Downhole large-diameter drilling apparatus and construction method

Abstract

A downhole large-diameter drilling apparatus, comprising a large-diameter drilling-with-casing drill, a large-diameter drilling-with-casing guide drilling system, a collapse body metal detection and demolition system, and a self-moving multifunctional rescue operation cabin, wherein the large-diameter drilling-with-casing drill is configured to efficiently construct a large-diameter horizontal hole to serve as a rescue passage; the large-diameter drilling-with-casing guide drilling system uses a first-stage hole protection mode, a second-stage hole protection mode or a three-stage hole protection mode on the basis of the length of a collapse body and the stratum; the collapse body metal detection and demolition system can perform fine detection and rapid cutting on metal components in the collapse body; and the self-moving multifunctional rescue operation cabin can be configured to assist in obstacle removal at the bottom of a rescue hole while ensuring safety improvement of personnel in the cabin, thereby improving the construction efficiency of rescue drilling.

Description

A large-diameter underground drilling device and construction method Technical Field

[0001] The present invention belongs to the technical field of mining or tunnel construction, relates to the research and development of emergency rescue equipment, and in particular to an underground large-diameter drilling device and a construction method. Background Art

[0002] Collapses are common during mining or tunnel construction. When a tunnel collapse occurs, exit routes are often blocked by the collapsed mass. Because tunnel collapses are typically characterized by large volumes, loose structures, poor stability, and complex structures involving anchor rods, cables, and steel arches, rescue operations are difficult, dangerous, and prone to secondary disasters.

[0003] When a collapse accident occurs, small pilot tunnels are usually dug manually to rescue trapped people. However, due to the looseness of the collapsed body and the limitations on the pilot tunnel space and rescue time, only sleepers can be used to provide simple support for the pilot tunnel. The supporting force is limited, the rescue process is highly dangerous, and secondary accidents are prone to occur, making rescue difficult. Due to the use of manual excavation, limited working space, only simple tools can be used, the labor intensity is high, and a large number of rescue personnel need to be deployed to rotate excavation, which increases the rescue risk.

[0004] By constructing a large-diameter rescue channel in the collapsed body, a communication and rescue channel for trapped personnel can be quickly established. During the drilling process, the casing can protect the hole and prevent the rescue channel from collapsing. It is a safe and efficient rescue method.

[0005] At present, large-diameter rescue drilling rigs are generally used for construction in tunnel rescue. Due to the limitations of drilling technology and drilling tools, the drilling rigs are large in size, have high requirements for the drilling site, have poor adaptability to the formation, and have low drilling efficiency. When there are metal components and hard rocks in the collapsed body, it takes a lot of time to drill. Moreover, due to the limitations of the drilling tool structure and the collapsed body structure, the drilling trajectory is prone to deviation, which leads to problems such as drill sticking and limited drilling depth.

[0006] The cross-sectional dimensions of mine tunnels are much smaller than those of highway tunnels, and the use of existing rescue drills is greatly restricted. The geological conditions of mine tunnels are more complex, and collapse accidents are prone to occur. There is currently no effective rescue equipment and methods.

[0007] Summary of the Invention

[0008] In order to solve the technical problems of low efficiency of existing tunnel collapse rescue, high labor intensity of rescue personnel, high risk and poor safety of the rescue process, the purpose of the present invention is to provide an underground large-diameter drilling equipment and construction method.

[0009] In order to achieve the above tasks, the present invention adopts the following technical solutions:

[0010] An underground large-diameter drilling device, characterized by comprising an underground large-diameter casing drilling rig, a large-diameter casing guide drilling system, a collapsed body metal detection and demolition system, and a self-moving multifunctional rescue operation cabin, wherein:

[0011] The large-diameter pipe drilling rig is used to construct a large-diameter horizontal hole as a rescue channel;

[0012] The large-diameter pipe-guided drilling system includes a gyroscope measurement-while-drilling system and a drilling trajectory correction system, which is used to adopt a primary, secondary or tertiary hole protection mode according to the length of the collapsed body and the stratum, wherein:

[0013] The gyroscopic measurement while drilling system is used to monitor in real time whether the drilling trajectory is deflected, ensuring efficient and rapid drilling of the first and second casing and pipe;

[0014] The drilling trajectory correction system is used to correct the drilling trajectory in real time when the drilling trajectory deviates. A guide mechanism is provided at the position of the three-stage casing head. The guide angle of the guide mechanism can be arbitrarily adjusted within a certain angle range by the offset cylinder provided at the position of the three-stage casing head, thereby realizing the switching between straightening and correction operations.

[0015] The guide mechanism comprises a large diameter universal shaft disposed between the cutter head drill bit and the large diameter auger rod, which transmits high torque and can deflect at any angle along with the guide casing head;

[0016] The collapsed body metal detection and collapsed body demolition system mainly includes a metal detection system and a collapsed body metal demolition system; wherein:

[0017] The metal detection system includes an electromagnetic antenna, a data acquisition system and three-dimensional inversion software, which is used to perform precise detection of metal components in the collapsed body and determine the exact location and size of the metal components; wherein:

[0018] The electromagnetic antenna detects metal signals, and the data acquisition system uses focused electrical method to analyze and process the metal signals to determine the accurate position and scale of the metal components. The three-dimensional inversion software system uses the focused electrical method and electromagnetic antenna detection data to image and display the distribution position of the metal components of the collapsed body, providing a basis for the demolition of the metal components.

[0019] The collapsed metal demolition system is used to achieve rapid cutting of metal components, and mainly includes a hydraulic cutting head, a hydraulic cutting pipeline system, a high-pressure water source system, a sand mixing system and a control system, wherein:

[0020] The hydraulic cutting head is arranged at the front end of the drill bit. The rotation of the drill bit drives the hydraulic cutting head to rotate. When the drill bit encounters a metal component, the hydraulic cutting head cuts the metal component.

[0021] The hydraulic cutting pipeline system is a multi-section quick-connect pipeline that provides high-pressure sand-mixing water for the hydraulic cutting head;

[0022] The high-pressure water source system provides high-pressure water source for the hydraulic cutting system;

[0023] The sand mixing system can mix cutting sand into high-pressure water. Cutting sand of different specifications and materials is configured in the sand mixing system and can be switched according to the material and specifications of the metal component.

[0024] The control system can control the flow rate and pressure of the high-pressure water source and the amount and type of sand mixed in the sand mixing system according to parameters such as metal detection results and pipeline connection conditions;

[0025] The self-moving multifunctional rescue operation cabin is used to ensure the safe lifting of personnel in the manned cabin and also serves as an auxiliary obstacle clearing unit at the bottom of the rescue hole.

[0026] According to the present invention, the underground large-diameter pipe drilling rig includes a dual-rotation high-torque power head, a combined feeding device, a rapid hoisting system, a clamping and righting system, a support system, an electro-hydraulic dual-control remote control system, a crawler body and a power vehicle; wherein:

[0027] The dual-rotation high-torque power head is used to achieve high output torque in a small volume, thereby improving the drilling length and the ability to handle accidents in the hole. The dual-rotation high-torque power head and the clamping and straightening system are located on the upper guide rail surface of the combined feed device, the lower part of the rapid lifting system is hinged to the chassis of the crawler body, and the support system is located on the lower end surface of the combined feed device.

[0028] The dual-rotation high-torque power head comprises an inner tube power head and an outer tube power head, wherein the main shaft of the inner tube power head is connected to the hexagonal inner spiral drill rod and the front end cutter head by a quick plug-in method, and the outer tube power head is connected to the main shaft of the outer sleeve by a quick plug-in method; the inner tube power head drives the spiral drill rod and the front end cutter head, and the outer tube power head drives the outer sleeve. The inner tube power head and the outer tube power head adopt independent bidirectional rotation to realize the inner tube power head to quickly cut the collapsed body and the outer tube power head to reduce resistance and follow up, and the inner tube power head and the outer tube power head cooperate to quickly discharge slag;

[0029] The combined feeding device adopts two sets of feeding oil cylinders to respectively drive the inner tube power head and the outer tube power head, wherein the rod end of the inner tube feeding oil cylinder is mounted on the clamping centralizer, and the cylinder barrel end is mounted on the inner tube power head; the rod end of the outer tube feeding oil cylinder is mounted on the clamping centralizer, and the cylinder barrel end is mounted on the outer tube power head; the cylinder barrel of the inner tube feeding oil cylinder passes through the box body of the outer tube power head, and the inner tube feeding oil cylinder and the outer tube feeding oil cylinder are extended and retracted to realize the independent feeding and pulling out of the two power heads, which is convenient for loading and unloading the auger rod and the front end cutter head, and adjusting the inner tube overhang amount;

[0030] The rapid lifting system is a foldable gantry structure used to achieve a low transport height for the drilling rig. The upper legs can support the tunnel roof and stabilize the rapid lifting system. When the rapid lifting system is in operation, the protective anchor net is installed on the upper part of the folding arm. After the folding arm is raised, it is pushed to the tunnel or tunnel roof through the internal cylinder, and at the same time, the protective anchor net is stabilized to achieve protection for equipment and personnel within a certain range.

[0031] The clamping and straightening system includes a clamp and a straightener, wherein the clamp is used to assist in clamping the drill tool so as to quickly connect the outer pipe; the straightener straightens the auger rod and the front end cutter head during the drilling process to prevent the auger rod and the front end cutter head from deflecting, and the clamp and the straightener are both variable in diameter to meet the use requirements of multi-stage outer pipes, so as to cooperate in realizing a multi-stage pipe following drilling process.

[0032] The support system includes four parts: chassis support, front and rear support, top plate support, and side support, which are used to provide reaction force for the feeding and pulling force of the inner and outer pipes, wherein:

[0033] The chassis support is composed of four hydraulic legs to monitor and adjust the posture. The front and rear supports are used to maintain the stability of the drilling rig. The top plate support is provided by the upper legs of the rapid lifting system. The side supports ensure the stability of the narrow-body rescue drilling rig.

[0034] The electro-hydraulic dual-control remote control system includes a proximal control system and a distal control system for the underground large-diameter tubing drilling rig. The proximal control system adopts hydraulic control, while the distal control system adopts electric remote control, realizing integrated centralized control of the drilling site, allowing the driller to fully grasp the drilling site situation.

[0035] The power vehicle is located at the rear end or one side of the underground large-diameter tubing drilling rig and provides power for the underground large-diameter tubing drilling rig.

[0036] Specifically, the power vehicle provides a high-pressure oil source for the large-diameter tubing drilling rig to drive the actuator. The power vehicle can move independently. When working, the power vehicle is connected to the underground large-diameter tubing drilling rig with a high-pressure hose and is equipped with a high-pressure quick connector. The high-pressure hose connection pipeline is equipped with a hydraulic filter.

[0037] Specifically, the outer tube power head adopts a push-mill structure with four motors and driving wheels driving large gears to achieve high torque rotation;

[0038] The inner tube power head is independently driven by an inner curve motor, and the motor main shaft is a hollow structure, providing the necessary power and signal transmission channels for the bottom of the hole.

[0039] Specifically, the outer tube power head adopts a large spindle through-hole design, the through-hole diameter of which is larger than the diameter of the maximum diameter spiral drill rod, and is used to cooperate with the multi-stage casing to realize the multi-stage casing and pipe drilling process.

[0040] The combined feeding device of the pipe drilling rig adopts a combined segmented structure, and each feeding body is connected by bolts or buckling, and the position is determined by positioning pins;

[0041] When the downhole large-diameter pipe drilling rig is stuck at the bottom of the hole, a power head connector is installed on the main shaft of the inner pipe power head. The large-diameter end of the power head connector is a spline or flange structure, which is connected to the inner hole of the main shaft of the outer pipe power head, so that the torque and feed and pull-out force of the two power heads are concentrated on the main shaft of the outer pipe power head or the main shaft of the inner pipe power head, so that the inner pipe power head and the outer pipe power head change from independent rotation to synchronous rotation, and from independent feed and pull-out to synchronous feed and pull-out;

[0042] The lifting arm of the rapid lifting system is a hollow structure. The lifting winch is installed at the end of the lifting arm. The disguised pulley, large pulley and small pulley are all installed inside the lifting arm. The lifting wire rope is wound in the following way: the rope is unloaded from the lifting winch, passes through the large pulley and the small pulley, and is decomposed into two wire ropes at the lower part of the small pulley. The two wire ropes are respectively connected to the hooks at both ends after passing through the disguised pulley; the lifting wire rope is extended and retracted by the lifting winch to realize the synchronous lowering and recovery of the hook;

[0043] The clamping system has multiple rotatable rollers arranged radially, and the roller rotating axes are parallel to the main axis of the power head. The rollers support and straighten the outer tube, and the roller main axis can float radially to achieve adjustable diameter of the outer tube. The clamper has multiple slips arranged radially, and the slips clamp the outer tube. The slips can float radially to achieve adjustable clamping diameter of the outer tube.

[0044] Specifically, the self-propelled multifunctional rescue operation cabin includes a manned cabin, a front camera, an audio device, an air monitoring device, a wheeled power unit, an electro-hydraulic drive device, a stabilization device, a clustered high-strength cable, a cable traction device, a remote monitoring station, a forced ventilation device, and a bottom hole demolition device, wherein:

[0045] The front camera, audio device, and remote monitoring station constitute the manned cabin remote communication system, which monitors the status of the people in the cabin in real time; the air monitoring device and forced ventilation device constitute the cabin personnel protection system, so that the manned cabin can enter the bottom of the hole to implement forced ventilation and air monitoring and early warning;

[0046] The rear part of the manned cabin is respectively installed in series with a wheel power unit and an electro-hydraulic drive device, and a stabilizing device is arranged on the top of the manned cabin. The remote monitoring station drives the wheel power unit through the electro-hydraulic drive device to pull the manned cabin for autonomous movement, and at the same time controls the friction block of the stabilizing device to extend and press against the casing wall to achieve safe parking of the manned cabin.

[0047] A clustered high-strength cable and a cable traction device are connected at the rear of the manned cabin to form a manned cabin anti-collision system. The cable traction device drags the manned cabin through high-strength cables, and monitors and controls the depth and running speed of the manned cabin in the hole through the extended length of the cables, so that the manned cabin decelerates when approaching the bottom of the hole and brakes when reaching the bottom of the hole, preventing misoperation from causing the manned cabin to hit the bottom of the hole or rush out of the casing and causing casualties.

[0048] The bundled high-strength cable is cast from power cables, steel ropes, signal lines, ventilation pipes and wear-resistant, flame-retardant and anti-static casings; the ventilation pipes are arranged in the center, and the power cables and signal lines are arranged symmetrically around the ventilation pipes, forming support on the outside of the ventilation pipes to prevent compression and deformation of the ventilation pipes; the wear-resistant, flame-retardant and anti-static casings are located on the outside of the bundled high-strength cables.

[0049] Specifically, the bottom hole demolition device includes a hydraulic shearing device, a hydraulic core drill, a rock splitting device, and a front top assisting gas leg. The electro-hydraulic drive device drives the hydraulic shearing device to realize metal shearing at the bottom of the hole. A quick-release shoulder support is provided at the rear of the hydraulic core drill. One end of the front top assisting gas leg is installed at the rear end of the hydraulic drill, and the other end is installed on the mounting seat in the manned cabin. It provides auxiliary propulsion for the hydraulic core drill during the rock drilling process. The hydraulic core drill drills holes, and the rock splitting device splits the rocks statically under pressure to realize the demolition of isolated rocks at the bottom of the hole.

[0050] The construction method of the above-mentioned underground large-diameter drilling equipment is characterized in that it is specifically carried out in the following manner:

[0051] According to the type and size of the collapsed body, large-diameter horizontal rescue boreholes are constructed using underground large-diameter drilling equipment. For metal components in the collapsed body, the approximate position and size of the metal components are detected by metal advance detection, and then the metal components are cut into small sizes using hydraulic cutting.

[0052] When encountering difficult-to-handle bottom materials, the self-moving multifunctional rescue operation cabin is used to carry out auxiliary clearance operations at the bottom of the rescue hole to open a rescue channel for trapped personnel;

[0053] After the rescue channel is formed, the self-propelled multifunctional rescue operation cabin is used to carry out the rescue drilling escape operation and lift the trapped people out of the hole;

[0054] The auxiliary obstacle clearing operation at the bottom of the rescue hole includes the following steps:

[0055] Step 1: If the rescue hole construction encounters an obstacle, pull the auger back into the casing and sweep the hole to clean the rock debris inside the casing;

[0056] Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then operate it without load, moving it slowly to the bottom of the hole. The front camera in the self-propelled multifunctional rescue operation cabin will monitor the situation in the escape passage throughout the entire process, and monitor and warn the air in the escape passage.

[0057] Step 3: After the manned cabin reaches the bottom of the hole, the fault situation at the bottom of the hole is detected through the remote video system, and a manual clearance plan for the bottom of the hole is formulated;

[0058] Step 4: Open the air pipeline laid with the manned cabin, use the ventilation system to force ventilation at the bottom of the hole, and monitor and warn the air condition at the bottom of the hole. After the air condition at the bottom of the hole returns to normal, force the ventilation system to shut down for a period of time and continue to monitor the air condition;

[0059] Step 5: After confirming that the manned cabin is operating safely and the air condition at the bottom of the hole is normal, the manned cabin is towed back to the hole mouth by a traction device through a high-strength cable. According to the hole bottom clearance plan, rescuers carry hydraulic shears into the manned cabin to reach the bottom of the hole, activate the stabilization device to complete the parking brake, and start forced ventilation;

[0060] Step 6: Use hydraulic shears to cut anchor rods and cables, and combine hydraulic core drills and hydraulic splitters to perform static rock breaking to complete the rock removal. After the obstacle clearance operation is completed, return to the ground in the manned cabin.

[0061] The rescue drilling escape operation comprises the following steps:

[0062] Step 1: After the rescue hole is drilled, pull the auger back into the casing, sweep the hole to clear the rock debris in the pipeline, and form an escape route;

[0063] Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then run it unloaded. Move it slowly to the bottom of the hole. Use the front camera inside the cabin to observe the situation inside the passage throughout the process, and monitor and warn the air in the passage.

[0064] Step 3: After confirming the safe operation of the manned cabin, the manned cabin is towed back to the hole mouth by the traction device through the high-strength cable. The rescue personnel enter the manned cabin and reach the bottom of the hole. The stabilization device is activated to complete the parking brake of the manned cabin. The rescue personnel enter the trapped area to assist the trapped personnel to enter the manned cabin.

[0065] Step 4: The stabilizing device is turned off, and the traction device pulls the manned cabin back slowly while monitoring the status of the people inside the cabin throughout the process;

[0066] Step 5: The manned cabin moves to the opening, the stabilizing device is turned on, the parking brake of the manned cabin is completed, and the rescue personnel assist the trapped people to get out of the manned cabin and complete the escape of the people.

[0067] The downhole large-diameter drilling equipment of the present invention has the following beneficial effects:

[0068] A large-diameter pipe drilling rig is used to construct large-diameter horizontal boreholes. The large-diameter pipe-guided drilling system can achieve efficient drilling and precise guidance in complex collapsed strata, ensuring that the drilling quality and drilling trajectory meet the requirements. When drilling in the collapsed body and encountering obstacles such as anchor rods and anchor cables, demolition tools are used to quickly demolish them, thereby improving the efficiency of drilling construction and buying time for rescue. The self-moving multi-functional rescue operation cabin can ensure the safety and efficiency of the rescued personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 is a schematic diagram of the structure of a large diameter pipe drilling rig;

[0070] Figure 2 is a schematic diagram of the structure of a dual-rotation high-torque power head;

[0071] Figure 3 is a schematic structural diagram of the combined feeding device;

[0072] Figure 4 is a schematic diagram of the installation position of the hoisting system;

[0073] Figure 5 is a schematic diagram of the lifting system structure;

[0074] Figure 6 is a schematic diagram of a first-level drilling construction drill assembly;

[0075] Figure 7 is a schematic structural diagram of a secondary casing drilling system;

[0076] Figure 8 is a schematic diagram of three-stage pipe-guided drilling;

[0077] Figure 9 is a schematic diagram of three-stage pipe trajectory control drilling;

[0078] Figure 10 is a schematic diagram of the arrangement of the focusing electrode / antenna on the cutter head

[0079] Figure 11 is a digital simulation result;

[0080] Figure 12 is a logic diagram of the 3D inversion software;

[0081] Figure 13 is a schematic diagram of the metal demolition system structure;

[0082] Figure 14 is a schematic structural diagram of a self-propelled multifunctional rescue operation cabin;

[0083] Figure 15 is a schematic diagram of the structure of a clustered high-strength cable;

[0084] Figure 16 is a schematic diagram of the structure of the hole bottom breaking device.

[0085] The present invention is further described in detail below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0086] This embodiment provides an underground large-diameter drilling equipment, including a large-diameter casing drilling rig, a large-diameter casing guide drilling system, a collapsed body metal detection and demolition system, and a self-propelled multifunctional rescue operation cabin, wherein:

[0087] The underground large-diameter casing drilling rig includes: a dual-rotation high-torque power head, a combined feed device, a fast hoisting system, a clamping and righting system, a support system, an electro-hydraulic dual-control remote control system, a crawler body, and a power car; among which:

[0088] The dual-rotation high-torque power head has an inner tube power head and an outer tube power head, wherein the inner tube power head drives the spiral drill rod and the front end cutter head, and the outer tube power head drives the outer casing. The inner tube power head and the outer tube power head adopt independent two-way rotation to realize the inner tube power head to quickly cut the collapsed body and the outer tube power head to reduce resistance and follow up. The inner tube power head and the outer tube power head cooperate to quickly discharge slag.

[0089] The combined feeding device adopts two sets of feeding oil cylinders to drive the inner tube power head and the outer tube power head respectively. The cylinder barrel ends of the feeding oil cylinders are installed on both sides of the power head with a flange structure, and the cylinder rod ends are installed on both sides of the clamp with a hinge shaft connection, so as to realize independent feeding and pulling out of the dual power heads, facilitate loading and unloading of the auger rod and the front end cutter head, and adjust the inner tube overhang.

[0090] The rapid lifting system adopts a foldable gantry structure to achieve a low transportation height of the drilling rig. The upper legs can support the tunnel roof and stably install the lifting system.

[0091] The clamping and centralizing system consists of a clamp and a centralizer, wherein:

[0092] The clamp can assist in clamping the auger rod and the front cutter head so as to quickly connect the outer tube;

[0093] The centralizer helps straighten the auger shaft and front cutterhead during drilling. Due to their significant weight and excessively long cantilever, these can easily cause the drilling trajectory to deviate. The centralizer effectively prevents this deviation. In this embodiment, both the clamp and centralizer are adjustable in diameter to accommodate the passage of multiple external pipes, enabling a multi-stage pipe-following drilling process.

[0094] The support system is used to provide reaction force for the inner and outer pipes to push in and pull out. Its structure includes four parts: chassis support, front and rear support, top plate support, and side support, among which:

[0095] The chassis support is composed of four hydraulic legs to monitor and adjust the posture. The front and rear supports are used to maintain the stability of the drilling rig. The top plate support is provided by the upper legs of the rapid lifting system. The side supports ensure the stability of the narrow-body rescue drilling rig.

[0096] The large-diameter tubing drilling rig is equipped with an electro-hydraulic dual-control remote control system, which includes a large-diameter tubing drilling rig proximal control system and a large-diameter tubing drilling rig remote control system; wherein:

[0097] The large-diameter casing drilling rig proximal control system adopts hydraulic control to ensure the reliability of the rescue operation process;

[0098] The remote control system of the large-diameter pipe drilling rig adopts electric remote control to realize integrated centralized control of the drilling site, so that the driller can fully grasp the drilling site situation.

[0099] All components and functional systems of the large-diameter pipe drill rig are integrated into the crawler chassis. This facilitates easy transport to various locations, and the modular design of each component allows for quick disassembly from the crawler chassis to adapt to different roadway conditions.

[0100] The supporting power vehicle provides a high-pressure oil source for the large-diameter pipe drilling rig to drive the actuators; the power vehicle can move on its own, facilitating flexible on-site layout and transfer.

[0101] The power car and the underground large-diameter tubing drill are connected by high-pressure hoses and equipped with high-pressure quick connectors, enabling rapid connection and disconnection. Hydraulic filters are installed on each connecting line to prevent oil contamination during the connection process and improve equipment reliability.

[0102] In this embodiment, the outer tube power head adopts a push-grinding structure in which four motors with driving wheels drive large gears to achieve high torque rotation.

[0103] The internal drill head is independently driven by an internally curved motor. The motor's hollow spindle provides the necessary power and signal transmission channels to the bottom of the hole. The dual-rotation, high-torque head achieves high torque output in a compact package, improving drilling length and handling in-hole accidents. The external drill head features a large spindle through-hole design with a diameter larger than the maximum diameter of the auger, enabling multi-stage casing-following drilling.

[0104] The combined feeding device adopts a combined segmented structure. Each section of the feeding device is connected with a quick connection structure and the position is determined by a positioning pin to achieve a short transportation size and a long working stroke, ensuring that the power head runs smoothly on the feed device guide rail.

[0105] The inner tube power head and the outer tube power head are quickly connected through the tooling, which can fix the two power head spindles relatively, and gather the torque and feeding and pulling force of the two power heads to the outer tube power head spindle or the inner tube power head spindle. The inner tube power head and the outer tube power head are changed from independent rotation to synchronous rotation, and from independent feeding and pulling to synchronous feeding and pulling, which increases the bottom hole power and improves the passing capacity and accident handling capacity of complex formations.

[0106] The rapid lifting system adopts the intermediate lifting method to reduce the dead rope length of the wire rope, lower the overall height of the lifting system, and facilitate the drilling rig to adjust the opening height. In conjunction with the on-site lifting system, it can realize the rapid installation of large-diameter drilling tools and improve the efficiency of rod changing.

[0107] The centralizer is provided with multiple rollers in radial direction. The rollers are rotatable and the roller rotation axis is parallel to the main axis of the power head. The rollers support and straighten the outer tube. The main axis of the rollers can float in radial direction to achieve the adjustment of the outer tube diameter.

[0108] The clamper is radially arranged with multiple slips, which play a clamping role on the outer pipe. The slips can float in the radial direction to achieve adjustable clamping diameter of the outer pipe.

[0109] The large-diameter pipe-guided drilling system comprises: a pipe-guided drilling system, a measurement while drilling system, and a drilling trajectory correction system, wherein:

[0110] The casing-guided drilling system can adopt a primary, secondary or tertiary hole protection mode according to the length of the collapsed body and the formation. The primary and secondary casings adopt conventional drilling and casing-guided drilling technology.

[0111] Both the large diameter follower pipe casing and the large diameter auger rod adopt quick plug-in connection, among which the large diameter follower pipe casing adopts threaded pin quick plug-in connection, and the large diameter auger rod adopts quick plug-in connection, which ensures the rapid loading and unloading of large diameter drilling tools.

[0112] The gyroscope-based measurement-while-drilling system monitors the drilling trajectory for deviation in real time, ensuring efficient and rapid drilling during both the first and second stage casing tracking operations. A guide mechanism is located at the third stage casing head. The guide angle can be adjusted within a certain range using an offset cylinder located in the third stage casing head, enabling rapid switching between straightening and deviation correction operations. The guide mechanism includes a large-diameter universal joint connected between the cutterhead drill bit and the large-diameter auger rod. This mechanism transmits high torque while allowing for arbitrary deflection of the guide casing head.

[0113] The collapsed body metal detection and demolition system includes a collapsed body metal component detection system and a metal component demolition system.

[0114] The metal detection system includes an electromagnetic antenna, a data acquisition system, and 3D inversion software, including:

[0115] The electromagnetic antenna can detect abnormally weak metal signals. The data acquisition system uses focused electrical analysis to process metal signals and uses three-dimensional inversion software to image and display the distribution position of metal components.

[0116] The focused electrical method is used to conduct preliminary detection of the distribution range of the metal components of the collapsed body, and detect the approximate distribution position of the metal components, the scale of the components and other parameters.

[0117] Electromagnetic antenna detection can carry out precise detection of metal components in the collapsed body, and combined with the focused electrical method, it can further determine the exact location and scale of the metal components;

[0118] The three-dimensional inversion software can perform three-dimensional inversion on the distribution and specifications of the metal components of the collapsed body based on the focused electrical method and electromagnetic antenna detection data, providing a basis for the demolition of the metal components.

[0119] The metal demolition system includes a hydraulic cutting head, a hydraulic cutting pipeline system, a high-pressure water source system, a sand mixing system, and a control system, including:

[0120] The hydraulic cutting head is arranged at the front end of the drill bit. The rotation of the drill bit drives the cutting head to rotate. When the drill encounters a metal component, the hydraulic cutting head can cut the metal component.

[0121] The hydraulic cutting pipeline system is a multi-section quick-connect pipeline integrated into the drill bit. It can quickly complete the pipeline connection during the drilling tool connection process and provide high-pressure sand-mixing water for the hydraulic cutting head integrated on the front end of the drill bit.

[0122] The high-pressure water source system provides high-pressure water source for the hydraulic cutting head;

[0123] The sand mixing system can mix cutting sand into high-pressure water. The sand mixing system is equipped with cutting sand of different specifications and materials, which can be switched according to the material and specifications of the metal component to improve cutting efficiency.

[0124] The control system can control the flow and pressure of the high-pressure water source and the amount and type of sand mixed in the sand mixing system according to parameters such as metal detection results and pipeline connection conditions, thereby improving the efficiency of demolition.

[0125] The self-propelled multifunctional rescue operation cabin includes a manned cabin, a front camera, an audio device, an air monitoring device, a wheeled power unit, an electro-hydraulic drive device, a stabilizing device, a clustered high-strength cable, a cable traction device, a remote monitoring station, a forced ventilation device, and a bottom hole demolition device, wherein:

[0126] The front camera, audio device, and remote monitoring station constitute the manned cabin remote communication system, which monitors the status of the people in the cabin in real time; the air monitoring device and forced ventilation device constitute the cabin personnel protection system, so that the manned cabin can enter the bottom of the hole to implement forced ventilation and air monitoring and early warning;

[0127] The rear part of the manned cabin is respectively installed in series with a wheel power unit and an electro-hydraulic drive device, and a stabilizing device is arranged on the top of the manned cabin. The remote monitoring station drives the wheel power unit through the electro-hydraulic drive device to pull the manned cabin for autonomous movement, and at the same time controls the friction block of the stabilizing device to extend and press against the casing wall to achieve safe parking of the manned cabin.

[0128] A clustered high-strength cable and a cable traction device are connected at the rear of the manned cabin to form a manned cabin anti-collision system. The cable traction device drags the manned cabin through high-strength cables, and monitors and controls the depth and running speed of the manned cabin in the hole through the extended length of the cables, so that the manned cabin decelerates when approaching the bottom of the hole and brakes when reaching the bottom of the hole, preventing misoperation from causing the manned cabin to hit the bottom of the hole or rush out of the casing and causing casualties.

[0129] The rear of the manned cabin is connected to a high-strength cable and a cable traction device to form a manned cabin anti-collision system. The cable traction device drags the manned cabin through a high-strength cable, and monitors and controls the depth and running speed of the manned cabin in the hole through the extended length of the cable, so that the manned cabin can slow down when approaching the bottom of the hole and park and brake when it reaches the bottom of the hole, preventing misoperation from causing the manned cabin to hit the bottom of the hole or rush out of the casing and causing casualties.

[0130] The bottom hole breaking device includes a hydraulic shearing device, a hydraulic core drill, a rock splitting device, and a front top assisting gas leg. The electro-hydraulic drive device drives the hydraulic shearing device to achieve metal shearing at the bottom of the hole. A quick-detachable shoulder support is provided at the rear of the hydraulic core drill. One end of the front top assisting gas leg is installed at the rear end of the hydraulic drill, and the other end is installed on the mounting seat in the manned cabin. During the rock drilling process, auxiliary propulsion is provided for the hydraulic core drill. The hydraulic core drill is used to drill holes, and the rock splitting device is used for static pressure splitting to achieve the breaking of isolated rocks at the bottom of the hole.

[0131] In specific applications, the underground large-diameter drilling and hoisting rescue equipment presented in this embodiment also constructs a tunnel surrounding rock hazard identification model. This model is constructed using data from both non-hazardous and absolutely hazardous tunnel surrounding rock, data normalization, and a membership function method. Fuzzy membership rules are then used to establish judgment criteria. Based on the hazard identification model, the model can be used to identify hazards within the tunnel and conduct support operations. This approach eliminates the need for human intervention, provides high safety, and provides timely protection for personnel and equipment within the tunnel.

[0132] The construction method of the above-mentioned underground large-diameter drilling equipment is carried out in the following manner:

[0133] When a tunnel collapse accident occurs, based on the type and size of the collapsed body, a large-diameter underground pipe drill rig combined with a large-diameter pipe guide drilling system is used to construct a large-diameter horizontal rescue borehole. For metal components in the collapsed body, metal advance detection can be used to determine the approximate position and size of the metal components. Then, hydraulic cutting is used to cut the metal components into small sizes so that the spiral drill can carry the metal components out of the hole.

[0134] When encountering difficult-to-handle bottom materials during drilling, a self-moving multifunctional rescue operation cabin can be used to send rescue personnel to the bottom of the hole, and a bottom-breaking device can be used to further manually break the bottom of the well. The above methods are combined to construct an efficient and rapid rescue channel to open a rescue channel for the trapped personnel. After the rescue channel is formed, a mobile multifunctional rescue operation cabin can be used to lift the trapped personnel out of the hole. During the lifting process, the personnel life support system will monitor the personnel status and cabin energy environment in real time, and provide oxygen and other support to the rescued personnel when necessary.

[0135] The modular assembly of the large-diameter casing drill rig allows for efficient rescue drilling while adapting to varying roadway conditions, enhancing adaptability to rescue environments. The large-diameter casing drill rig, directional drilling system, and metal detection and demolition system enable efficient and rapid rescue drilling. The directional drilling system selects drilling techniques based on ground conditions, and the drilling trajectory is controlled through measurement-while-drilling and trajectory correction systems to ensure high-quality drilling.

[0136] The metal detection and demolition system can detect metal components in the collapsed body and demolish the metal components by configuring a hydraulic cutting head with the cutter head. For materials at the bottom of the hole that are difficult to demolish, a self-moving multifunctional rescue operation cabin can be used to go down to the bottom of the hole, and the tools in the cabin can be used for manual assistance in demolition.

[0137] A self-moving multifunctional rescue operation cabin with a life support system is used to rescue the trapped people.

[0138] It includes rescue drilling escape method and rescue hole bottom clearance method. Among them:

[0139] The auxiliary clearance operation at the bottom of the rescue hole includes the following steps:

[0140] Step 1: If the rescue hole construction encounters an obstacle, pull the auger back into the casing and sweep the hole to clean the rock debris inside the casing;

[0141] Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then operate it without load, moving it slowly to the bottom of the hole. The front camera in the self-propelled multifunctional rescue operation cabin will monitor the situation in the escape passage throughout the entire process, and monitor and warn the air in the escape passage.

[0142] Step 3: After the manned cabin reaches the bottom of the hole, the fault situation at the bottom of the hole is detected through the remote video system, and a manual clearance plan for the bottom of the hole is formulated;

[0143] Step 4: Open the air pipeline laid with the manned cabin, use the ventilation system to force ventilation at the bottom of the hole, and monitor and warn the air condition at the bottom of the hole. After the air condition at the bottom of the hole returns to normal, force the ventilation system to shut down for a period of time and continue to monitor the air condition;

[0144] Step 5: After confirming that the manned cabin is operating safely and the air condition at the bottom of the hole is normal, the manned cabin is towed back to the hole mouth by a traction device through a high-strength cable. According to the hole bottom clearance plan, rescuers carry hydraulic shears into the manned cabin to reach the bottom of the hole, activate the stabilization device to complete the parking brake, and start forced ventilation;

[0145] Step 6: Use hydraulic shears to cut anchor rods and cables, and combine hydraulic core drills and hydraulic splitters to perform static rock breaking to complete the rock removal. After the obstacle clearance operation is completed, return to the ground in the manned cabin.

[0146] The rescue drilling escape operation comprises the following steps:

[0147] Step 1: After the rescue hole is drilled, pull the auger back into the casing, sweep the hole to clear the rock debris in the pipeline, and form an escape route;

[0148] Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then run it unloaded. Move it slowly to the bottom of the hole. Use the front camera inside the cabin to observe the situation inside the passage throughout the process, and monitor and warn the air in the passage.

[0149] Step 3: After confirming the safe operation of the manned cabin, the manned cabin is towed back to the hole mouth by the traction device through the high-strength cable. The rescue personnel enter the manned cabin and reach the bottom of the hole. The stabilization device is activated to complete the parking brake of the manned cabin. The rescue personnel enter the trapped area to assist the trapped personnel to enter the manned cabin.

[0150] Step 4: Turn off the stabilization device, and the traction device pulls the manned cabin back slowly and monitors the status of the people in the manned cabin throughout the process.

[0151] Step 5: The manned cabin moves to the opening, the stabilizing device is turned on, the parking brake of the manned cabin is completed, and the rescue personnel assist the trapped people to get out of the manned cabin and complete the escape of the people.

[0152] The following is the specific implementation process provided by the inventor:

[0153] Figure 1 shows the structure of the large-diameter pipe drilling rig, which includes a double-rotation high-torque power head 1, a combined feed device 2, a rapid lifting system 3, a clamping and righting system 4, a support system 5, a crawler body 6, and a power car 7. During the installation process, the double-rotation high-torque power head 1, the combined feed device 2, the rapid lifting system 3, the clamping and righting system 4, and the support system 5 are all installed on the crawler body 6, and the power car 7 is placed at the rear end or one side of the large-diameter pipe drilling rig to provide power for the large-diameter pipe drilling rig.

[0154] The dual-rotation high-torque power head 1 is located in the combined feeding device 2. The dual-rotation high-torque power head 1 drives the drill tool to rotate respectively. The combined feeding device 2 can provide feed force for the two rotary heads of the dual-rotation high-torque power head 1. Under the joint action of rotary cutting and feed force, the rock at the bottom of the hole is crushed and slag is discharged, thereby realizing drilling construction.

[0155] The rapid lifting system 3 is articulated with the crawler vehicle body 6 through an oil cylinder. The height of the rapid lifting system 3 is adjustable to adapt to different tunnel conditions. The rapid lifting system 3 can assist in lifting drilling tools.

[0156] The support system 5 is installed on the lower end surface of the combined feeding device 2 to achieve support.

[0157] Referring to Figure 2, in the dual-rotation, high-torque power head 1, the outer tube power head 11 is driven by four drive motors 15 mounted on the end face of the housing; the inner tube power head is driven by a hollow motor 16 mounted on the end face of the housing. The inner auger 13 is connected to the main shaft of the inner tube power head 12 by plugging, and the outer sleeve 14 is also connected to the main shaft of the outer sleeve by plugging. In the event of a hole bottom jam, a power head connector 17 is installed on the main shaft of the inner tube power head. The large-diameter end of the power head connector 17 has a spline or flange structure and connects to the inner hole of the main shaft of the outer tube power head 11 to transmit torque.

[0158] Figure 3 is a schematic structural diagram of the combined feeding device 2, in which the first feeding body 21 and the second feeding body 22 are connected by bolts or buckling. Different numbers of feeding bodies can be connected as needed to achieve different feeding strokes and adapt to tunnel conditions of different sizes.

[0159] The inner feed cylinder's rod end is mounted on the clamping and straightening system 4, and its barrel end is mounted on the inner power head 12. The outer feed cylinder's rod end is mounted on the clamping and straightening system 4, and its barrel end is mounted on the outer power head 11. The barrel of the inner feed cylinder passes through the housing of the outer power head 11. The inner and outer feed cylinders extend and retract to enable the two power heads to be fed and pulled separately.

[0160] Figures 4 and 5 show the installation position and structure of the lifting system. The folding arm 31 is hinged to the crawler chassis. One end of the folding cylinder 32 is hinged to the crawler chassis and the other end is hinged to the folding arm 31. The extension and retraction of the cylinder can realize the retraction and erection of the folding arm 31 to meet the transportation needs of low tunnels.

[0161] The lifting arm 39 is a hollow structure, the lifting winch 33 is installed at the end of the lifting arm 39, the large pulley 35 and the small pulley 38 are both installed inside the lifting arm 39, the first phase-changing pulley 310 and the second phase-changing pulley 311 are installed inside the lifting arm, and the small pulleys 38 are installed symmetrically.

[0162] The hoisting wire rope is wound in the following manner: the rope comes out from the hoisting winch 33, passes through the large pulley 35 and the small pulley 38, and is decomposed into two strands of wire rope at the lower part of the small pulley 38. The two strands of wire rope are respectively passed around the first phase-changing pulley 310 and the second phase-changing pulley 311, and then the two ends are connected to the first hook 36 and the second hook 37 respectively.

[0163] The hoisting winch 33 drives the hoisting wire rope to extend and retract, enabling the simultaneous lowering and retraction of the first and second hooks 36, 37. The first and second hooks 36, 37 respectively hoist the ends of the drilling tool, ensuring smooth installation. Theoretically, the minimum lowering distance of the first and second hooks 36, 37 is zero, significantly reducing the dead rope length during installation and lowering the overall height of the hoisting system, facilitating adjustment of the drilling rig's hole height. In conjunction with the on-site hoisting system, this system enables rapid installation of large-diameter drilling tools and improves rod replacement efficiency.

[0164] Among them, the protective anchor net 34 is installed on the upper part of the folding arm 31. After the folding arm 31 is erected, it is pushed to the top plate of the tunnel or laneway through the internal oil cylinder, and at the same time stabilizes the protective anchor net 34 to achieve a certain degree of protection for equipment and personnel.

[0165] 6-9 are schematic diagrams of a multi-stage casing drilling installation, including a first-stage casing 202, a second-stage casing 206, a third-stage casing 209, a first-stage auger rod 201, a second-stage auger rod 205, a third-stage auger rod 208, a gyroscope while-drilling measurement system 203, a first-stage cutterhead 204, a second-stage cutterhead 207, a third-stage cutterhead 210, an adjustable guide head 213, and a large-diameter universal shaft 212.

[0166] FIG6 is a schematic diagram of a first-level drilling tool assembly, which includes a first-level casing 201, a first-level spiral drill rod 202, a gyroscope measurement while drilling system 203, and a first-level cutterhead 204, forming a first-level casing drilling system.

[0167] The inner tube power head of the casing drill rig drives the first-stage auger rod 203 to rotate, and the outer tube power head of the casing drill rig drives the first-stage casing 201. The rotation of the first-stage auger rod 202 drives the first-stage cutter head 204 to rotate and cut and crush rocks. Under the relative movement of the first-stage casing 201 and the first-stage auger rod 202, the first-stage auger rod 202 brings the rock cuttings out of the drill hole.

[0168] FIG7 is a schematic diagram of a secondary casing drilling system, which includes a secondary casing 206 , a secondary auger rod 205 , a gyroscopic measurement while drilling system 203 , and a secondary cutterhead 207 .

[0169] When the primary drilling process encounters problems such as hole collapse or excessive outer pipe load, secondary casing drilling can be used. The primary casing 202 is used to protect the hole. A secondary casing 206, a secondary auger rod 205, a gyroscopic measurement while drilling system 203, and a secondary cutterhead 207 are lowered into the primary casing 202. The inner power head of the casing drill rotates the secondary auger rod 205, while the outer power head of the casing drill rotates the secondary casing 206. The rotation of the secondary auger rod 205 drives the secondary cutterhead 207 to cut and crush rock. As the secondary casing 206 and the secondary auger rod 205 move relative to each other, the secondary auger rod 205 carries rock cuttings out of the borehole.

[0170] 8 and 9 illustrate a three-stage pipe-guided drilling system, comprising a three-stage pipe-guided casing 209 , an adjustable guide head 213 , a three-stage spiral drill rod 208 , a large-diameter universal shaft 212 , a gyroscope while-drilling measurement system 203 , and a three-stage cutterhead 210 .

[0171] The above-mentioned first-level, second-level, and third-level pipe drilling systems are selected separately or simultaneously according to the length of the collapsed body during underground construction. Preferably, when the collapsed body length is ≤20m, the first-level pipe drilling system is selected for construction; preferably, when the collapsed body length is 20m < ≤40m, the first-level and second-level pipe drilling systems are selected for construction; preferably, when the collapsed body length is >40m, the first-level, second-level, and third-level pipe drilling systems are selected for construction.

[0172] The diameter of the third-stage cutterhead is smaller than the inner diameter of the second-stage follow-up casing, and larger than the outer diameter of the third-stage follow-up casing. The diameter of the second-stage cutterhead is smaller than the inner diameter of the first-stage follow-up casing, and larger than the outer diameter of the second-stage follow-up casing. The diameter of the first-stage cutterhead is larger than the outer diameter of the first-stage follow-up casing.

[0173] Among them, the gyroscope measurement while drilling probe is installed in the inner diameter of the large-diameter spiral drill rod, close to the cutter head.

[0174] Among them, the first-stage cutterhead and the second-stage cutterhead are connected to the large-diameter spiral drill rod through threads, and the third-stage cutterhead is connected to the large-diameter spiral drill rod through a large-diameter universal shaft through threads.

[0175] The adjustable guide head has the same outer diameter as the three-stage casing. It is installed between the three-stage cutterhead and the casing, connected to the casing via a hinge and a retractable guide cylinder. When the cylinder is fully retracted, the adjustable guide head and the casing are coaxial, and the large-diameter casing guide drilling system is in horizontal straightening mode. When the cylinder is fully extended, the adjustable guide head and the casing form a maximum bend angle β, and the large-diameter casing guide drilling system is in full-force deflection mode. During actual deflection construction, the angle between the adjustable guide head and the casing can be adjusted arbitrarily between (0, β) depending on the retractable force of the guide cylinder.

[0176] The first, second, and third-level stem casings all utilize a threaded pin quick-connect connection. A spline is provided on the outer wall of the male end of the casing, which mates with a keyway on the end of the female end, enabling quick connection. Once connected, the threaded holes on the male and female ends align, allowing for quick fastening with the threaded pin.

[0177] Figure 10 is a schematic diagram of the electrode / antenna arrangement on the cutter head for focused electrical method. The electrodes / antennas were placed in the rescue hole to observe the response data of metallic anomalies under full-space conditions. Three-dimensional inversion was performed on the observed data under full-space conditions, with both uniform model constraints and high-resistivity coal seam constraints (see Figures 11 and 12), analyzing the shielding effect of high-resistivity coal seams on the anomaly detection response.

[0178] FIG13 is a structural diagram of a metal demolition system, which includes a hydraulic cutting head 301 , a hydraulic cutting pipeline system 302 , a high-pressure water source system 303 , a sand mixing system 304 , and a control system 305 .

[0179] The hydraulic cutting head 301 is arranged at the front end of the drill bit. The rotation of the drill bit drives the water jet cutting head to rotate. It is preferably arranged at the extension and center of the drill bit respectively. When drilling into a metal component, the hydraulic cutting head can cut the metal component, and the cutting size is suitable for spiral exclusion.

[0180] The hydraulic cutting pipeline system 302 is a multi-section quick-connect pipeline integrated with the drill tool. The pipeline connection can be quickly completed during the drilling tool connection process to provide high-pressure sand-mixing water for the hydraulic cutting head integrated with the drill bit at the front end.

[0181] The quick-connect piping system 302 is provided with connection lines that can power the bottom-hole metal detection equipment and serve as a signal transmission line.

[0182] The high-pressure water source system 303 provides a high-pressure water source for the hydraulic cutting head 301. The sand mixing system 304 can mix cutting sand into the high-pressure water. The sand mixing system is equipped with cutting sand of different specifications and materials, which can be switched according to the material and specifications of the metal component to improve cutting efficiency.

[0183] Figure 14 is a system diagram of a self-propelled multifunctional rescue operation cabin, which includes an air monitoring device 401, a front camera 402, a stabilization device 403, an electro-hydraulic drive device 404, a remote monitoring console 405, an audio device 406, a bottom hole demolition device 407, a manned cabin 408, a wheeled power unit 409, a clustered high-strength cable 410, a cable traction device 411, and a forced ventilation device 412.

[0184] Figure 15 is a schematic diagram of the cross-sectional structure of a bundled high-strength cable, which includes a power cable 4101, a steel wire rope 4102, a signal line 4103, a ventilation pipe 4104, and a wear-resistant, flame-retardant and antistatic casing 4105.

[0185] FIG16 shows some components of the bottom hole demolition device, including a hydraulic core drill 4071 , a quick-release shoulder support 4072 , and a front push-assisting gas leg 4073 .

[0186] It should be noted that the above embodiments are only preferred examples, and the present invention is not limited to the above embodiments. Ordinary technicians in this field can make additions or simple replacements to the technical features of the technical solution of this application without engaging in creative work, and all of these additions or simple replacements fall within the scope defined by the claims of this application.

Claims

1. A downhole large-diameter drilling device, characterized in that: It includes large-diameter pipe drilling rig, large-diameter pipe guiding drilling system, collapsed body metal detection and demolition system, self-moving multifunctional rescue operation cabin, including: The large-diameter pipe drilling rig is used to construct a large-diameter horizontal hole as a rescue channel; The large-diameter pipe-guided drilling system includes a gyroscope measurement while drilling system and a drilling trajectory correction system, which are used to adopt a primary, secondary or tertiary hole protection mode according to the length of the collapsed body and the stratum, wherein: The gyro measurement while drilling system is used to monitor in real time whether the drilling trajectory is deflected, so as to ensure efficient and rapid drilling of the primary and secondary casing and pipe; The drilling trajectory correction system is used to correct the drilling trajectory in real time when the drilling trajectory is deviated. A guide mechanism is arranged at the position of the third-level casing head. The size of the guide angle in the guide mechanism can be arbitrarily adjusted within a certain angle range by the offset cylinder arranged at the position of the third-level casing head, thereby realizing the switching between straightening and correction operations; The guide mechanism comprises a large diameter universal shaft disposed between the connecting cutter head drill bit and the large diameter auger rod, which can deflect at any angle along with the guide casing head while transmitting large torque; The collapsed body metal detection and collapsed body demolition system mainly includes a metal detection system and a collapsed body metal demolition system; wherein: The metal detection system includes an electromagnetic antenna, a data acquisition system and a three-dimensional inversion software, which is used to perform fine detection of metal components in the collapsed body and determine the exact location and size of the metal components; The electromagnetic antenna detects metal signals, and the data acquisition system uses the focused electrical method to analyze and process the metal signals to determine the accurate position and scale of the metal components. The three-dimensional inversion software uses the focused electrical method and the electromagnetic antenna detection data to image and display the distribution position of the metal components of the collapsed body, providing a basis for the demolition of the metal components. The collapsed metal demolition system is used to achieve rapid cutting of metal components, and mainly includes a hydraulic cutting head, a hydraulic cutting pipeline system, a high-pressure water source system, a sand mixing system and a control system, wherein: The hydraulic cutting head is arranged at the front end of the drill bit. The rotation of the drill bit drives the hydraulic cutting head to rotate. When the drill bit encounters a metal component, the hydraulic cutting head cuts the metal component. The hydraulic cutting pipeline system is a multi-section quick-connect pipeline that provides high-pressure sand-mixed water for the hydraulic cutting head; The high-pressure water source system provides a high-pressure water source for the hydraulic cutting system; The sand mixing system can mix cutting sand into high-pressure water. Cutting sand of different specifications and materials is configured in the sand mixing system and can be switched according to the material and specifications of the metal component. The control system controls the flow rate and pressure of the high-pressure water source and the amount and type of sand mixed in the sand mixing system according to the metal detection results and the parameters of the pipeline connection conditions; The self-moving multifunctional rescue operation cabin is used to ensure the safe lifting of personnel in the manned cabin and also serves as an auxiliary obstacle clearing unit at the bottom of the rescue hole.

2. The downhole large-diameter drilling equipment according to claim 1, characterized in that: The large-diameter pipe drilling rig includes a double-rotation high-torque power head, a combined feeding device, a fast lifting system, a clamping and straightening system, a support system, an electro-hydraulic dual-control remote control system, a crawler body and a power car; wherein: The double-rotation high-torque power head is used to achieve a small volume and a large output torque, and improve the drilling length and the handling capacity of accidents in the hole. The double-rotation high-torque power head and the clamping and straightening system are located on the upper guide rail surface of the combined feeding device, the lower part of the fast lifting system is hinged with the chassis of the crawler body, and the support system is located on the lower end surface of the combined feeding device; The double-rotation high-torque power head comprises an inner tube power head and an outer tube power head, wherein the outer tube power head is driven by four drive motors, and the four drive motors are all mounted on the end face of the box; the inner tube power head is driven by a hollow motor, and the hollow motor is mounted on the end face of the box; the spindle of the inner tube power head is connected to the hexagonal inner spiral drill rod and the front end cutter disc by a quick plug-in method, and is connected to the spindle of the inner tube power head by a quick plug-in method, and the outer sleeve is connected to the spindle of the outer sleeve by a quick plug-in method; the inner tube power head drives the spiral drill rod and the front end cutter disc, and the outer tube power head drives the outer sleeve, and the inner tube power head and the outer tube power head adopt separate two-way rotation to realize the inner tube power head to quickly cut the collapsed body, The outer tube power head reduces drag and follows up, while the inner tube power head and the outer tube power head cooperate to quickly discharge slag; The combined feeding device is composed of two groups of feeding oil cylinders to drive the inner and outer tube power heads respectively, wherein the rod end of the inner tube feeding oil cylinder is installed on the clamping and straightening device, and the cylinder barrel end is installed on the inner tube power head; the rod end of the outer tube feeding oil cylinder is installed on the clamping and straightening device, and the cylinder barrel end is installed on the outer tube power head; the cylinder barrel of the inner tube feeding oil cylinder passes through the box body of the outer tube power head, and the inner tube feeding oil cylinder and the outer tube feeding oil cylinder are telescopic to realize the independent feeding and pulling out of the two power heads, which is convenient for loading and unloading the auger rod and the front end cutter disc, and adjusting the inner tube overhang; The rapid lifting system is a folding gantry structure, which is used to achieve a low transportation height of the drilling rig. The upper legs can support the tunnel roof and stabilize the rapid lifting system. When the rapid lifting system is in working state, the protective anchor net is installed on the upper part of the folding arm. After the folding arm is erected, it is pushed onto the tunnel or tunnel roof through the internal oil cylinder, and the protective anchor net is stabilized at the same time. The clamping and straightening system comprises a clamp and a straightener, wherein the clamp is used to assist in clamping the drill tool so as to quickly connect the outer pipe; the straightener straightens the auger rod and the front cutter disc during the drilling process to prevent the auger rod and the front cutter disc from deflecting, and the clamp and the straightener can both be variable in diameter to cooperate to realize a multi-stage pipe drilling process; The support system includes four parts: chassis support, front and rear support, top plate support, and side support, which are used to provide reaction force for the inner and outer tubes to push and pull, wherein: The chassis support is composed of four hydraulic legs to monitor and adjust the posture. The front and rear supports are used to maintain the stability of the drilling rig. The top plate support is provided by the upper legs of the rapid lifting system. The side supports ensure the stability of the narrow rescue rig. The electro-hydraulic dual-control remote control system includes a proximal control system and a distal control system of the underground large-diameter pipe drilling rig, wherein the proximal control system adopts hydraulic control and the distal control system adopts electric remote control, realizing integrated centralized control of the drilling site, and the driller can fully grasp the situation of the drilling site; The power vehicle is located at the rear end or one side of the underground large-diameter tubing drilling rig to provide power for the underground large-diameter tubing drilling rig.

3. The downhole large-diameter drilling equipment according to claim 1, characterized in that: The power vehicle provides a high-pressure oil source for the large-diameter pipe drilling rig to drive the actuator to move. The power vehicle can move independently. When working, the power vehicle is connected to the underground large-diameter pipe drilling rig with a high-pressure hose and is equipped with a high-pressure quick connector. The high-pressure hose connection pipeline is equipped with a hydraulic filter.

4. The downhole large-diameter drilling equipment according to claim 2, characterized in that: The outer tube power head adopts a push-mill structure with four motors and driving wheels to drive a large gear to achieve high torque rotation; the inner tube power head is independently driven by an inner curve motor, and the motor main shaft is a hollow structure to provide the necessary power and signal transmission channels for the bottom of the hole.

5. The downhole large-diameter drilling equipment according to claim 4, characterized in that: The outer tube power head adopts a large spindle through-hole design, the through-hole diameter is larger than the diameter of the maximum diameter spiral drill rod, and is used to cooperate with the multi-stage casing to realize the multi-stage casing and pipe drilling process.

6. The downhole large-diameter drilling equipment according to claim 2, characterized in that: The combined feeding device of the pipe drilling rig adopts a combined segmented structure, and each section of the feeding body is connected by bolts or buckling, and the position is determined by positioning pins; When the underground large-diameter pipe drilling rig is stuck at the bottom of the hole, a power head connector is installed on the main shaft of the inner tube power head. The large-diameter end of the power head connector is a spline or flange structure, which is connected to the inner hole of the main shaft of the outer tube power head, and the torque and feed and pull-out force of the two power heads are gathered to the main shaft of the outer tube power head or the main shaft of the inner tube power head, so that the inner tube power head and the outer tube power head change from independent rotation to synchronous rotation, and from independent feed and pull-out to synchronous feed and pull-out; The lifting arm of the rapid lifting system is a hollow structure, the lifting winch is installed at the end of the lifting arm, the phase-changing pulley, the large pulley and the small pulley are all installed inside the lifting arm, and the lifting wire rope is wound in the following manner: the rope is taken out from the lifting winch, passes through the large pulley and the small pulley, and is decomposed into two strands of wire rope at the lower part of the small pulley, and the two strands of wire rope are respectively connected to the hooks at both ends after passing through the phase-changing pulley; the lifting wire rope is extended and retracted by the lifting winch to realize the synchronous lowering and recovery of the hook; The clamping system is provided with a plurality of rotatable rollers in the radial direction, and the roller rotation axis is parallel to the main axis of the power head. The roller supports and straightens the outer tube, and the roller main shaft can float in the radial direction to achieve adjustable diameter of the outer tube; the clamper is radially arranged with multiple slips, which clamp the outer tube, and the slips can float in the radial direction to achieve adjustable clamping diameter of the outer tube.

7. The downhole large-diameter drilling equipment according to claim 2, characterized in that: The self-propelled multifunctional rescue operation cabin includes a manned cabin, a front camera, an audio device, an air monitoring device, a wheeled power unit, an electro-hydraulic drive device, a stabilizing device, a clustered high-strength cable, a cable traction device, a remote monitoring station, a forced ventilation device, and a bottom hole demolition device, wherein: The front camera, audio device, and remote monitoring station constitute a manned cabin remote communication system to monitor the status of personnel in the cabin in real time; the air monitoring device and forced ventilation device constitute a cabin personnel protection system to facilitate the manned cabin to enter the bottom of the hole to implement forced ventilation and air monitoring and early warning; The rear part of the manned cabin is respectively installed in series with the wheeled power unit and the electro-hydraulic drive device, and the stabilizing device is arranged on the top of the manned cabin. The remote monitoring station drives the wheeled power unit through the electro-hydraulic drive device to pull the manned cabin to move autonomously, and at the same time, the friction block of the stabilizing device can be controlled to extend and press against the casing wall to achieve safe parking of the manned cabin; A clustered high-strength cable and a cable traction device are connected at the rear of the manned cabin to form an anti-collision system for the manned cabin. The cable traction device drags the manned cabin through high-strength cables, and monitors and controls the depth and running speed of the manned cabin in the hole through the extended length of the cables, so as to achieve deceleration of the manned cabin when approaching the bottom of the hole and parking brake when reaching the bottom of the hole, thereby preventing misoperation from causing the manned cabin to hit the bottom of the hole or rush out of the casing and causing casualties.

8. The underground large-diameter drilling and lifting rescue equipment according to claim 7, characterized in that: The clustered high-strength cable is cast by power cables, steel wire ropes, signal lines, ventilation pipes and wear-resistant, flame-retardant and anti-static casing; the ventilation pipe is arranged in the center, and the power cables and signal lines are symmetrically arranged around the ventilation pipe to form a support on the outside of the ventilation pipe to prevent the ventilation pipe from being compressed and deformed, and the wear-resistant, flame-retardant and anti-static casing is located on the outside of the clustered high-strength cable.

9. The underground large-diameter drilling and lifting rescue equipment according to claim 7, characterized in that: The bottom hole breaking device comprises a hydraulic shearing device, a hydraulic core drill, a rock splitting device, and a front top assisting gas leg. The electro-hydraulic drive device drives the hydraulic shearing device to shear the metal at the bottom of the hole. A quick-detachable shoulder support is provided at the rear of the hydraulic core drill. One end of the front top assisting gas leg is installed at the rear end of the hydraulic drill, and the other end is installed on a mounting seat in the manned cabin. During the rock drilling process, auxiliary propulsion is provided for the hydraulic core drill. The hydraulic core drill is used to drill holes, and the rock splitting device is used for static pressure splitting, so as to break the isolated rocks at the bottom of the hole.

10. The construction method of underground large-diameter drilling equipment according to any one of claims 1 to 9, characterized in that: The specific method is as follows: According to the type and size of the collapsed body, large-diameter horizontal rescue boreholes are constructed using underground large-diameter drilling equipment. For metal components in the collapsed body, the approximate position and size of the metal components are detected by metal advance detection, and then the metal parts are cut into small sizes by hydraulic cutting; When encountering difficult-to-handle bottom objects, the self-moving multifunctional rescue operation cabin is used to carry out auxiliary obstacle clearing operations at the bottom of the rescue hole to open up a rescue channel for trapped personnel; After the rescue channel is formed, the self-moving multifunctional rescue operation cabin is used to carry out the rescue drilling escape operation and lift the trapped persons out of the hole; The auxiliary obstacle clearing operation at the bottom of the rescue hole comprises the following steps: Step 1: If the rescue hole construction encounters obstacles, pull back the spiral drill in the casing and sweep the hole to clean the rock debris in the casing; Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then run it without load, slowly move it to the bottom of the hole, and observe the situation in the escape passage through the front camera in the self-moving multifunctional rescue operation cabin, and monitor and warn the air in the escape passage; Step 3: After the manned cabin reaches the bottom of the hole, the fault situation at the bottom of the hole is detected through the remote video system, and a manual clearance plan for the bottom of the hole is formulated; Step 4: Open the air pipeline laid with the manned cabin, use the ventilation system to force ventilation at the bottom of the hole, and monitor and warn the air condition at the bottom of the hole. After the air at the bottom of the hole is normal, force the ventilation system to shut down for a period of time and continue to monitor the air condition; Step 5: After confirming that the manned cabin is operating safely and the air condition at the bottom of the hole is normal, the manned cabin is towed back to the hole mouth by the traction device through a high-strength cable. According to the hole bottom clearance plan, the rescue personnel carry hydraulic shears into the manned cabin to reach the bottom of the hole, turn on the stabilization device to complete the parking brake, and turn on the forced ventilation; Step 6: Use hydraulic shears to cut anchor rods and cables, combine hydraulic core drills and hydraulic splitters to break rocks by static pressure, complete the removal of isolated rocks, and return to the ground in the manned cabin after the obstacle clearance operation is completed; The rescue drilling escape operation comprises the following steps: Step 1: After the rescue hole is drilled, pull the spiral drill tool back into the casing, sweep the hole to clean the rock debris in the pipeline, and form an escape passage; Step 2: Hoist the manned cabin into the escape passage, connect the drive vehicle, high-strength cables, and cable traction device, and then run it without load, slowly move it to the bottom of the hole, observe the situation in the passage through the front camera in the manned cabin, and monitor and warn the air in the passage; Step 3: After confirming that the manned cabin is operating safely, the manned cabin is towed back to the hole mouth by the traction device through the high-strength cable. The rescue personnel enter the manned cabin and reach the bottom of the hole. The stabilization device is turned on to complete the parking brake of the manned cabin, and then they enter the trapped area to assist the trapped personnel to enter the manned cabin. Step 4: Turn off the stabilizing device, and the traction device pulls the manned cabin back slowly and monitors the status of the people in the manned cabin throughout the process; Step 5: The manned cabin moves to the opening, the stabilizing device is turned on, the parking brake of the manned cabin is completed, and the rescue personnel assist the trapped persons to exit the manned cabin and complete the escape of the persons.

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