Composite drilling system provided with two rotation driving devices and control method therefor

Abstract

The present invention pertains to the technical field of coal mine drilling rigs, and relates to a composite drilling system provided with two rotation driving devices and a control method therefor. The system is characterized in that a regulator is connected at the other end of a driving shaft provided inside a gearbox. The regulator comprises a transmission shaft, a fixed toothed disc, a movable toothed disc, a rotary base, an end cover, and a rotary speed reducer having a self-locking function. One end of the transmission shaft is circumferentially fixedly connected to the driving shaft. The fixed toothed disc and the movable toothed disc are both sleeved on the transmission shaft, and helical teeth of the fixed toothed disc and the movable toothed disc mesh with one another. The fixed toothed disc and the transmission shaft are circumferentially fixedly connected. The movable toothed disc and the transmission shaft are rotatably connected, and the movable toothed disc is slidable in an axial direction of the transmission shaft. The rotary base is sleeved on the movable toothed disc and is circumferentially fixedly connected thereto, and an output disc of the rotary speed reducer is coaxial with the rotary base and is fixedly connected thereto.

Description

Composite drilling system with dual rotary drive devices and control method thereof Technical Field

[0001] The invention belongs to the technical field of coal mine drilling rigs and relates to a composite drilling system with a dual rotary drive device and a control method thereof. Background Art

[0002] Most existing directional drilling rig power heads have only one power unit: the main motor. The main motor provides the rotational power required for drilling rotation drive and tool face angle adjustment. During sliding drilling, a mud pump or other device is used to provide a driving medium with a certain pressure to the bottom hole motor to achieve bottom hole rotary cutting. Therefore, existing directional drilling rig power heads essentially only have one type of rotational power, provided by the main motor. However, existing directional drilling rig power heads can only achieve relatively high-speed rotation and lack a dedicated power unit to drive the drill pipe to rotate slowly. Tool face angle adjustment relies on the main motor to drive the drill pipe to rotate. This high rotation speed, coupled with the large moment of inertia of the transmission system, results in poor control accuracy and low adjustment efficiency. During the drilling process, multiple drill pipes are inevitably connected by threads in the hole. Therefore, when adjusting the tool face angle, the main motor can only be used to drive the main shaft and drill pipe to rotate in the forward direction. Reverse rotation is likely to loosen the threaded connection of the drill pipe in the hole, resulting in drill loss accidents. According to the requirements of the drilling speed of coal mines, the main motor drives the drill rod to rotate at a relatively high speed, and the low speed is also about 50r / min (300° / s), so the adjustment accuracy of the system is very low. In addition, the power head transmission system (spindle, gears, etc.) has a large mass and large inertia, and it often cannot stop accurately when the tool face angle is adjusted in place. Once the preset angle is missed, it must be rotated forward for about one circle and readjusted over and over again, resulting in very low adjustment efficiency and inaccuracy. CN103061669B is a typical representative of the existing technology. First, its power head does not have an angle adjustment device that can drive it to rotate slowly and accurately; secondly, the brake device has a single function and does not have an angle adjustment function, and uses a traditional friction plate method with many internal wearing parts, which requires frequent replacement of parts and maintenance.

[0003] Therefore, there is an urgent need for a composite drilling system that can provide a rotary drive device that can accurately adjust the tool face angle and has a braking function on the basis of the main motor providing the rotary power, and a control method for the composite drilling system.

[0004] Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a composite drilling system with a dual rotary drive device and a control method thereof, so as to solve the problem that the existing directional drilling rig power head has only one rotary power device, and the rotation angle of the existing directional drilling rig power head cannot be accurately controlled, resulting in low efficiency of tool face angle adjustment.

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

[0007] A composite drilling system with a dual rotary drive device includes a main motor, a transmission, a main shaft, a drill pipe, and a bottom hole motor. The transmission has a drive shaft, one end of which is connected to the main motor and meshes with the main shaft via gears in the transmission. The drill pipe is fixedly connected to the main shaft in a circumferential direction. The bottom hole motor is arranged at the front end of the drill pipe to serve as a bottom hole drilling actuator. The key point is that the other end of the drive shaft is connected to a regulator via the transmission.

[0008] The regulator includes a transmission shaft, a fixed gear plate, a movable gear plate, a slewing seat and a slewing reducer with a self-locking function. One end of the transmission shaft is fixedly connected to the drive shaft in a circumferential direction. The fixed gear plate and the movable gear plate are both sleeved on the transmission shaft. The fixed gear plate and the movable gear plate are engaged with each other in a helical gear pattern. The fixed gear plate and the transmission shaft are fixedly connected in a circumferential direction. The movable gear plate and the transmission shaft are rotatably connected, and the movable gear plate can slide along the axial direction of the transmission shaft.

[0009] The rotary seat is sleeved on the movable gear disc and is circumferentially fixedly connected. The output disc of the rotary reducer is coaxial with the rotary seat and is fixedly connected to the movable gear disc to transmit the rotation of the output disc of the rotary reducer to the movable gear disc.

[0010] Furthermore, the angle adjuster further comprises a driving piston and a connecting seat, wherein the driving piston is sleeved on the transmission shaft and is located on a side of the fixed gear disc away from the movable gear disc, and an end of the driving piston away from the driving shaft is connected to the movable gear disc;

[0011] The connecting seat is sleeved on the driving piston. The outer diameter of the connecting seat is divided into three levels of diameter, and the diameter of the middle section is the largest. The end faces of both sides of the middle section are respectively connected to the transmission and the rotary reducer to achieve relative axial positioning between the transmission, the connecting seat and the rotary reducer. The inner diameter of the connecting seat is divided into three levels of aperture, among which the two sections of aperture away from the transmission match the outer diameter of the driving piston and are sleeved on the driving piston.

[0012] The driving piston is a two-stage stepped shaft, and a sealing groove is provided on the outer circle of its small diameter end. A sealing ring is installed in the sealing groove and cooperates with the corresponding position of the connecting seat mounted thereon to form a first seal. The outer circle of the large diameter end cooperates with the sealing ring installed at the corresponding position of the connecting seat to form a second seal. A sealed cavity is formed between the driving piston and the connecting seat between the first seal and the second seal, and an oil inlet connected to the sealed cavity is provided on the connecting seat. Under the action of hydraulic oil entering the sealed cavity through the oil inlet, the driving piston pushes the movable gear disc in the direction away from the fixed gear disc, so that the movable gear disc can slide along the axial direction of the transmission shaft.

[0013] Furthermore, the regulator further includes an end cover, the other end of the transmission shaft is rotatably connected to the end cover, the movable gear disc is a disc-shaped part having a central through hole, and the central through hole is a stepped through hole, and the stepped through hole is a large-diameter through hole facing the end cover, the movable gear disc is sleeved on the end cover through the large-diameter through hole and slidably connected, the end surface of the movable gear disc facing the driving piston is provided with first helical teeth distributed along the circumference, and the fixed gear disc is provided with second helical teeth meshing with the first helical teeth, and a spring is provided between the inner end surface of the large-diameter through hole and the end surface of the end cover opposite to the inner end surface, so that the first helical teeth and the second helical teeth mesh under the thrust of the spring;

[0014] The outer circumferential surface of the movable gear disc is provided with evenly distributed bosses, the rotary seat is sleeved on the movable gear disc and is provided with grooves matching the bosses so as to be fixedly connected to the movable gear disc in the circumferential direction, and one end of the rotary seat is provided with a rotary reducer connecting plate fixedly connected to the output plate of the rotary reducer so as to transmit the rotation of the output plate in the rotary reducer to the movable gear disc.

[0015] Furthermore, a transmission piston is provided between the driving piston and the movable gear disc. The transmission piston is sleeved on the transmission shaft and slidably connected. One end of the transmission piston is connected to the driving piston, and the other end is connected to the movable gear disc to transmit the thrust of the driving piston.

[0016] Furthermore, the slewing seat is cylindrical, and an end cover connecting plate is provided at one end thereof away from the slewing reducer connecting plate, so as to be fixedly connected to the end cover.

[0017] Furthermore, the fixed gear disc has a gear disc and a fixed shaft located at the center of the gear disc, the second bevel teeth are arranged on the gear disc, the fixed shaft is inserted into the central through hole of the movable gear disc, and a keyway is provided in the fixed shaft so that the fixed gear disc is circumferentially fixedly connected to the transmission shaft through a key connection.

[0018] Furthermore, the end cover is a three-step stepped hollow disc structure, which is mounted on the transmission shaft through a bearing sleeve. The maximum outer diameter section is provided with a flange connected to the swivel seat, and the maximum outer diameter section is located at the end away from the drive shaft. The middle diameter section is used to support the swivel seat and limit the axial movement distance of the movable gear disc. The minimum diameter section is axially slidably connected to the large diameter through hole of the movable gear disc, and the end face of the minimum diameter section is provided with a plurality of spring mounting holes evenly distributed along the circumference for mounting springs.

[0019] Furthermore, the drive shaft is arranged in the transmission, one side end face of the middle section in the connecting seat is connected to the transmission, a section of the connecting seat close to the transmission is inserted into the transmission and serves as an axial stop for the bearing sleeved on the drive shaft, and a section close to the rotary reducer extends toward the interior of the rotary reducer to serve as a guide for the installation of the rotary reducer.

[0020] Furthermore, one end of the drill pipe is connected to a medium pump, and the medium pump inputs fluid medium to the bottom hole motor through the drill pipe. The rotary reducer is connected to an adjusting motor that drives the rotary reducer to rotate.

[0021] A control method for a composite drilling system with a dual rotary drive device is disclosed. The key is to use the composite drilling system with a dual rotary drive device and combine the states of the regulator, main motor, and bottom hole motor to enable the composite drilling system to have four working modes: sliding directional drilling, accurate angle adjustment, rotary drilling, and composite drilling. The specific steps include:

[0022] Sliding Directional Drilling:

[0023] In sliding directional drilling, the toothed disc is moved axially to engage the fixed toothed disc with the movable toothed disc, thereby locking the adjuster. This prevents the main shaft from rotating under the drive of the main motor, and drives the bottom hole motor to rotate, thereby driving the drill bit to rotate, thereby implementing sliding directional drilling.

[0024] Tool face angle adjustment:

[0025] Under the tool face angle adjustment working condition, the toothed disc is moved by axial sliding, so that the fixed toothed disc and the movable toothed disc are in a helical meshing state, thereby putting the adjuster in a locked working condition, so that the main shaft cannot rotate under the drive of the main motor, and the transmission shaft is driven to rotate through the rotary reducer, and the transmission shaft drives the drive shaft to rotate, and the drive shaft drives the main shaft and the drill pipe to rotate through the transmission, thereby achieving the tool face angle adjustment;

[0026] Rotary drilling:

[0027] In rotary drilling conditions, the fixed gear disc and the movable gear disc are separated by axial sliding, thereby unlocking the adjuster, and the main motor can drive the main shaft and drill rod to rotate, thereby implementing rotary drilling.

[0028] Compound drilling:

[0029] Under compound drilling conditions, the fixed gear disc and the movable gear disc are separated by axial sliding, and the adjuster is unlocked. The main motor can drive the main shaft and drill rod to rotate, and at the same time drive the bottom hole motor to rotate, thereby driving the drill bit to rotate to achieve compound drilling.

[0030] The beneficial effects of the present invention are:

[0031] The present invention provides a composite drilling system with a dual rotary drive device, which is connected to an adjuster with both accurate angle adjustment and locking anti-rotation functions at one end of the drive shaft away from the main motor. This not only achieves accurate and efficient adjustment of the tool face angle, but also prevents the rebound rotation of the power head main shaft caused by the elastic deformation of the drill pipe. This solves the problem that the drilling rig in the prior art lacks a dedicated tool face angle adjustment device, has low trajectory adjustment accuracy and efficiency, and is difficult to achieve automatic directional drilling. At the same time, it greatly reduces the driving force required for tool face angle adjustment, has a good energy-saving effect, simplifies the structure of the rotary brake device of the main motor, and converts the functions of a large number of internal parts into an external rotary reducer, which greatly reduces the difficulty of maintenance and reduces the consumption of wearing parts.

[0032] Secondly, this composite drilling system has two rotating drive devices, a main motor and an adjusting motor, one of which outputs a higher speed and the other outputs a lower speed. Combined with the direct drive of the drill bit by the bottom hole motor, the control method of this composite drilling system can meet the needs of various working conditions by combining the states of the main motor, the adjusting motor and the bottom hole motor, and is more suitable for automated drilling rig equipment.

[0033] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0035] FIG1 is a schematic diagram of a composite drilling system with a dual rotary drive device according to the present invention;

[0036] FIG2 is a schematic structural diagram of a regulator in the present invention;

[0037] FIG3 is a schematic structural diagram of a driving piston of a regulator in the present invention;

[0038] FIG4 is a schematic structural diagram of the movable gear disk of the regulator in the present invention;

[0039] FIG5 is a schematic structural diagram of a fixed gear disk of the regulator in the present invention;

[0040] FIG6 is a schematic structural diagram of the end cover of the regulator in the present invention;

[0041] FIG7 is a schematic structural diagram of the rotary seat of the regulator in the present invention;

[0042] FIG8 is a partial enlarged structural diagram of the regulator in the present invention.

[0043] Reference numerals: 1-main motor, 2-driving shaft, 3-regulator, 301-transmission shaft, 302-driving piston, 302a-sealing groove, 302b-outer circle of large diameter end, 303-rotation reducer, 304-transmission piston, 305-fixed gear disc, 305a-gear disc, 305b-fixed shaft, 306-movable gear disc, 306a-boss, 306b-first helical tooth, 307-end cover, 307 a-maximum outer diameter section, 307b-intermediate diameter section, 307c-minimum diameter section, 307d-spring mounting hole, 308-bearing pressure cover, 309-spring, 310-slewing seat, 310a-slewing reducer connecting plate, 310b-end cover connecting plate, 310c-groove, 311-flat key, 4-adjusting motor, 5-transmission, 6-medium pump, 7-drill pipe, 8-spindle, 9-bottom hole motor. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0045] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0046] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0047] Refer to Figures 1 to 8 , which illustrate a composite drilling system with dual rotary drive devices. The system includes a main motor 1, a drive shaft 2, a regulator 3, an adjustment motor 4, a transmission 5, a medium pump 6, a drill pipe 7, a main shaft 8, and a bottom-hole motor 9. Main motor 1 is the primary power source for driving the drill pipe 7 at high speed. The main motor provides the rotational power required for rotary drilling, composite drilling, and drill pipe connection and breakout. Main motor 1 can be a variety of rotary power drive devices, such as a hydraulic motor or an electric motor. Preferably, in this embodiment, a hydraulic motor is preferred, given the complex working conditions and explosion-proof requirements of coal mines. One end of the drive shaft 2 is connected to the main motor 1, and the other end is connected to the regulator 3. The regulating motor 4 is connected to the regulator 3 to drive the regulator 3, and the drive shaft 2 is meshed with the main shaft 8 through the gears in the transmission 5 to achieve transmission. The main shaft 8 is the motion output shaft of the transmission 5 and is connected to the drill rod 7 through a clamping device or a joint to transmit the output power of the main motor 1 or the regulating motor 4 to the drill rod 7. The bottom hole motor 9 is arranged at the head of the drill rod 7 as a bottom hole drilling actuator. The medium pump 6 is connected to the tail end of the drill rod 7 as a power source for driving the bottom hole motor 9 to rotate. A fluid medium with a certain pressure is input into the bottom hole motor 9 through the main shaft 8 and several connected drill rods 7 (or directly connected to the drill rod 7) to drive the bottom hole motor 9 to rotate.

[0048] The transmission 5 is the speed-changing transmission mechanism of this system. It primarily transmits the rotational speed and torque of the main motor 1 and the regulating motor 4 to the main shaft 8 at a specific transmission ratio, thereby meeting the requirements of drilling and connecting and breaking out drill rods. Based on existing hydraulic motor technology and drilling requirements, the transmission 3 is generally selected to have both speed reduction and torque-increasing transmission functions.

[0049] The regulator 3 internally employs an end-face geared disc meshing structure. The engagement and disengagement of the geared discs controls whether the motion of the regulating motor 4 can be transmitted to the spindle 8 and drill rod 7 via the transmission 5. Furthermore, because the regulator 3 has a rotational self-locking function, and its self-locking torque is greater than the output torque of the main motor, and the transmission ratio of the regulator 3 is greater than that of the transmission 5, thereby slowing the rotation of the drill rod 7, the engagement of the regulator 3 also prevents the rotation of the main motor 1 from being transmitted to the spindle 8 and drill rod 7 via the transmission 5.

[0050] The key to this system is the regulator 3, which includes a transmission shaft 301, a slewing seat 310, a connecting seat 11, a bearing cover 308, a spring 309, a driving piston 302, a transmission piston 304, a fixed gear plate 305, a movable gear plate 306 and an end cover 307, which are sequentially sleeved on the transmission shaft 301 from left to right, and a rotary reducer 303 with a self-locking function, and the transmission ratio of the rotary reducer 303 is greater than that of the transmission 5; the left end of the transmission shaft 301 is splined, which is inserted into the drive shaft 2 of the transmission 5, and the drive shaft 2 is provided with a keyway that matches the spline on the transmission shaft 301, so that the transmission The shaft 301 forms a spline connection with the drive shaft 2, thereby forming a circumferential fixed connection; the right end of the transmission shaft 301 is connected to the fixed gear disc 305 sleeved on the transmission shaft 301 through a flat key 311 to form a circumferential fixed connection, and is rotatably connected to the end cover 307 through a bearing, and the end cover 307 is located on the side of the fixed gear disc 305 away from the drive shaft 2, that is, on the right side of the fixed gear disc 305, and a distance sleeve is provided on both sides of the bearing, and a bearing pressure cover 308 is provided on the side of the end cover 307 away from the fixed gear disc 305, which is fixed to the end cover 307 by bolts to position the bearing.

[0051] The driving piston 302 is a hollow two-stage stepped shaft, which is sleeved on the transmission shaft 301, and the outer circle of the small diameter end is provided with a sealing groove 302a, and a sealing ring is installed in the sealing groove 302a, and cooperates with the inner hole at the corresponding position of the connecting seat 11 sleeved on the driving piston 302 to form a first seal, and the outer circle 302b of the large diameter end cooperates with the sealing ring installed in the sealing ring installation groove at the corresponding position on the connecting seat 11 to form a second seal; the first and second seals form a sealing chamber Y between the driving piston 302 and the connecting seat 11, and an oil inlet connected to the sealing chamber Y is provided on the connecting seat 11. Hydraulic oil enters the sealing chamber Y through the oil inlet on the connecting seat 11, pushing the driving piston 302 to move from the small diameter end to the large diameter end, and the small diameter end of the driving piston 302 is the end close to the driving shaft 2;

[0052] Preferably, the driving piston 302 is provided with a two-step inner hole, and the side facing the end cover 307 is a large-diameter inner hole. The transmission shaft 301 is correspondingly provided with a shoulder that matches the two-step inner holes, thereby limiting the displacement distance of the driving piston 302 in the axial direction to prevent the driving piston 302 from moving beyond the limit.

[0053] The transmission piston 304 is a disc-shaped part with a central through hole. It is sleeved on the transmission shaft 301, and the left end is in contact with the large diameter end of the driving piston 302, and the right end is in contact with the moving gear disc 306. Its main function is to transmit the driving force of the driving piston 302 (the driving force for displacement to the right end) to the moving gear disc 306, so that the moving gear disc 306 moves toward the end cover 307.

[0054] The main body of the movable toothed disc 306 is a disc-shaped part with a central through hole, and a stepped through hole in the middle for passing the transmission shaft 301 and the fixed shaft 305b of the fixed toothed disc 305. The through hole is a large-diameter through hole facing the end cover, and the inner end surface of the large-diameter through hole is used to withstand the end thrust of the spring 309. The end surface of the movable toothed disc 306 facing the transmission piston 304 is provided with first bevel teeth 306b distributed along the circumference, and the outer circumferential surface is provided with evenly distributed bosses 306a, which cooperate with the grooves 310c in the inner hole of the rotary seat 310 sleeved thereon, so as to transmit the rotation and torque of the rotary reducer 303 connected to the rotary seat 310.

[0055] The fixed gear disc 305 comprises a gear disc 305a and a fixed shaft 305b located at the center of the gear disc 305a. The fixed shaft 305b is a hollow shaft with a keyway provided in the internal through hole, which enables the fixed gear disc 305 to form a key connection with the transmission shaft 301, thereby fixing the fixed gear disc 305 in the circumferential direction to limit the rotation between the fixed gear disc 305 and the transmission shaft 301. The fixed shaft 305b is inserted into the central through hole of the movable gear disc. The end surface of the gear disc 305a facing the movable gear disc 306 is provided with a second helical tooth distributed along the circumference and meshing with the first helical tooth 301b of the movable gear disc 306. Specifically, the fixed gear disc 305 is fixed to the transmission shaft 301 by a flat key 311, preventing the fixed gear disc 305 and the transmission shaft 301 from rotating relative to each other. The two ends of the fixed gear disc 305 are further axially stopped by means of a shaft shoulder and a distance sleeve on the transmission shaft 301.

[0056] The main body of the end cover 307 is a three-step stepped hollow disc structure, which is mounted on the transmission shaft 301 through a bearing sleeve, and the maximum outer diameter section 307a is respectively provided with a flange connected to the rotary seat 310 mounted on the mobile gear disc 306, and a flange connected to the bearing cover 308, the middle diameter section 307b is used to cooperate with the rotary seat 310 and limit the axial movement distance of the mobile gear disc 306, and the minimum diameter section 307c is used to cooperate with the mobile gear disc 306, that is, the large diameter through hole in the mobile gear disc 306 is connected to the minimum diameter section 3 07c matches the outer circle and forms an axial sliding connection, and the end face of the minimum diameter section is provided with a plurality of spring mounting holes 307d evenly distributed along the circumference for mounting a spring 309, wherein the minimum diameter section 307c is the end of the end cover 307 close to the drive shaft 2, and the bearing pressure cover 308 is fixed to the outside of the end cover 307 by bolts to limit the axial position of the bearing; the spring 309 is installed between the end cover 307 and the movable gear disc 306 through the spring mounting hole 307d to provide a thrust to the movable gear disc 306 toward the fixed gear disc 305.

[0057] The main body of the rotating seat 310 is cylindrical and is sleeved on the outside of the moving gear disc 306. The left end of the rotating seat 310 is a rotating reducer connecting disc 310a, which is used to connect the output disc of the rotating reducer 303 with a self-locking function. The right end is an end cover connecting disc 310b, which is used to install the end cover 307, and the middle diameter section 307b in the end cover 307 is matched with the inner cavity of the rotating seat 310 to leave space for installing the moving gear disc 306; the interior of the rotating seat 310 is a through hole, and is provided with a groove 310c corresponding to the boss 306a of the moving gear disc 306. A circumferential fixed connection is formed between the rotating seat 310 and the moving gear disc 306 through the boss 306a and the groove 310c, and the moving gear disc 306 can be axially displaced relative to the rotating seat 310.

[0058] The connecting seat 11 is used to connect the regulator 3 with the transmission 5. The transmission 5 is mounted on the drive shaft 2 and is mainly used to transmit the torque and rotation of the drive shaft 2 to the main shaft 8. The connecting seat 11 is a hollow cylinder, and its outer circle is divided into three diameter levels, among which the diameter of the middle section is the largest to form a middle bulge. The end faces on both sides of the middle section are respectively attached to and fixedly connected with the transmission 5 and the rotary reducer 303 to achieve relative axial positioning between the three components, wherein the left section (close to the end of the drive shaft 2) is inserted into the cavity of the transmission 5 and connected to the bearing mounted on the drive shaft 2, and serves as an axial stop for the bearing mounted on the drive shaft 2, and a sealing groove is provided on it, and the cavity of the transmission 5 is sealed by installing a sealing ring; the right section extends toward the inside of the rotary reducer 303 to facilitate the installation guide of the rotary reducer 303.

[0059] The inner diameter of the connecting seat 11 is also divided into three levels of aperture, among which the inner diameter of the left inner section matches the transmission shaft 301 and is provided with a sealing groove, and the transmission 5 is sealed twice by installing a sealing ring; the middle inner section and the right inner section respectively match the outer diameters of the two-stage stepped shaft of the driving piston 302, and a sealing ring installation groove is provided on the right inner section, and a sealing ring is installed, that is, the middle inner section and the right inner section respectively match the outer circle 302b of the small diameter end and the large diameter end of the driving piston 302, forming a first seal and a second seal respectively, thereby forming a sealed cavity Y, wherein the sealing groove 302a with a sealing ring installed corresponding to the middle inner section is provided on the driving piston 302, A first seal is formed, a sealing groove is provided on the right inner section and a sealing ring is installed to match the outer circle 302b of the large diameter end to form a second seal. A sealing chamber Y is formed between the connecting seat 11 and the driving piston 302 through the two first seals and the second seal, and an oil inlet is provided on the outer surface of the connecting seat 11 at a position corresponding to the sealing chamber Y. The hydraulic oil enters the sealing chamber Y through the oil inlet on the connecting seat 11, pushing the driving piston 302 to move from the right end, and then pushing the transmission piston 304 and the moving gear disc 306, and further compressing the spring 309 through the moving gear disc 306, thereby releasing the helical tooth engagement between the moving gear disc 306 and the fixed gear disc 305.

[0060] The rotary reducer 303 is mounted on the right section of the connecting base 11 and fixedly connected to the middle section of the connecting base 11. The output disk (such as a gear disk or worm gear) of the rotary reducer 303 is fixedly connected to the rotating base 310 via bolts, thereby limiting the relative rotation between the output disk of the rotary reducer 303 and the rotating base 310. The rotary reducer 303 has two main functions: first, it drives the drive shaft 2 to rotate relatively slowly (compared to the drive by the main motor 1) via the transmission shaft 301, and transmits this rotation through the transmission 5, thereby accurately controlling the output rotation angle. Second, because the rotary reducer 303 has a self-locking function and its self-locking torque is greater than the output torque of the main motor 1, it can prevent the main motor 1 from driving the drive shaft 2 to rotate under the locked condition, thereby locking and preventing the entire transmission 5 from rotating.

[0061] Preferably, the rotary reducer 303 is a worm gear rotary reducer with a self-locking function. Specifically, the rotary reducer connecting plate 310a is connected to the worm wheel, which serves as the output plate of the worm gear rotary reducer. The worm wheel is mounted on the drive shaft 301 via the connecting seat 11 and the drive piston 302 to ensure synchronous rotation of the worm wheel and the rotary seat 310. Existing worm gear rotary reducers have a transmission ratio of 1:100 or higher. However, the minimum speed of the spindle driven by the main motor 1 (the spindle is driven by the transmission 14) in the prior art is only about 50 rpm (300° / s). Therefore, the regulator 3, through the worm gear rotary reducer, can control the spindle output speed to within 1 / 100 of the prior art (≤3° / s), which is very conducive to accurate adjustment and timely stopping, significantly improving the accuracy and efficiency of tool face angle adjustment.

[0062] Specifically, the worm-gear rotary reducer includes a drive source, a worm, a worm wheel, and a slewing bearing, wherein the drive source is an adjustment motor 4. The adjustment motor 4 drives the worm in the worm-gear rotary reducer to rotate the worm wheel, thereby rotating the slewing seat 310 and the movable toothed disc 306, and further rotating the fixed toothed disc 305 and the transmission shaft 301. The slewing bearing is sleeved on the connecting seat and fixedly connected. The worm wheel is rotatably connected to the outer circle of the slewing bearing via a roller and is connected to the worm, thereby achieving the purpose of coaxiality between the output disk (i.e., the worm wheel) of the rotary reducer and the slewing seat. The drive source is connected to one end of the worm to drive the worm to rotate. Since the worm-gear transmission has the characteristic of reverse self-locking, reverse self-locking can be achieved, that is, only the worm drives the worm wheel, and the worm wheel cannot drive the worm, thus providing a self-locking function. The drive source is an electric motor or a hydraulic motor. In this embodiment, a hydraulic motor is preferably used to adapt to complex underground coal mine operations.

[0063] In another embodiment, the rotary reducer 303 is any one of the rotary reducers such as RV reducer, harmonic reducer, etc., and the structure serving as the output disk (or called rotary disk) in the aforementioned rotary reducer 303 is also fixedly connected to the rotary seat 310.

[0064] The regulator 3 has two working conditions, and its working principle is as follows:

[0065] Locking working condition: No pressure oil enters the sealed chamber Y formed by the driving piston 302 and the connecting seat 11 from the oil inlet of the connecting seat 11, the driving piston 302 is not driven by the external pressure oil, and the spring 309 always applies an axial force to the movable gear disc 306 toward the fixed gear disc 305, keeping the helical teeth of the movable gear disc 306 meshing with the helical teeth of the fixed gear disc 305; at this time, the main motor 1 and the driving shaft 2 are connected to the rotary reducer 303 through the transmission shaft 301, the fixed gear disc 305, the movable gear disc 306, and the rotary seat 310, and the rotary reducer 303 is in its working state. The self-locking function of the rotary reducer 303 is within its capacity range (i.e., the self-locking torque of the rotary reducer 303 is greater than the output torque of the main motor 1), thereby forming a locking effect on the transmission system of the transmission 5, and the main motor 1 cannot transmit motion through the transmission 5; however, if the rotary reducer 303 is driven at this time, the rotary reducer 303 can drive the drive shaft 2 to rotate at a relatively slow speed (compared with the drive of the main motor 1), and transmit the rotation and torque through the transmission 5, thereby accurately controlling the rotation angle of the main shaft 10 and the drill rod 7, thereby accurately and efficiently adjusting the tool face angle.

[0066] Unlocking condition: Pressurized oil is injected into the sealed chamber Y between the drive piston 302 and the connecting seat 11 through the oil inlet of the connecting seat 11. The hydraulic pressure drives the drive piston 302, pushing the transmission piston 304 and the movable gear plate 306 in a direction away from the fixed gear plate 305. At this time, the spring 309 is squeezed by the movable gear plate 306 and contracts, disengaging the helical teeth of the movable gear plate 306 from the fixed gear plate 305. The self-locking effect of the rotary reducer 303 cannot be transmitted to the transmission shaft 301, the drive shaft 2, and the main motor 1. Therefore, the main motor 1 can drive the drive shaft 2 to rotate, thereby outputting rotation and torque through the transmission 5.

[0067] The above-mentioned composite drilling system with dual rotary drive devices can perform four working conditions: sliding directional drilling, accurate angle adjustment, rotary drilling, and composite drilling. The control method is shown in the following table:

[0068] In the table, T=1 indicates that the regulator 3 is in a locked state, and T=0 indicates that the regulator 3 is in an unlocked state;

[0069] MI=1 means that the main motor 1 is hydraulically driven, and MI=0 means that the main motor 1 is not hydraulically driven;

[0070] MII=1 indicates that the adjustment motor 4 is hydraulically driven, and MII=0 indicates that the adjustment motor 4 is not hydraulically driven;

[0071] P=1 indicates that the medium pump 6 outputs the driving medium to the bottom hole motor 9, and P=0 indicates that the medium pump 6 has no output.

[0072] The specific conditions of the above four working conditions are as follows:

[0073] (1) Sliding directional drilling

[0074] During sliding directional drilling, regulator 3 is locked, preventing main shaft 8 from rotating under the drive of main motor 1. A downhole motor 9 is mounted at the front end of the drill pipe. A fluid pump 6 delivers a pressurized fluid to downhole motor 9 through drill pipe 7, driving downhole motor 9 and, in turn, the drill bit, implementing sliding directional drilling.

[0075] (2) Tool face angle adjustment

[0076] Under the tool face angle adjustment condition, the adjuster 3 is in a locked condition, and the spindle 8 cannot rotate under the drive of the main motor 1, but can only rotate under the drive of the rotary reducer 303. At this time, the main motor 1 is not supplied with oil, and the power source adjustment motor 4 of the rotary reducer 303 is supplied with oil.

[0077] Under the action of the adjustment motor 4, the rotary reducer 3 drives the transmission shaft 301 to rotate, and through the drive shaft 2 in the transmission 5, the main shaft 8 and drill rod 7 are driven to rotate, thereby adjusting the tool face angle. Due to the large transmission ratio of the rotary reducer 3, combined with the transmission ratio of the transmission 5, efficient and accurate adjustment of the tool face angle can be achieved by controlling the rotation speed of the rotary reducer 3.

[0078] (3) Rotary drilling

[0079] Under rotary drilling conditions, the regulator 3 is in the unlocked condition, and the main shaft 8 can rotate under the drive of the main motor 1. Supplying oil to the main motor 1 can drive the main shaft 8 and the drill rod to rotate and implement rotary drilling. At this time, the fluid medium is not supplied to the bottom hole motor 9 through the medium pump 6.

[0080] (4) Composite drilling

[0081] During compound drilling, the regulator 3 is unlocked, allowing the main shaft 8 to rotate under the drive of the main motor 1. At this point, the medium pump 6 provides driving medium to the bottom hole motor 9, thereby driving the bottom hole motor 9 to rotate, while the main motor 1 also drives the drill rod 7 to rotate, achieving compound drilling.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A composite drilling system with a dual rotary drive device, comprising a main motor, a transmission, a main shaft, a drill rod and a bottom hole motor, wherein the transmission has a drive shaft, one end of the drive shaft is connected to the main motor, and the drive shaft is meshed with the main shaft through a gear in the transmission, the drill rod is fixedly connected to the main shaft in the circumferential direction, and the bottom hole motor is arranged at the front end of the drill rod as a bottom hole drilling actuator, characterized in that: The other end of the drive shaft is connected to a regulator through a transmission; The regulator includes a transmission shaft, a fixed toothed disc, a movable toothed disc, a slewing seat and a slewing reducer with a self-locking function, one end of the transmission shaft is circumferentially fixedly connected to the drive shaft, the fixed toothed disc and the movable toothed disc are both sleeved on the transmission shaft, and the fixed toothed disc and the movable toothed disc are in helical gear meshing, the fixed toothed disc and the transmission shaft are circumferentially fixedly connected, the movable toothed disc is rotatably connected to the transmission shaft, and the movable toothed disc can slide along the axial direction of the transmission shaft; The rotary seat is sleeved on the movable toothed disc and is circumferentially fixedly connected. The output disc of the rotary reducer is coaxial with the rotary seat and is fixedly connected to the movable toothed disc so as to transmit the rotation of the output disc of the rotary reducer to the movable toothed disc.

2. The composite drilling system with dual rotary drive device according to claim 1, characterized in that: The angle adjuster also includes a driving piston and a connecting seat. The driving piston is sleeved on the transmission shaft and is located on a side of the fixed gear plate away from the movable gear plate. An end of the driving piston away from the driving shaft is connected to the movable gear plate. The connecting seat is sleeved on the driving piston, the outer circle of the connecting seat is divided into three levels of diameter, and the diameter of the middle section is the largest, and the end faces of both sides of the middle section are respectively connected to the transmission and the rotary reducer to achieve relative axial positioning between the transmission, the connecting seat and the rotary reducer, and the inner diameter of the connecting seat is divided into three levels of aperture, wherein the two sections of aperture away from the transmission match the outer diameter of the driving piston and are sleeved on the driving piston; The driving piston is a two-stage stepped shaft, and a sealing groove is provided on the outer circle of the small diameter end thereof. A sealing ring is installed in the sealing groove and cooperates with the corresponding position of the connecting seat sleeved thereon to form a first seal. The outer circle of the large diameter end cooperates with the sealing ring installed at the corresponding position of the connecting seat to form a second seal. A sealing cavity located between the driving piston and the connecting seat is formed between the first seal and the second seal, and an oil inlet connected to the sealing cavity is provided on the connecting seat. Under the action of the hydraulic oil entering the sealing cavity through the oil inlet, the driving piston pushes the movable gear disc in the direction away from the fixed gear disc, so that the movable gear disc can slide along the axial direction of the transmission shaft.

3. The composite drilling system with dual rotary drive device according to claim 2, characterized in that: The regulator also includes an end cover, the other end of the transmission shaft is rotatably connected to the end cover, the movable toothed disc is a disc-shaped part with a central through hole, and the central through hole is a stepped through hole, and the stepped through hole is a large-diameter through hole facing the end cover, the movable toothed disc is sleeved on the end cover through the large-diameter through hole and slidably connected, the end surface of the movable toothed disc facing the driving piston is provided with first helical teeth distributed along the circumference, and the fixed toothed disc is provided with second helical teeth meshing with the first helical teeth, and a spring is provided between the inner end surface of the large-diameter through hole and the end surface of the end cover opposite to the inner end surface, so that the first helical teeth and the second helical teeth mesh under the thrust of the spring; The outer circumferential surface of the movable gear disc is provided with evenly distributed bosses, the swivel seat is sleeved on the movable gear disc and is provided with grooves matching the bosses so as to be fixedly connected to the movable gear disc in the circumferential direction, and one end of the swivel seat is provided with a swivel reducer connecting plate fixedly connected to the output plate of the swivel reducer so as to transmit the rotation of the output plate in the swivel reducer to the movable gear disc.

4. The composite drilling system with dual rotary drive device according to claim 3, characterized in that: A transmission piston is also provided between the driving piston and the movable toothed disc. The transmission piston is sleeved on the transmission shaft and slidably connected. One end of the transmission piston is connected to the driving piston, and the other end is connected to the movable toothed disc to transmit the thrust of the driving piston.

5. The composite drilling system with dual rotary drive devices according to claim 3, characterized in that: The slewing seat is cylindrical, and an end cover connecting plate is provided at one end away from the slewing reducer connecting plate to be fixedly connected to the end cover.

6. The composite drilling system with dual rotary drive devices according to claim 3, characterized in that: The fixed gear plate has a gear plate and a fixed shaft located at the center of the gear plate, the second bevel teeth are arranged on the gear plate, the fixed shaft is inserted into the central through hole of the movable gear plate, and a keyway is arranged in the fixed shaft, so that the fixed gear plate is circumferentially fixedly connected to the transmission shaft through a key connection.

7. The composite drilling system with dual rotary drive devices according to claim 3, characterized in that: The end cover is a three-stage stepped hollow disc structure, which is arranged on the transmission shaft through a bearing sleeve. The maximum outer diameter section is provided with a flange connected to the swivel seat, and the maximum outer diameter section is located at the end away from the drive shaft. The middle diameter section is used to support the swivel seat and limit the axial movement distance of the movable gear plate. The minimum diameter section is axially slidingly connected to the large diameter through hole of the movable gear plate, and the end face of the minimum diameter section is provided with a plurality of spring mounting holes evenly distributed along the circumference for mounting springs.

8. The composite drilling system with dual rotary drive devices according to claim 3, characterized in that: The drive shaft is arranged in the transmission, and one side end face of the middle section in the connecting seat is connected to the transmission. A section of the connecting seat close to the transmission is inserted into the transmission and serves as an axial stop for the bearing sleeved on the drive shaft. A section close to the rotary reducer extends into the interior of the rotary reducer for guiding the installation of the rotary reducer.

9. The composite drilling system with dual rotary drive devices according to claim 1, characterized in that: One end of the drill pipe is connected to a medium pump, and the medium pump inputs fluid medium to the bottom hole motor through the drill pipe. The rotary reducer is connected to an adjusting motor for driving the rotary reducer.

10. A control method for a composite drilling system having a dual rotary drive device, characterized in that: The composite drilling system with a dual rotary drive device according to any one of claims 1 to 9 is used, and by combining the states of the regulator, the main motor and the bottom hole motor, the composite drilling system has four working conditions: sliding directional drilling, accurate angle adjustment, rotary drilling and composite drilling. The specific steps include: Sliding Directional Drilling: In the sliding directional drilling condition, the fixed gear disc and the movable gear disc are put into a helical meshing state by axially sliding the movable gear disc, and then the regulator is put into a locked condition, so that the main shaft cannot rotate under the drive of the main motor, and the bottom hole motor is driven to rotate, and then the drill bit is driven to rotate, so as to implement sliding directional drilling; Tool face angle adjustment: Under the tool face angle adjustment condition, the fixed toothed disc and the movable toothed disc are in a helical meshing state by axially sliding the toothed disc, thereby putting the adjuster in a locked condition, so that the main shaft cannot rotate under the drive of the main motor, and the transmission shaft is driven to rotate through the rotary reducer, and the transmission shaft drives the drive shaft to rotate, and the drive shaft drives the main shaft and the drill pipe to rotate through the transmission, thereby realizing the adjustment of the tool face angle; Rotary drilling: Under the rotary drilling condition, the fixed gear disc and the movable gear disc are separated by axial sliding, so that the regulator is in the unlocked condition, and the main shaft and the drill rod can be driven to rotate by the main motor to implement rotary drilling; Compound drilling: Under compound drilling conditions, the fixed gear disc and the movable gear disc are separated by axial sliding, and the adjuster is unlocked. The main motor can drive the main shaft and drill rod to rotate, and at the same time drive the bottom hole motor to rotate, thereby driving the drill bit to rotate, so as to achieve compound drilling.

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