology. The equipment has a nominal borehole diameter of 5000 mm and a maximum drilling depth of 500 m, meeting the construction needs of large-diameter, deep risers. It is a digital equipment for safe underground mine riser excavation. The riser drilling rig developed in this application incorporates advanced design concepts from similar products both domestically and internationally, and fully considers the technological needs of mines in different regions of China. It is an intelligent riser drilling rig with flexible tracked walking capability and hard rock operation capability. Its high operating efficiency, safety, reliability, and flexible operation make it an essential digital equipment for safe underground mine riser excavation in my country.

[0040] This application addresses the problems of traditional well drilling rigs, such as inconvenience in relocation, weak capacity for large-diameter operations in hard rock, low automation, complex maintenance, and insufficient safety and stability. It endows the drilling rig with autonomous relocation capabilities, eliminating reliance on external traction and track laying, and adapting to complex tunnel environments. It meets the high-efficiency construction requirements for 5000 mm diameter and 500 m deep wells in hard rock geology; it achieves fully automated operation of drilling and rod connection / removal, reducing manual labor intensity; it optimizes equipment structural design, establishes standardized maintenance procedures, and improves equipment reliability and ease of maintenance; and it enhances operational accuracy and construction safety through intelligent control and safety protection design.

[0041] The self-propelled large-diameter well drilling rig described in this application specifically includes a main unit and an auxiliary unit connected by a self-locking hydraulic joint, as well as an intelligent control system. The overall structural design adopts a split layout of main unit and auxiliary unit, both equipped with a tracked self-propelled chassis. The main and auxiliary units move independently and are connected by a self-locking hydraulic joint, balancing relocation flexibility and ease of maintenance. The main unit is responsible for drilling operations, while the auxiliary unit provides power support. The main and auxiliary units move independently, and the overall modular design facilitates relocation and maintenance.

[0042] Specifically, the high-pressure hydraulic pipelines between the main unit and the auxiliary unit utilize a face-sealed quick-connect self-locking hydraulic connector. The connector includes a male plug body, a female plug body, an outer rotating locking sleeve, an internal one-way sealing valve core, and an O-ring fluororubber double sealing ring. During insertion, the male plug opens the one-way valve cores on both sides to connect the oil circuits, and tightening the locking sleeve completes circumferential anti-disengagement limiting. Before separation, the valve cores automatically rebound to close their respective pipeline ports, preventing hydraulic oil leakage and adapting to the 28MPa system working pressure of this equipment, ensuring no leakage after connection. Both the male and female plugs have internal one-way valve cores equipped with compression springs for automatic reset. The inner wall of the outer rotating locking sleeve is provided with a trapezoidal thread, and a circumferential anti-loosening spring is provided at the end of the thread to prevent the locking sleeve from loosening under downhole vibration conditions. A PTFE anti-extrusion retaining ring is added to the outside of the O-ring fluororubber sealing ring to adapt to the impact of 28MPa high-pressure hydraulic oil. A metal hard sealing ring is provided on the plug mating end face, providing double sealing to prevent high-pressure leakage.

[0043] The main unit consists of a main chassis module 1, a main base module 2, a rotation and pitch hinge assembly, a main support module 3, a reduction gearbox module 4, a robotic arm module, and a main power unit 5. The main base module 2 is located at the front end of the main chassis module 1, and the two are connected by the rotation and pitch hinge assembly. The main chassis module 1 is driven by a dual-speed hydraulic motor, supporting high and low speed switching (speed I 7.2±0.7m / min, speed II 12±1.2m / min), and has single / dual steering modes. The turning radius is ≤4700mm, and the tracked design is suitable for complex terrain. The climbing ability is ≤14° (applicable to -14°~+14°), and the ground clearance is ≥385mm, meeting the movement needs of underground roadways. Specifically, the longitudinal climbing limit of the tracked chassis is ±14° (uphill +14°, downhill -14°), and the lateral tilt is ≤8°. The machine's walking control system has a built-in tilt sensor, and automatically limits the walking power output when the lateral tilt exceeds 8° to prevent rollover.

[0044] The main support module 3 is located on top of the main base module 2 and is used to install the gearbox module 4. The main support module 3 is used to provide the guide hole thrust and the hole expansion pull. The robot arm module is located on top of the main chassis module 1 and can be interchanged left and right. The robot arm module is used to clamp the drill rod and align it with the gearbox rotary head to complete the rod connection. The main power unit 5 is located at the rear end of the main chassis module 1 and is connected to each actuator through hydraulic pipelines and circuits.

[0045] The auxiliary unit consists of an auxiliary chassis module 6, an auxiliary engine power unit 7, an electric motor power unit 8, and a fuel tank system unit 9. Each power unit is connected to the corresponding component of the main unit through pipelines and circuits. The auxiliary chassis module 6 adopts tracked walking and supports high and low speed switching and single / dual steering modes. The auxiliary chassis module 6 is used to carry the auxiliary engine power unit 7, the electric motor power unit 8, and the fuel tank system unit 9. The electric motor power unit 8 is used to provide power to the main unit, and the auxiliary engine power unit 7 is used to drive the auxiliary unit to walk.

[0046] The intelligent control system is equipped with the independently developed KATF-RCS V2.0 intelligent control module, supporting handheld wireless remote control and featuring fault diagnosis and memory functions. It connects to the engine ECU via a CAN bus, enabling real-time monitoring of parameters such as coolant temperature and oil pressure, automatically triggering alarms and shutdown in case of abnormalities. Specifically: Equipped with the KATF-RCS V2.0 intelligent wireless explosion-proof control system, the system hardware includes a main control PLC unit, multiple oil pressure / torque / temperature sensors, a LoRa downhole wireless transceiver module, a storage unit, and an audible and visual alarm unit. The system establishes data interaction with the machine's travel ECU and slewing propulsion ECU via the CAN2.0B bus protocol, and collects slewing torque, propulsion cylinder pressure, motor winding temperature, and hydraulic oil temperature signals in real time. The effective downhole communication distance of the wireless remote control terminal is 0-80m, supporting both manual single-step control and preset program automatic drilling modes. Built-in fault diagnosis judgment thresholds: slewing torque exceeding 115% of the rated value is judged as a stuck drill fault, oil pressure below 70% of the system's rated pressure is judged as an oil circuit leak, and motor temperature >155℃ is judged as an overheating fault. After a fault is triggered, the system automatically cuts off power and locks the fault code into the local storage unit.

[0047] The KATF-RCS V2.0 intelligent control module employs a graded PID closed-loop control strategy to regulate propulsion and slewing torque, specifically as follows: (1) Set the target torque value T0 and the target propulsion speed value V0. The system calls the corresponding PID parameter group (Kp, Ki, Kd) according to the current geological hardness classification (automatically determined by the torque fluctuation amplitude at the initial drilling, divided into soft rock / medium hard rock / hard rock). (2) The real-time torque sensor signal T_feed of the rotary motor 31 is compared with the target value T0, and the deviation value e(t) = T 0- After T_feed is processed by PID, it outputs a control signal to adjust the opening of the proportional solenoid valve of the rotary motor 31, thereby dynamically adjusting the rotary torque. (3) The pressure sensor signal P_feed of the propulsion cylinder 24 is compared with the target propulsion pressure P0. After independent PID loop calculation, the opening of the proportional throttle valve of the propulsion cylinder 24 is adjusted to maintain the set propulsion speed. (4) When the torque or pressure deviation exceeds ±15% and lasts for more than 3 seconds, the system determines that it is a geological change and automatically switches to the “slow advance and fast retreat” protection mode (the advance speed is reduced to 30% of the set value and the slewing torque is limited to 80% of the rated value). After the deviation recovers to within ±5%, it automatically returns to the normal drilling mode.

[0048] The hydraulic system adopts a load-sensitive and fully proportional electro-hydraulic system with multiple filtration technologies, eliminating overflow heating and overload stalling; the electrical system uses 380~420V AC voltage and 50Hz frequency, and uses flame-retardant cables. The auxiliary unit is equipped with a low-voltage cabinet, and the main unit is equipped with high- and low-voltage cabinets, providing strong protection.

[0049] Standard drill pipe specification Φ327 1524mm (high tensile strength), the thread adopts the internationally common 10 1 / 2” DI-22 standard, the material is 4330V forging, the stabilizing drill rod is welded with tungsten carbide alloy blocks, which has good wear resistance; the cutter head is a split and detachable type (1 central box + 2 large cutter wings + 2 small cutter wings) and a wheeled walking device, which is convenient for hoisting and transportation; the rod unloading mechanism is fully automated, and works with the rod unloading mechanism under the base to achieve operation without manual intervention.

[0050] Specifically, this application features a 5000mm nominal diameter split-type reaming cutterhead, comprising a central housing, two large cutter wings, and two small cutter wings. The cutter wings and the central housing are secured by a double-locking structure of high-strength bolts and locating pins, eliminating the need for overall hoisting during disassembly and assembly. Each cutter wing surface is welded with multiple sets of tungsten carbide hard alloy cutting teeth, which are locked with conical caps for easy individual replacement after wear. An axial cooling water channel is provided at the center of the cutterhead, with high-pressure cooling water distributed along the channel to the crushing surfaces of each cutting tooth to achieve rock cooling and slurry discharge. The bottom of the cutterhead is equipped with a detachable rubber wheel-type walking device to support the cutterhead during relocation and prevent the cutter wings from directly rubbing against the roadway floor.

[0051] The specific structure of the host chassis module 1 in this invention is as follows: Figure 3 As shown, the main chassis module 1 is driven by a dual-speed hydraulic motor and includes a main chassis welding assembly 10. The front outrigger cylinder 11 and the rear outrigger cylinder 12 are respectively installed at the front and rear ends of the main chassis welding assembly 10. A frame tilting limit frame 13 is installed on the top of the main chassis welding assembly 10 near the rear outrigger cylinder 12. A track assembly 14 and a track guard plate assembly 15 are installed on the main chassis welding assembly 10. A pitch cylinder 16 is installed on the top of the main chassis welding assembly 10 near the front outrigger cylinder 11.

[0052] The specific structure of the host base module 2 in this invention is as follows: Figure 4As shown, the main unit base module 2 includes a base welding assembly 17 and a straightening device. A front shoe plate 18 and a rear shoe plate 19 are respectively installed at the four corners of the bottom of the base welding assembly 17. Each shoe plate is fixed to the ground support beam foundation to transmit torque and pressure, ensuring the operational stability of the main unit. Specifically, the straightening device is located at the front end of the base welding assembly 17 and includes two opposing straightening jaws and a straightening cylinder that drives the straightening jaws to open and close. This device guides the lower end of the drill rod to accurately enter the center hole of the spindle mechanism 30 during rod connection.

[0053] An adjusting bolt 20 is hinged between the base welding assembly 17 and the front shoe plate 18. The top of the base welding assembly 17 is provided with a rotary pitch hinge seat 21 and a lower insert plate 22. The main unit base module 2 is used for adjusting and locking the 60-90° working angle. The rotary pitch hinge assembly consists of a pitch cylinder 16 and a rotary pitch hinge seat 21 hinged to the pitch cylinder 16.

[0054] The specific structure of the host support module 3 in this invention is as follows: Figure 5 As shown, the main support module 3 consists of two guide columns 23, four propulsion cylinders 24, and a guide column connecting plate 25. It has a compact structure, good rigidity, and high guiding accuracy, providing a maximum guide hole thrust ≥2360KN, a maximum hole expansion pull ≥4900KN, and a propulsion stroke of 2145±10mm. The guide columns 23 are bolted to the guide column connecting plate 25 and the base welded assembly 17 to form a fixed frame. The lower end of the propulsion cylinder 24 is bolted to the base welded assembly 17, and the upper end of the propulsion cylinder 24 is connected to the propulsion cylinder sleeve 28. When the four propulsion cylinders 24 extend and retract synchronously, they drive the reduction gearbox module 4 to slide up and down along the two guide columns 23 to realize the guide hole propulsion and hole expansion lifting actions. Specifically, the upper end of the propulsion cylinder 24 and the propulsion cylinder sleeve 28 adopt a spherical floating connection structure. A spherical self-aligning bearing is set between the guide column connecting plate and the piston rod of the propulsion cylinder 24, and a dustproof sealing sleeve is fitted on the outside of the bearing. The spherical floating structure can offset the radial eccentric load generated by hard rock drilling and avoid unilateral wear of the guide column. Limiting blocks are set at the four corners of the guide column connecting plate to limit the lateral offset of the guide column connecting plate to ≤10mm, so as to ensure the guiding accuracy of the guide column 23.

[0055] The gearbox module 4 includes a gearbox housing 26. Guide column sleeves 27 and propulsion cylinder sleeves 28 are fixed on opposite sides of the gearbox housing 26. The guide column sleeves 27 are fitted onto the guide column 23. The upper end of the propulsion cylinder 24 is connected to the propulsion cylinder sleeve 28 through a spherical floating structure. Gearbox cover plates 29 are installed on the top and bottom of the gearbox housing 26. A main shaft mechanism 30, a rotary motor 31, and a water sealing sleeve 32 are provided between the gearbox housing 26 and the gearbox cover plate 29. The rotary motor 31 is driven by the gearbox gears. The water sealing sleeve 32 is a multi-stage combined sealing structure, consisting of three skeleton oil seals, two mud baffle rings, and a wear-resistant bronze bushing. The mud and sewage generated by the drill pipe water cooling are blocked by the mud baffle rings, and the multi-stage oil seals isolate the hydraulic oil and sewage, preventing the slag-containing water in the well from entering the gearbox gear cavity and causing wear.

[0056] To ensure a continuous supply of cooling fluid for slag removal, a high-pressure rotary water tap assembly is coaxially connected to the top of the spindle mechanism 30. An external, stationary high-pressure water pump is connected to the inlet of the stationary housing of the high-pressure rotary water tap assembly via a high-pressure hose. Water flows through the sealing structure of the moving and stationary ring end faces inside the water tap and enters the central through hole of the rotating spindle mechanism 30, and then flows downward through the inner cavity of the hollow drill rod, finally entering the axial cooling water channel at the center of the cutter head.

[0057] The gearbox module 4 adopts a three-speed self-lubricating design and is equipped with a mechanical rod wrench. The low-speed, high-torque rotary motor can provide a rated torque of ≥350KN·m after gear reduction. The rated speed of the guide hole is ≥20r / min, and the rated speed of the reaming hole is ≥5r / min, which meets the different needs of drilling and reaming working conditions. Specifically, the gearbox module 4 adopts a three-speed self-lubricating design. A mechanical rod removal wrench is provided on the top gearbox cover plate 29. The rod removal wrench includes a swing arm type wrench body. One end of the wrench body is hinged to the lug of the gearbox housing 26 through a pin, and the other end is provided with an open claw. The opening size of the claw is adapted to the flat square part of the drill pipe joint. The middle part of the wrench body is hinged to the piston rod end of a rod removal cylinder through a connecting rod. The cylinder body of the rod removal cylinder is fixed to the side wall of the gearbox housing 26. When it is necessary to remove the drill pipe, the rod removal cylinder extends, pushes the wrench body to swing around the pin, the claw grabs the flat square of the drill pipe joint and applies a reverse impact torque, and completes the rod removal in conjunction with the low-speed reverse action of the rotary motor 31.

[0058] Specifically, the gearbox module 4 adopts a sliding gear three-speed transmission structure with three speeds: low speed, medium speed, and high speed. The low speed is suitable for hole enlargement, the medium speed is suitable for deep hole pilot drilling, and the high speed is suitable for shallow hole rapid drilling. The gearbox housing 26 integrates a pressure-forced self-lubricating oil circuit. Hydraulic oil is introduced into the gear meshing pair through the oil inlet of the rotary motor 31. Each gear pair and bearing is equipped with an independent oil injection lubrication hole. The lubrication oil circuit is integrated inside the gearbox housing 26, eliminating the need for an external lubrication pump station.

[0059] The specific structure of the robotic arm module in this invention is as follows: Figure 7 As shown, the robotic arm module includes a fixed mounting bracket 33 connected to the main chassis welded assembly 10. A lifting cylinder 34 is mounted on the fixed mounting bracket 33, and a rotating arm assembly 35 is slidably mounted on the fixed mounting bracket 33. The output end of the lifting cylinder 34 is connected to a rotating arm cylinder 36 hinged to the rotating arm assembly 35. A gripper 37 and a gripper cylinder 38 are hinged to the rotating arm assembly 35, with the output end of the gripper cylinder 38 hinged to the gripper 37. The robotic arm module achieves positioning through the lifting cylinder 34 and the rotating arm cylinder 36. The gripper cylinder 38 controls the clamping and releasing of the drill rod. An accumulator ensures continuous clamping force. The module can be interchanged left and right, is an independent module that is easy to disassemble, and is adaptable to different operating environments.

[0060] The specific structure of the main power unit 5 in this invention is as follows: Figure 8 As shown, the main engine power unit 5 integrates the main engine diesel engine power group (rated power 96 kW) and the main engine electric motor power group (rated power 320 kW), with a dual-power drive design. The main engine diesel engine power group is used to drive the main unit to move, and the main engine electric motor power group is used to drive the main unit to rotate and propel, taking into account both mobility and energy saving.

[0061] The main power unit 5 includes a main engine cover assembly 39 fixed to the main chassis welding assembly 10. The main engine cover assembly 39 is provided with a main engine power unit 40, a hydraulic oil tank 41 and a main electrical box 42.

[0062] Example 2, please refer to Figure 2 and Figures 9 to 12 The auxiliary chassis module 6 is driven by a dual-speed hydraulic motor and includes an auxiliary chassis welded assembly 43. Track assembly 14 and track guard assembly 15 are mounted on the auxiliary chassis welded assembly 43. The auxiliary engine power unit 7 includes an auxiliary engine cover assembly 44 located on top of the auxiliary chassis welded assembly 43. The auxiliary engine cover assembly 44 is equipped with an auxiliary diesel engine power unit 45, a diesel fuel tank 46, and an auxiliary electrical box 47. This auxiliary chassis module 6 supports high and low speed switching (Gear I 11±1.1m / min, Gear II 18±1.8m / min), has single / dual steering modes, a turning radius ≤3800mm, a tracked design suitable for complex terrain, and a climbing ability ≤14° (suitable for -14°~14°). It carries the engine power unit, electric motor power unit, and other components, ensuring the auxiliary machine's autonomous walking capability.

[0063] The specific structures of the motor power unit 8 and the oil tank system unit 9 in this invention are as follows: Figure 11 and Figure 12As shown, the motor power unit 8 includes a motor cover assembly 48, within which a secondary motor power unit 49 is housed; the oil tank system unit 9 includes a hydraulic oil tank assembly 50 mounted on top of the secondary chassis welded assembly 43, with a working pump suction pipe 51 located on the side of the hydraulic oil tank assembly 50 near the motor power unit 8. The oil tank system unit 9 provides hydraulic oil support for the entire machine.

[0064] The hydraulic oil tank assembly 50 has a travel pump suction pipe 52 located on the side near the auxiliary engine power unit 7. A valve group module 53 is also installed on the hydraulic oil tank assembly 50. In the hydraulic system, the hydraulic oil tank assembly 50 is connected to the pump group via various suction pipes. The hydraulic oil output from the pump group is distributed to each cylinder and hydraulic motor via the valve group module 53 to achieve power transmission. In the electrical system, the ECU connects to the engine, remote control, sensors, and various electrical components via a CAN bus. The remote control signal is processed by the ECU to control the equipment's operation.

[0065] The working process of the self-propelled large-diameter well drilling rig in this application is as follows: Relocation phase: Start the main diesel engine power unit, and the main and auxiliary machines move autonomously to the construction position via the tracked chassis. During the movement, the walking speed and direction can be adjusted by remote control, adapting to roadways with a slope of ≤14° (suitable for -14°~14°); after arriving at the position, the leveling machine is adjusted by the front outrigger cylinder 11 and the rear outrigger cylinder 12.

[0066] Positioning stage: Adjust the drilling rig angle to the required angle (60°~90°) using the adjusting bolt 20 of the main unit base module 2 and lock it.

[0067] Drilling preparation: Turn on the main power supply and confirm that the power phase sequence is normal and the voltage is within the range of 380~420V; start the motor power unit 8 via remote control and build up pressure in the hydraulic system; the robot arm assembly moves, the lifting cylinder 34 lowers, the rotating arm cylinder 36 drives the rotating arm assembly 35 to grab the drill rod, the gripper cylinder 38 clamps the drill rod, after the lifting cylinder 34 stands up, the rotating arm cylinder 36 adjusts the angle and aligns the drill rod with the gearbox rotary head to complete the rod connection.

[0068] Drilling operation: Switch the working condition switch to "guide hole" mode, and the propulsion cylinder 24 extends synchronously. Since its lower end is fixed to the base welding assembly 17 and its upper end is fixed to the gearbox module 4, when the propulsion cylinder 24 extends, it pushes the gearbox module 4 to slide downward along the guide column 23, providing a propulsion force of ≥2360kN to the cutter head; at the same time, the rotary motor 31 drives the cutter head to rotate (guide hole speed ≥20r / min) to cut the rock; according to the geological conditions, the propulsion force and rotary torque are adjusted by the intelligent control system to ensure drilling efficiency and accuracy; during the drilling process, the water system is activated, and water enters the borehole through the inner hole of the drill rod to achieve slag removal, cooling and dust removal.

[0069] Hole reaming stage: After the pilot hole is completed, switch the working condition switch to "hole reaming" mode, adjust the hole reaming speed to ≥5r / min and the hole reaming tension to ≥4900kN, and start the hole reaming operation; control the pushing and pulling actions with the remote control to ensure uniform hole reaming.

[0070] Rod connection operation: The lifting cylinder 34 on the robot arm module drops, the rotating arm cylinder 36 rotates to the drill rod position, the gripper cylinder 38 clamps the drill rod, the lifting cylinder 34 stands up, and the rotating arm cylinder 36 aligns with the gearbox rotary head to complete the rod connection; the robot arm module grabs the new drill rod and connects it according to the reverse process of rod connection, and repeats the drilling operation until the designed drilling depth is reached.

[0071] Reset Phase: After drilling is completed, the drill rods are disassembled in sequence, and the robotic arm module places the drill rods in the designated position; the pitch cylinder 16 and the outrigger cylinders (front outrigger cylinder 11 and rear outrigger cylinder 12) are retracted, and the base angle lock is unlocked; the main and auxiliary machines are separated and move autonomously to the next work point or storage location.

[0072] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A self-propelled large-diameter well drilling rig, characterized in that, This includes the main unit and auxiliary unit connected by self-locking hydraulic joints, as well as the intelligent control system; The main unit consists of a main chassis module, a main base module, a rotation and pitch hinge assembly, a main support module, a reduction gearbox module, a robotic arm module, and a main power unit; The main unit base module is located at the front end of the main unit chassis module and the two are connected by a rotation and pitch hinge assembly. The main unit chassis module adopts tracked walking and supports high and low speed switching and single / dual steering modes. The main support module is located on top of the main base module and is used to install the gearbox module. The main support module is used to provide guide hole thrust and hole expansion pull. The robotic arm module is located on the top of the main chassis module and can be interchanged left and right. The robotic arm module is used to clamp the drill rod and align it with the rotary head of the gearbox to complete the rod connection. The main power unit is located at the rear end of the main chassis module and is connected to each actuator through hydraulic pipelines and electrical circuits. The auxiliary unit consists of an auxiliary unit chassis module, an auxiliary unit engine power unit, an electric motor power unit, and a fuel tank system unit. Each power unit is connected to the corresponding component of the main unit through pipelines and circuits. The auxiliary chassis module adopts tracked walking and supports high and low speed switching and single / dual steering modes. The auxiliary chassis module is used to carry the auxiliary engine power unit, electric motor power unit and fuel tank system unit. The motor power unit is used to provide power to the main unit, and the auxiliary motor power unit is used to drive the auxiliary unit to move. The intelligent control system is used to adjust propulsion and rotation torque, supports wireless remote control, has fault diagnosis and memory functions, and is connected to the engine ECU via CAN bus.

2. The self-propelled large-diameter well drilling rig according to claim 1, characterized in that, The main chassis module is driven by a dual-speed hydraulic motor and includes a main chassis welding assembly. Front outrigger cylinders and rear outrigger cylinders are respectively installed at the front and rear ends of the main chassis welding assembly. A frame tilting limit frame is installed on the top of the main chassis welding assembly near the rear outrigger cylinder. Track assembly and track guard plate assembly are installed on the main chassis welding assembly. A pitch cylinder is installed on the top of the main chassis welding assembly near the front outrigger cylinder.

3. The self-propelled large-diameter well drilling rig according to claim 2, characterized in that, The main unit base module includes a base welding assembly, with a front boot plate and a rear boot plate installed at the four corners of the bottom of the base welding assembly; each boot plate is fixed to the ground support beam foundation to transmit torque and pressure. The base welding assembly is hinged to the front shoe plate by an adjusting bolt. The top of the base welding assembly is provided with a rotary pitch hinge seat and a lower insert plate. The main unit base module is used for adjusting and locking the 60-90° working angle. The rotary pitch hinge assembly consists of a pitch cylinder and a rotary pitch hinge seat hinged to the pitch cylinder.

4. The self-propelled large-diameter well drilling rig according to claim 3, characterized in that, The main support module consists of two guide columns, four propulsion cylinders, and a guide column connecting plate. It provides a guide hole thrust ≥2360KN and a hole expansion pull force ≥4900KN. The guide columns are bolted to the guide column connecting plate and the base welded assembly, and the lower end of the propulsion cylinder is bolted to the base welded assembly. The gearbox module includes a gearbox housing. Guide column sleeves and propulsion cylinder sleeves are fixed on opposite sides of the gearbox housing. The guide column sleeves are fitted onto the guide columns. The upper end of the propulsion cylinder is connected to the propulsion cylinder sleeve through a spherical floating structure. Gearbox cover plates are installed on the top and bottom of the gearbox housing. A main shaft mechanism, a rotary motor, and a water sealing sleeve are provided between the gearbox housing and the gearbox cover plates. The gearbox module adopts a three-speed self-lubricating design. The low-speed, high-torque rotary motor can provide a rated torque of ≥350KN·m after gear reduction. The rated speed of the guide hole is ≥20r / min, and the rated speed of the reaming hole is ≥5r / min.

5. A self-propelled large-diameter well drilling rig according to claim 2, characterized in that, The robotic arm module includes a fixed mounting frame connected to the main chassis welding assembly. The fixed mounting frame is equipped with a lifting cylinder. A rotating arm assembly is slidably mounted on the fixed mounting frame. The output end of the lifting cylinder is connected to a rotating arm cylinder that is hinged to the rotating arm assembly. A gripper and a gripper cylinder are hinged to the rotating arm assembly. The output end of the gripper cylinder is hinged to the gripper.

6. A self-propelled large-diameter well drilling rig according to claim 2, characterized in that, The main power unit integrates the main diesel engine power group and the main motor power group. The main diesel engine power group is used to drive the main unit to move, and the main motor power group is used to drive the main unit to rotate and propel. The main power unit includes a main engine cover assembly fixed to the main chassis welded assembly, and the main engine cover assembly is respectively provided with the main engine power unit, hydraulic oil tank and main electrical box.

7. A self-propelled large-diameter well drilling rig according to claim 1, characterized in that, The auxiliary chassis module is driven by a dual-speed hydraulic motor and includes an auxiliary chassis welded assembly. The auxiliary chassis welded assembly is equipped with a track assembly and a track guard plate assembly. The auxiliary engine power unit includes an auxiliary engine cover plate assembly located on top of the auxiliary chassis welded assembly. The auxiliary engine cover plate assembly is equipped with an auxiliary diesel engine power unit, a diesel tank, and an auxiliary electrical box.

8. A self-propelled large-diameter well drilling rig according to claim 1, characterized in that, The motor power unit includes a motor cover assembly, and the motor cover assembly houses the auxiliary motor power unit; the oil tank system unit includes a hydraulic oil tank assembly installed on the top of the auxiliary chassis welded assembly, and the hydraulic oil tank assembly has a working pump suction pipe on the side near the motor power unit.

9. A self-propelled large-diameter well drilling rig according to claim 8, characterized in that, The hydraulic oil tank assembly is equipped with a travel pump suction pipe on the side near the auxiliary engine power unit. The hydraulic oil tank assembly is equipped with a valve group module. The hydraulic oil tank assembly is connected to the pump group through various suction pipes. The hydraulic oil output by the pump group is distributed to each oil cylinder and hydraulic motor through the valve group module.

Images