A rope coring drilling robot and sequence planning method and control system

Abstract

The application is a rope coring drilling robot and sequence planning method and control system, wherein the drilling robot comprises a support, a drilling driving mechanism, a drill pipe clamping mechanism, a drilling tool operating mechanism, a drilling tool storage mechanism and a core pipe operating mechanism; the degrees of freedom of the five mechanisms are independently controlled by a group of execution units. The drilling tool storage mechanism is used for storing drilling tools and has the degree of freedom of rotating around the shaft center; the drilling tool operating mechanism is used for grabbing and transferring drilling tools and has the degrees of freedom of grabbing, stretching and transferring; the drilling driving mechanism is used for driving drilling tools to drill into the stratum and has the degrees of freedom of feeding and rotating; the drill pipe clamping mechanism is used for clamping drilling tools, and the drill pipe clamping mechanism comprises coaxially arranged upper and lower clamping mechanisms, and the upper and lower clamping mechanisms both have the degree of freedom of clamping towards the shaft center; the upper clamping mechanism is assembled on the drilling driving mechanism and rotates and moves with the drilling driving mechanism; and the core pipe operating mechanism is used for fishing core pipes and has the degrees of freedom of deviating and taking out.

Description

Technical Field

[0001] This invention relates to the field of robotic automated sampling technology, and more specifically, to a wireline coring drilling robot and a sequence planning method and control system. Background Technology

[0002] A sampling device and method for deep-sea drilling have been disclosed, comprising a base, a sampler, a lifting device, and a water sampler. The base has a rotatable gear on its top and a fixed frame fitted around it. A gear rack is located on one side of the gear, and a lifting lever is located on one side of the gear rack. The lifting lever passes through two fixed rods on either side of the fixed frame, and the fixed rods are connected to the base. A lifting platform is located between the bases, and telescopic rods are rotatably mounted on both sides of the lifting platform. A sleeve block is located on one side of the telescopic rod, and the sleeve block is fitted onto the fixed rod. A first spring is located on one side of the sleeve block and is wound around the fixed rod. A support is located inside the lifting platform, and a winch is mounted on the support. A rope is located on one side of the winch, and the sampler is located on one side of the rope. However, the above solution has certain problems: the structure and function of this invention are relatively simple, with limited degrees of freedom, and the sampling method cannot meet the automated sampling requirements of multi-rod core sampling for deep rock formations. Summary of the Invention

[0003] This invention provides a wireline coring drilling robot, a sequence planning method, and a control system to achieve automated sampling of deep rock formations using multi-rod wireline coring, thus meeting the requirements for automated sampling of deep rock formations using multi-rod wireline coring.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A wireline coring drilling robot includes a support frame, a drilling drive mechanism, a drill pipe clamping mechanism, a drill string operating mechanism, a drill string storage mechanism, and a core tube operating mechanism; the support frame is used to assemble the drilling drive mechanism, the drill pipe clamping mechanism, the drill string operating mechanism, the drill string storage mechanism, and the core tube operating mechanism; there is an operating distance in the horizontal direction between the drilling drive mechanism, the drill pipe clamping mechanism, the drill string operating mechanism, the drill string storage mechanism, and the core tube operating mechanism;

[0006] The drill string storage mechanism is used to store the drill string and has the degree of freedom to rotate around its own axis; the drill string operating mechanism is used to grab the drill string from the drill string storage mechanism for transfer and installation on the drilling drive mechanism, and the degrees of freedom of the drill string operating mechanism include grabbing, extension, and transfer; the drill string includes a drill pipe and a core tube; the drilling drive mechanism is used to drive the drill string to drill into the formation and has the degrees of freedom to rotate around its own axis and feed vertically; the drill pipe clamping mechanism is used to clamp the drill pipe, and the drill pipe clamping mechanism includes an upper clamping mechanism and a lower clamping mechanism arranged coaxially. The mechanism includes an upper clamping mechanism and a lower clamping mechanism, both of which have a degree of freedom to clamp towards the axis. The upper clamping mechanism is mounted on the drilling drive mechanism and rotates and moves with it. The lower clamping mechanism is mounted on the bracket. The core tube operating mechanism is used to retrieve the core tube and transfer it to the drill string storage mechanism for storage. The core tube operating mechanism has a degree of freedom to deflect and retrieve the core tube. The degrees of freedom of the drilling drive mechanism, the drill pipe clamping mechanism, the drill string operating mechanism, the drill string storage mechanism, and the core tube operating mechanism are all independently controlled by a set of execution units.

[0007] In this design, the wireline coring drilling robot includes a support frame for assembling the drilling drive mechanism, drill pipe clamping mechanism, drill string operating mechanism, drill string storage mechanism, and core tube operating mechanism; a drilling drive mechanism for driving the drill string; a drill pipe clamping mechanism for clamping the drill pipe; a drill string operating mechanism for retrieving the drill string from the drill string storage mechanism and transferring it to the corresponding position on the drilling drive mechanism; a drill string storage mechanism for storing the drill string; and a core tube operating mechanism for retrieving the core tube. The degrees of freedom of each mechanism are independently controlled by a set of execution units, enabling the five mechanisms to cooperate and complete the drilling and sampling operation. Specifically, the drill string operating mechanism retrieves the drill string from the drill string storage mechanism and transfers it to the drilling drive mechanism for installation. After the upper clamping mechanism clamps the drill string, the drilling drive mechanism moves vertically downwards while rotating to drive the drill string to drill into the formation. The drill string can be spliced ​​together by the drilling drive mechanism, the upper clamping mechanism, and the lower clamping mechanism to increase the drilling depth. The core tube operating mechanism can retrieve the core tube and, in conjunction with the drill string operating mechanism, store it in the drill string storage mechanism. When the drilling depth reaches the target depth, the drilling drive mechanism and the upper clamping mechanism move vertically upwards to lift the drill pipe from the borehole and store it in the drill string storage mechanism through the drill string operating mechanism.

[0008] As one preferred embodiment, the drill bit storage mechanism includes a storage structure and a storage rotation device; the storage structure is cylindrical, and its outer wall is provided with a fixing structure for clamping and fixing the drill bit; the output end of the storage rotation device is connected to the storage structure and drives the storage structure to rotate around its axis, and the fixed end of the storage rotation device is connected to the bracket.

[0009] In this design, the drill string storage mechanism includes a storage structure for storing the drill string and a storage rotation device for driving the storage structure to rotate. The drill string is clamped to a fixed structure located on the outer periphery of the storage structure. This fixed structure is claw-shaped and has a clamping force perpendicular to the drill string's central axis. One end of the fixed structure is connected to the storage structure, and the other end has an opening for inserting the drill string into the fixed structure for fixation. The gripping position of the drill string operating mechanism is fixed; therefore, the storage structure needs to be rotated to the corresponding position so that the corresponding drill string can be gripped by the drilling string operating mechanism. The fixed end of the storage rotation device is connected to a bracket, and the output end is connected to the storage structure, driving the storage structure to rotate around the axis of the storage rotation device.

[0010] As one preferred embodiment, the drill pipe and the core pipe are spaced apart and clamped and fixed to the fixing structure.

[0011] In this scheme, the drill pipe is used for drilling the formation, and the core tube is located inside the drill pipe for storing core samples. It should be noted that the drill string storage mechanism holds a drill pipe with the core tube already placed inside. The first drill pipe grasped by the drill string operating mechanism is assumed to be the drill pipe with the core tube already placed, and this drill pipe is equipped with a drill bit. Initially, the storage rotation device will rotate the drill pipe to the grasping position of the drill string operating mechanism. During operation, the drill string operating mechanism directly grasps the drill pipe mounted on the upper clamping mechanism of the drilling drive mechanism for drilling.

[0012] As one preferred embodiment, the storage structure includes several coaxially arranged carrier disks, and the fixing structure is evenly distributed on the edge of the carrier disks; the fixing structure includes a drill pipe clamp and a core pipe clamp, one of which is assembled on the top surface of the carrier disk and the other is assembled on the bottom surface of the carrier disk, and the drill pipe clamp and the core pipe clamp are spaced apart.

[0013] In this design, the support plate is disc-shaped with a through hole at its center for connecting to the output end of the storage and rotation device. The edge of the support plate is evenly distributed with fixing structures for securing the drill bit. These fixing structures include drill pipe clamps for securing the drill pipe and core pipe clamps for securing the core tube. The drill pipe clamps and core pipe clamps are located on the top and bottom surfaces of the support plate, respectively, and are spaced apart. This spaced distribution of the drill pipe and core tube improves operational efficiency, accommodates the sequential requirements of the operation for the drill pipe and core tube, and reduces redundant movements of the storage and rotation device.

[0014] As one preferred embodiment, the drilling drive mechanism includes a drilling linear drive unit, a drilling rotary drive unit, and a feed frame; the feed frame is mounted on the support, the drilling linear drive unit is mounted on the feed frame, and the drilling linear drive unit moves vertically along the feed frame; the fixed end of the drilling rotary drive unit is mounted on the drilling linear drive unit, and the output end of the drilling rotary drive unit is connected to the upper clamping mechanism to drive the upper clamping mechanism to rotate.

[0015] In this solution, the drilling linear drive unit is mounted on the feed frame and can reciprocate vertically along the feed frame to meet the requirements of drilling and lifting. The feed frame is fixedly mounted on the support, and the fixed end of the drilling rotary drive unit is mounted on the drilling linear drive unit. The output end is connected to the upper clamping mechanism, driving the upper clamping mechanism to rotate, which in turn drives the drill pipe clamped by the upper clamping mechanism to rotate. At the same time, the drilling linear drive unit can drive the drill pipe to move vertically, providing pressure to drive the drill bit to move downward during drilling.

[0016] In one preferred embodiment, the drill bit operating mechanism includes a telescopic robotic arm, an operating frame, and an operating rotation device; the telescopic end of the telescopic robotic arm is provided with grippers for clamping the drill pipe and core tube, and the fixed end of the telescopic robotic arm is mounted on the operating frame; the operating rotation device is connected to the operating frame and drives the operating frame to rotate around an axis; the operating frame is rotatably mounted on the support; the telescopic robotic arm is at the same height as the drill bit storage mechanism, and the telescopic robotic arm can grasp the drill bit.

[0017] In this design, the telescopic robotic arm's extension direction is perpendicular to the rotation axis of the storage rotating device. The telescopic end of the robotic arm is equipped with grippers for grasping drill pipe or core tubes. The fixed end of the telescopic robotic arm is mounted on the operating frame, and the fixed end of the operating rotating device is mounted on a bracket. The output end is connected to the operating frame and drives the operating frame to rotate along an axis perpendicular to the horizontal plane, ensuring that the telescopic robotic arm can retrieve the drill bit from the drill bit storage mechanism and transfer it to the drilling drive mechanism for installation.

[0018] As one preferred embodiment, the core tube operating mechanism is provided with a linear motion unit for driving the core tube operating mechanism to move linearly in the horizontal direction and a winch for lifting the core tube; the core tube operating mechanism is also provided with a retrieval head, which is mounted on the linear motion unit and connected to the winch via a rope, and the winch drives the retrieval head to move vertically.

[0019] In this design, the linear motion unit of the core tube operating mechanism can move left and right to achieve a deflection function. When core tube retrieval is not required, the linear motion unit retracts; when retrieval is required, the linear motion unit extends, allowing the retrieval head to be aligned with the core tube. The core tube operating mechanism uses a winch, rope, and retrieval head to recover the core tube. The retrieval head is mounted on the rope of the linear motion unit and moves upward or downward to retrieve the core tube in conjunction with the rotation of the winch.

[0020] This invention provides a method for planning a drilling sequence using a wireline coring robot, comprising the following steps: S1. Placing the drill pipe; S2. Determining if this is the first drilling attempt; if not, connecting the drill pipe and proceeding to step S3; if yes, proceeding directly to step S3; S3. Drilling; S4. Retrieving the core pipe; S5. Determining if the target depth has been reached; if not, placing the core pipe and proceeding to step S1; if yes, proceeding to step S6; S6. Determining if a drill string is present; if not, proceeding to step S7; if yes, disconnecting the drill string and proceeding to step S7; S7. Retrieving the drill pipe; S8. Determining if retrieval is complete; if not, proceeding to step S6; if yes, ending the retrieval process.

[0021] In this scheme, step S1, placing the drill string, includes the following sequence: S101: Controlling the drill string storage mechanism to rotate to the corresponding gripping position of the drill string operating mechanism; S102: Controlling the drill string operating mechanism to rotate to the gripping position facing the drill string storage mechanism; S103: Controlling the drill string operating mechanism to extend to the drill string storage mechanism; S104: Controlling the drill string operating mechanism to clamp the drill string in the drill string storage mechanism; S105: Controlling the drill string operating mechanism to retract to the initial position; S106: Controlling the drill string operating mechanism to rotate and align with the position of the drilling drive mechanism, i.e., the initial angle; S107: Controlling the drill string operating mechanism to extend to the position in the vertical movement direction of the drilling drive mechanism; S108: Controlling the drilling drive mechanism to move downward to the height of the drill string; S109: Controlling the upper clamping mechanism of the drill string clamping mechanism to clamp the drill string; S110: Controlling the drill string operating mechanism to release the drill string; S111: Controlling the drill string operating mechanism to retract to the initial position.

[0022] Step S2 determines whether it is the first drilling; if not, then proceed to step S3 after connecting the drill pipe; if yes, proceed directly to step S3; wherein the drill pipe connection includes the following sequence: (1) control the lower clamping mechanism of the drill pipe clamping mechanism to clamp the drill pipe; (2) control the drilling drive mechanism to move to the middle position and rotate forward; (3) control the drilling drive mechanism to stop rotating; (4) control the lower clamping mechanism of the drill pipe clamping mechanism to release the drill pipe.

[0023] Step S3 Drilling; includes the following sequence: (1) control the drilling drive mechanism to move to the bottom and rotate forward; (2) control the drilling drive mechanism to stop rotating.

[0024] Step S4 retrieves the core tube; including the following sequence: S401: Control the upper clamping mechanism of the drill pipe clamping mechanism to loosen; S402: Control the drilling drive mechanism to move to the top position; S403: Control the core tube operating mechanism to extend to the drilling position so that the retrieval head is coaxial with the drill bit; S404: Control the winch of the core tube operating mechanism to lower the retrieval head and connect it to the core tube; S405: Control the winch of the core tube operating mechanism to raise the retrieval head and lift the core tube; S406: Control the drill string operating mechanism to extend to the core tube at the drilling position; S407: Control the drill string operating mechanism to clamp the core tube; S408: Control the drill bit operating mechanism to retract to the initial position; S409: Control the drill bit operating mechanism to rotate to the gripping position facing the drill bit storage mechanism; S410: Control the drill bit storage mechanism to rotate until the core clamp is aligned with the drill bit operating mechanism; S411: Control the drill bit operating mechanism to extend until the drill bit storage mechanism engages with the core clamp; S412: Control the drill bit operating mechanism to release the core; S413: Control the drill bit operating mechanism to retract to the initial position; S414: Control the drill bit operating mechanism to rotate to the initial angle; S415: Control the core clamp operating mechanism to retract to the initial position.

[0025] Step S5 determines whether the target depth has been reached; if not, the core tube is placed and the process proceeds to step S1; if yes, the process proceeds to step S6; wherein, placing the core tube includes the following sequence: (1) controlling the drill string storage mechanism to rotate so that the core tube is in the gripping position of the drill string operation mechanism; (2) controlling the drill string operation mechanism to rotate to the gripping position of the drill string; (3) controlling the drill string operation mechanism to extend to the drill string storage mechanism; (4) controlling the drill string operation mechanism to clamp the core tube of the drill string storage mechanism; (5) controlling the drill string operation mechanism to retract to the initial position; (6) controlling the drill string operation mechanism to rotate to the initial angle; (7) controlling the drill string operation mechanism to extend to the position in the vertical direction of the drilling drive mechanism; (8) controlling the drill string operation mechanism to release the core tube; (9) controlling the drill string operation mechanism to retract to the initial position.

[0026] Step S6 determines whether there is a drill string; if not, proceed to step S7B; if yes, disconnect the drill string and proceed to step S7A. Disconnecting the drill string includes the following sequence: (1) controlling the drilling drive mechanism to move to the bottom position; (2) controlling the upper clamping mechanism of the drill string clamping mechanism to clamp the drill string; (3) controlling the drilling drive mechanism to move to the middle position; (4) controlling the lower clamping mechanism of the drill string clamping mechanism to clamp the drill string; (5) controlling the drilling drive mechanism to move to another middle position and reverse; (6) controlling the drilling drive mechanism to stop rotating.

[0027] Step S7A retrieves the drill pipe; including the following sequence: S701: Control the drill string operating mechanism to extend to the drill pipe at the drilling position; S702: Control the drill string operating mechanism to clamp the drill pipe; S703: Control the upper clamping mechanism of the drill string clamping mechanism to release the drill pipe; S704: Control the drilling drive mechanism to move to the top; S705: Control the drill string operating mechanism to retract to the initial position; S706: Control the drill string operating mechanism to rotate to the gripping position facing the drill string storage mechanism; S707: Control the drill string storage mechanism to rotate until the drill pipe clamp is aligned with the drill string operating mechanism; S708: Control the drill string operating mechanism to extend until the drill string storage mechanism engages with the drill pipe clamp; S709: Control the drill string operating mechanism to release the drill pipe; S710: Control the drill string operating mechanism to retract to the initial position; S711: Control the drill string operating mechanism to rotate to the initial angle.

[0028] Step S7B retrieves the drill pipe, comprising the following sequence: (1) controlling the drilling drive mechanism to move to the bottom; (2) controlling the upper clamping mechanism of the drill pipe clamping mechanism to clamp the drill pipe; (3) controlling the drilling drive mechanism to move to the middle position; (4) controlling the drill tool operating mechanism to extend to the drill pipe at the drilling position; (5) controlling the drill tool operating mechanism to clamp the drill pipe; (6) controlling the upper clamping mechanism of the drill tool clamping mechanism to release the drill pipe; (7) controlling the drilling drive mechanism to move to the top; (8) controlling the drill tool operating mechanism to retract to the initial position; (9) controlling the drill tool operating mechanism to rotate to the gripping position facing the drill tool storage mechanism; (10) controlling the drill tool storage mechanism to rotate until the drill pipe clamp is aligned with the drill tool operating mechanism; (11) controlling the drill tool operating mechanism to extend until the drill tool storage mechanism engages with the drill pipe clamp; (12) controlling the drill tool operating mechanism to release the drill pipe; (13) controlling the drill tool operating mechanism to retract to the initial position; (14) controlling the drill tool operating mechanism to rotate to the initial angle.

[0029] Step S8 determines whether the recycling is complete; if not, proceed to step S6; if yes, end the recycling process.

[0030] The present invention also provides a control system, including a main control computer, a multi-axis motion controller, several drive controllers, a brushless DC motor and an incremental encoder; the main control computer communicates with the multi-axis motion controller via Ethernet, the multi-axis motion controller is connected to several drive controllers in series, and each drive controller is connected to a brushless DC motor and an incremental encoder to form the execution unit.

[0031] In this scheme, the components include a main control computer, a multi-axis motion controller, drive controllers, brushless DC motors, and incremental encoders. The main control computer communicates with the multi-axis motion controller via Ethernet. The multi-axis motion controller is connected in series with ten drive controllers, each of which is connected to a brushless DC motor and an incremental encoder. The ten sets of actuators, consisting of brushless DC motors and incremental encoders, independently control the motion states of ten degrees of freedom.

[0032] As one preferred embodiment, the incremental encoder feeds back the status information of the drilling drive mechanism, drill pipe clamping mechanism, drill tool operating mechanism, drill tool storage mechanism, and core tube operating mechanism to the drive controller; the drive controller controls the movement of the drilling drive mechanism, drill pipe clamping mechanism, drill tool operating mechanism, drill tool storage mechanism, and core tube operating mechanism according to the instructions sent by the multi-axis motion controller.

[0033] In this scheme, the main control computer is used for human-machine interaction, and can send operation commands to the multi-axis motion controller and read the data it sends. The multi-axis motion controller acts as the master station, and ten sets of actuators act as slave stations. An EtherCAT linear network topology is formed by connecting the master and slave stations in series, enabling EtherCAT bus communication between the multi-axis motion controller and the drive controller. The multi-axis motion controller can send commands such as motion mode, motion speed, motion acceleration, and motion position to the drive controller, and read information such as current, speed, acceleration, and position from the drive controller.

[0034] The ten sets of actuators consist of brushless DC motors and incremental encoders, with the incremental encoders embedded inside the brushless DC motors. The actuators are mounted on their respective components. The drive controller, based on commands from the multi-axis motion controller, controls the actuators' movement through position, speed, and torque measurement. Simultaneously, the incremental encoders read the motor's speed and position information and feed it back to the drive controller. One multi-axis motion controller controls multiple sets of actuators independently. The main control computer acts as the host computer, controlling the multi-axis motion system. Each time, it only needs to call the program package generated for each step in the control software and issue commands to the multi-axis motion system to complete a specific sampling step, allowing for on-demand start and stop.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a rope coring drilling robot with ten degrees of freedom composed of five mechanisms, which provides more degrees of freedom for the robot, more complete and comprehensive functions, and the coordinated motion mechanism between the mechanisms greatly reduces redundant actions when the robot performs drilling operations. The sampling sequence is simple and compact, ensuring that the operation method is simpler and can easily meet the automated sampling requirements of multi-rod connection and unloading rope coring deep rock formations. Attached Figure Description

[0036] Figure 1 A schematic diagram of the overall structure of a wireline coring drilling robot;

[0037] Figure 2 A top view of the overall structure of a wireline coring drilling robot;

[0038] Figure 3 This is a schematic diagram showing the horizontal distribution of the various mechanisms of a wireline coring drilling robot.

[0039] Figure 4 This is a schematic diagram of the overall structure of the drilling drive mechanism;

[0040] Figure 5 A schematic diagram of part of the drill pipe clamping mechanism;

[0041] Figure 6 This is a schematic diagram of the overall structure of the drill bit operating mechanism;

[0042] Figure 7 This is a schematic diagram of the overall structure of the drill string storage mechanism;

[0043] Figure 8 This is a schematic diagram of the storage structure without the drill bit clamped.

[0044] Figure 9 This is a schematic diagram of the overall structure of the core tube operating mechanism;

[0045] Figure 10 Flowchart of the operation sequence planning method for wireline coring drilling robots;

[0046] Figure 11 A schematic diagram of the hardware connection for the control method of a wireline coring drilling robot;

[0047] Figure 12 Sequence process for drilling and production operation sequence planning Figure 1 ;

[0048] Figure 13 Sequence process for drilling and production operation sequence planning Figure 2 ;

[0049] Figure 14 Sequence process for drilling and production operation sequence planning Figure 3 .

[0050] The components include: 1. Drilling drive mechanism; 11. Drilling linear drive unit; 12. Feed frame; 13. Drilling rotary drive unit; 2. Drill pipe clamping mechanism; 21. Upper clamping mechanism; 22. Lower clamping mechanism; 3. Drill tool operating mechanism; 31. Gripper; 32. Telescopic robotic arm; 33. Operating frame; 34. Operating rotary device; 4. Drill tool storage mechanism; 41. Drill pipe; 42. Core tube; 43. Storage rotary device; 44. Bearing plate; 441. Drill pipe clamp; 442. Core tube clamp; 5. Core tube operating mechanism; 51. Linear motion unit; 52. Winch; 6. Support. Detailed Implementation

[0051] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0052] Example 1

[0053] like Figures 1-9 As shown, this embodiment provides a wireline coring drilling robot, including a support 6, a drilling drive mechanism 1, a drill pipe clamping mechanism 2, a drill tool operating mechanism 3, a drill tool storage mechanism 4, and a core tube operating mechanism 5. The support 6 is used to assemble the drilling drive mechanism 1, the drill pipe clamping mechanism 2, the drill tool operating mechanism 3, the drill tool storage mechanism 4, and the core tube operating mechanism 5. The drill tool storage mechanism 4 is used to store the drill tool and has the degree of freedom to rotate around its axis. The drill tool operating mechanism 3 is used to grab the drill tool from the drill tool storage mechanism 4 for transfer and is installed on the drilling drive mechanism 1. The degrees of freedom of the drill tool operating mechanism 3 include grabbing, extension, and transfer. The drilling drive mechanism 1 is used to drive the drill tool to drill into the formation and has the functions of rotating around its axis and vertical feeding. The drilling drive mechanism 1 has several degrees of freedom; the drill pipe clamping mechanism 2 is used to clamp the drill string. The drill pipe clamping mechanism 2 includes an upper clamping mechanism 21 and a lower clamping mechanism 22 arranged coaxially. Both the upper clamping mechanism 21 and the lower clamping mechanism 22 have the degree of freedom to clamp towards the axis; the upper clamping mechanism 21 is mounted on the drilling drive mechanism 1 and rotates and moves with the drilling drive mechanism 1; the lower clamping mechanism 22 is mounted on the support 6; the core tube operating mechanism 5 is used to retrieve the core tube 42 and transfer it to the drill string storage mechanism 4 for storage. The core tube operating mechanism 5 has the degree of freedom to deflect and retrieve; the degrees of freedom of the drilling drive mechanism 1, the drill pipe clamping mechanism 2, the drill string operating mechanism 3, the drill string storage mechanism 4, and the core tube operating mechanism 5 are all independently controlled by a set of execution units. There is an operating distance in the horizontal direction between the drilling drive mechanism 1, the drill pipe clamping mechanism 2, the drill string operating mechanism 3, the drill string storage mechanism 4, and the core tube operating mechanism 5; the distribution of each mechanism of the wireline coring drilling robot in the top view is as follows. Figure 2 , Figure 3 As shown.

[0054] The wireline coring drilling robot includes a support 6 for assembling the drilling drive mechanism 1, drill pipe clamping mechanism 2, drill string operating mechanism 3, drill string storage mechanism 4, and core tube operating mechanism 5; the drilling drive mechanism 1 for driving the drill string; the drill pipe clamping mechanism 2 for clamping the drill pipe 41; the drill string operating mechanism 3 for grabbing the drill string from the drill string storage mechanism 4 and transferring it to the corresponding position on the drilling drive mechanism 1; the drill string storage mechanism 4 for storing the drill string; and the core tube operating mechanism 5 for retrieving the core tube 42. The degrees of freedom of each mechanism are independently controlled by a set of execution units, enabling the five mechanisms to cooperate to complete the drilling and sampling operation. Specifically, the drill bit operating mechanism 3 takes the drill bit out of the drill bit storage mechanism 4 and transfers it to the drilling drive mechanism 1 for installation. After the upper clamping mechanism 21 clamps the drill bit, the drilling drive mechanism 1 moves vertically downward and rotates to drive the drill bit to drill the formation. The drill bit can be spliced ​​to increase the drilling depth by the cooperation of the drilling drive mechanism 1, the upper clamping mechanism 21 and the lower clamping mechanism 22. The core tube operating mechanism 5 can retrieve the core tube 42 and place it in the drill bit storage mechanism 4 in cooperation with the drill bit operating mechanism 3. When the drilling depth reaches the target depth, the drilling drive mechanism 1 and the upper clamping mechanism 21 move vertically upward to lift the drill pipe 41 from the borehole and store the drill pipe 41 in the drill bit storage mechanism 4 through the drill bit operating mechanism 3. Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a rope coring drilling robot with ten degrees of freedom composed of five mechanisms, which provides more degrees of freedom for the robot, more complete and comprehensive functions, and the coordinated motion mechanism between the mechanisms greatly reduces redundant actions when the robot performs drilling operations. The sampling sequence is simple and compact, ensuring that the operation method is simpler and can easily meet the automated sampling requirements of multi-rod connection and unloading rope coring deep rock formations.

[0055] Specifically, the drill bit storage mechanism 4 includes a storage structure and a storage rotation device 43; the storage structure is cylindrical, and the outer wall is provided with a fixed structure for clamping the drill bit and is evenly distributed; the output end of the storage rotation device 43 is connected to the storage structure and drives the storage structure to rotate around the axis, and the fixed end is connected to the bracket 6.

[0056] The drill string storage mechanism 4 includes a storage structure for storing drill strings and a storage rotation device 43 for driving the storage structure to rotate. A fixing structure, shaped like a claw, clamps the drill string around the outer periphery of the storage structure. This fixing structure has a clamping force perpendicular to the drill string's central axis. One end of the fixing structure is connected to the storage structure, and the other end has an opening for inserting the drill string into the fixing structure for secure placement. The gripping position of the drill string operating mechanism 3 is fixed; therefore, the storage structure needs to be rotated to the corresponding position so that the corresponding drill string can be gripped by the drill string operating mechanism 3. The fixed end of the storage rotation device 43 is connected to the bracket 6, and the output end is connected to the storage structure, driving the storage structure to rotate around the axis of the storage rotation device 43.

[0057] Specifically, the drilling tool includes a drill pipe 41 and a core tube 42; the drill pipe 41 and the core tube 42 are spaced apart and clamped to a fixed structure. The drill pipe 41 is used for drilling the formation, and the core tube 42 is located inside the drill pipe 41 for storing core samples. It should be noted that the drilling tool storage mechanism 4 stores a drill pipe 41 with the core tube 42 already placed inside. The first drill pipe 41 grasped by the drilling tool operating mechanism 3 is assumed to be the drill pipe 41 with the core tube 42 already placed inside, and this drill pipe 41 is equipped with a drill bit. In the initial state, the storage rotation device 43 will rotate the drill pipe 41 to the grasping position of the drilling tool operating mechanism 3. During operation, the drilling tool operating mechanism 3 directly grasps the drill pipe 41 and performs drilling using the upper clamping mechanism 21 mounted on the drilling drive mechanism 1.

[0058] Furthermore, the storage structure includes several coaxially arranged support disks 44, with fixing structures evenly distributed on the support disks 44. The fixing structures include drill pipe clamps 441 and core tube clamps 442, with one of the drill pipe clamps 441 or core tube clamps 442 mounted on the top surface of the support disk 44 and the other mounted on the bottom surface of the support disk 44, and the drill pipe clamps 441 and core tube clamps 442 are spaced apart. The support disk 44 is disc-shaped, with a through hole at its axis for connecting to the output end of the storage rotating device 43. Fixing structures for fixing the drill bit are evenly distributed around the circumference of the support disk 44, including drill pipe clamps 441 for fixing the drill pipe 41 and core tube clamps 442 for fixing the core tube 42. The drill pipe clamp 441 and the core pipe clamp 442 are located on the top and bottom sides of the bearing plate 44, respectively, and the drill pipe clamp 441 and the core pipe clamp 442 are distributed at intervals. The interval distribution of the drill pipe 41 and the core pipe 42 is conducive to improving the work efficiency, adapting to the sequential requirements of the work on the drill pipe 41 and the core pipe 42, and reducing the redundant operation of the storage rotation device 43.

[0059] Specifically, the drilling drive mechanism 1 includes a drilling linear drive unit 11, a drilling rotary drive unit 13, and a feed frame 12; the feed frame 12 is mounted on the support 6 and the drilling linear drive unit 11 is mounted on the feed frame 12, and the drilling linear drive unit 11 moves vertically along the feed frame 12; the fixed end of the drilling rotary drive unit 13 is mounted on the drilling linear drive unit 11, and the output end is connected to the upper clamping mechanism 21 to drive the upper clamping mechanism 21 to rotate.

[0060] The drilling linear drive unit 11 is mounted on the feed frame 12 and can reciprocate vertically along the feed frame 12 to meet the requirements of drilling and lifting. The feed frame 12 is fixedly mounted on the bracket 6. The fixed end of the drilling rotary drive unit 13 is mounted on the drilling linear drive unit 11, and the output end is connected to the upper clamping mechanism 21 to drive the upper clamping mechanism 21 to rotate, thereby driving the drill pipe 41 clamped by the upper clamping mechanism 21 to rotate. At the same time, the drilling linear drive unit 11 can drive the drill pipe 41 to move vertically, providing pressure to drive the drill bit to move downward during drilling.

[0061] Specifically, the drill bit operating mechanism 3 includes a telescopic mechanical arm 32, an operating frame 33, and an operating rotation device 34. The telescopic end of the telescopic mechanical arm 32 is equipped with grippers 31 for gripping the drill pipe 41 and the core tube 42, and the fixed end of the telescopic mechanical arm 32 is mounted on the operating frame 33. The operating rotation device 34 is connected to the operating frame 33 and drives the operating frame 33 to rotate around its axis. The telescopic direction of the telescopic mechanical arm 32 is perpendicular to the rotation axis of the storage rotation device 43, and the telescopic end of the telescopic mechanical arm 32 is equipped with grippers 31 for gripping the drill pipe 41 or the core tube 42. The fixed end of the telescopic mechanical arm 32 is mounted on the operating frame 33, and the fixed end of the operating rotation device 34 is mounted on the bracket 6. The output end is connected to the operating frame 33 and drives the operating frame 33 to rotate around an axis perpendicular to the horizontal plane, so that the telescopic mechanical arm 32 can transfer the drill bit from the drill bit storage mechanism 4 to the drilling drive mechanism 1 for installation.

[0062] Specifically, the core tube operating mechanism 5 includes a linear motion unit 51 for driving the core tube operating mechanism 5 to move horizontally and a winch 52 for lifting and lowering the core tube. The core tube operating mechanism 5 also includes a retrieval head, which is mounted on the linear motion unit 51 and connected to the winch 52 via a rope. The winch 52 drives the retrieval head to move vertically. The core tube operating mechanism 5 has two degrees of freedom: deflection and extraction, each independently controlled by a set of actuators. The linear motion unit 51 can move left and right to achieve the deflection function. When retrieval of the core tube 42 is not required, the linear motion unit 51 retracts; when retrieval of the core tube 42 is required, the linear motion unit 51 extends, allowing the retrieval head to be aligned with the core tube 42. The core tube operating mechanism 5 uses the winch 52 in conjunction with the rope and the retrieval head to retrieve the core tube 42. The retrieval head, mounted on the rope of the linear motion unit 51, moves upward or downward to extract the core tube 42 in conjunction with the rotation of the winch 52.

[0063] Example 2

[0064] like Figure 9 As shown, this embodiment provides a method for planning a wireline coring drilling sequence, utilizing a wireline coring drilling robot for drilling operations, including the following steps: S1. Place the drill pipe 41; S2. Determine if this is the first drilling attempt; if not, connect the drill pipe 41 and proceed to step S3; if yes, proceed directly to step S3; S3. Drill; S4. Retrieve the core pipe 42; S5. Determine if the target depth has been reached; if not, place the core pipe 42 and proceed to step S1; if yes, proceed to step S6; S6. Determine if there is a drill string; if not, proceed to step S7; if yes, disconnect the drill string and proceed to step S7; S7. Retrieve the drill pipe 41; S8. Determine if retrieval is complete; if not, proceed to step S6; if yes, end the retrieval process.

[0065] Step S1, placing the drill pipe 41, includes the following sequence, such as... Figure 11As shown: S101: Control the drill string storage mechanism 4 to store the drill pipe 41 and rotate it to the gripping position of the drill string operating mechanism 3; S102: Control the drill string operating mechanism 3 to rotate to the gripping position facing the drill string storage mechanism 4; S103: Control the drill string operating mechanism 3 to extend into the drill string storage mechanism 4; S104: Control the drill string operating mechanism 3 to clamp the drill string in the drill string storage mechanism 4. If it is the first drilling, the drill string 41 includes the core tube 42. If it is not the first drilling, the drill string 41 does not include the core tube 42. The understanding of the drill string in subsequent steps is the same as described above; S S105: Control the drill bit operating mechanism 3 to retract to the initial position; S106: Control the drill bit operating mechanism 3 to rotate and align with the position of the drilling drive mechanism 1, i.e., the initial angle, i.e., the position aligned with the drilling drive mechanism 1; S107: Control the drill bit operating mechanism 3 to extend to the position in the vertical movement direction of the drilling drive mechanism 1; S108: Control the drilling drive mechanism 1 to move downward to the height of the drill bit; S109: Control the upper clamping mechanism 21 of the drill pipe clamping mechanism 2 to clamp the drill bit; S110: Control the drill bit operating mechanism 3 to release the drill bit; S111: Control the drill bit operating mechanism 3 to retract to the initial position.

[0066] Step S2 determines whether it is the first drilling; if not, then proceed to step S3 after connecting the drill pipe 41; if yes, proceed directly to step S3; wherein connecting the drill pipe 41 includes the following sequence: (1) controlling the lower clamping mechanism 22 of the drill pipe clamping mechanism 2 to clamp the drill pipe 41; (2) controlling the drilling drive mechanism 1 to move to the middle position and rotate forward; (3) controlling the drilling drive mechanism 1 to stop rotating and move to the top position; (4) controlling the lower clamping mechanism 22 of the drill pipe 41 clamping mechanism 2 to release the drill pipe 41.

[0067] Step S3 Drilling; includes the following sequence: (1) control the drilling drive mechanism 1 to move to the bottom and rotate forward; (2) control the drilling drive mechanism 1 to stop rotating.

[0068] Step S4 recovers core tube 42; including the following sequence, such as Figure 13As shown: S401: Control the upper clamping mechanism 21 of the drill pipe 41 clamping mechanism 2 to loosen; S402: Control the drilling drive mechanism 1 to move to the top position; S403: Control the core pipe operating mechanism 5 to extend to the drilling position so that the retrieval head is coaxial with the drill pipe; S404: Control the winch 52 of the core pipe operating mechanism 5 to lower the retrieval head and connect it to the core pipe 42; S405: Control the winch 52 of the core pipe operating mechanism 5 to raise the retrieval head and lift the core pipe 42; S406: Control the drill string operating mechanism 3 to extend to the core pipe 42 at the drilling position; S407: Control the drill string operating mechanism 3 to clamp the core pipe 42; S408 S409: Control the drill bit operating mechanism 3 to retract to the initial position; S410: Control the drill bit operating mechanism 3 to rotate to the gripping position facing the drill bit storage mechanism 4; S411: Control the drill bit storage mechanism 4 to rotate until the core clamp 442 is aligned with the drill bit operating mechanism 3; S412: Control the drill bit operating mechanism 3 to extend until it engages with the core clamp 442 in the drill bit storage mechanism 4; S413: Control the drill bit operating mechanism 3 to retract to the initial position; S414: Control the drill bit operating mechanism 3 to rotate to the initial angle; S415: Control the core clamp operating mechanism 5 to retract to the initial position.

[0069] Step S5 determines whether the target depth has been reached; if not, the core tube 42 is placed and the process proceeds to step S1; if yes, the process proceeds to step S6; wherein, placing the core tube 42 includes the following sequence: (1) controlling the drill storage mechanism 4 to rotate so that the core tube 42 is located in the gripping position of the drill operation mechanism 3; (2) controlling the drill operation mechanism 3 to rotate to the gripping position of the drill; (3) controlling the drill operation mechanism 3 to extend to the drill storage mechanism 4; (4) controlling the drill operation mechanism 3 to clamp the core tube 42 of the drill storage mechanism 4; (5) controlling the drill operation mechanism 3 to retract to the initial position; (6) controlling the drill operation mechanism 3 to rotate to the initial angle; (7) controlling the drill operation mechanism 3 to extend to the position in the vertical direction of the drilling drive mechanism 1; (8) controlling the drill operation mechanism 3 to release the core tube 42; (9) controlling the drill operation mechanism 3 to retract to the initial position.

[0070] Step S6 determines whether there is a drill string; if not, proceed to step S7B; if yes, disconnect the drill string and proceed to step S7A. Specifically, if there is a drill string, the operation sequence for disconnecting the drill string is as follows: (1) control the drilling drive mechanism 1 to move to the bottom position; (2) control the upper clamping mechanism 21 of the drill string clamping mechanism 2 to clamp the drill string 41; (3) control the drilling drive mechanism 1 to move to the middle position; (4) control the lower clamping mechanism 22 of the drill string clamping mechanism 2 to clamp the drill string 41; (5) control the drilling drive mechanism 1 to move to another middle position and reverse; (6) control the drilling drive mechanism 1 to stop rotating.

[0071] Step S7A involves retrieving the drill pipe 41, comprising the following sequence: S701: controlling the drill tool operating mechanism 3 to extend to the drill pipe 41; S702: controlling the drill tool operating mechanism 3 to clamp the drill pipe 41; S703: controlling the upper clamping mechanism 21 of the drill tool clamping mechanism 2 to release the drill pipe 41; S704: controlling the drilling drive mechanism 1 to move to the top; S705: controlling the drill tool operating mechanism 3 to retract to the initial position; S706: controlling the drill tool operating mechanism 3 to rotate to the gripping position facing the drill tool storage mechanism 4; S707: controlling the drill tool storage mechanism 4 to rotate until the drill pipe clamp 441 aligns with the drill tool operating mechanism 3; S708: controlling the drill tool operating mechanism 3 to extend to the drill tool storage mechanism 4 and engage the drill pipe clamp 441; S709: controlling the drill tool operating mechanism 3 to release the drill pipe 41; S710: controlling the drill tool operating mechanism 3 to retract to the initial position; S711: controlling the drill tool operating mechanism 3 to rotate to the initial angle.

[0072] Step S7B involves retrieving the drill pipe 41, comprising the following sequence: (1) controlling the drilling drive mechanism 1 to move to the bottom; (2) controlling the upper clamping mechanism 21 of the drill pipe clamping mechanism 2 to clamp the drill pipe 41; (3) controlling the drilling drive mechanism 1 to move to the middle position; (4) controlling the drill string operating mechanism 3 to extend to the drill pipe 41 at the drilling position; (5) controlling the drill string operating mechanism 3 to clamp the drill pipe 41; (6) controlling the upper clamping mechanism 21 of the drill string clamping mechanism to release the drill pipe 41; (7) controlling the drilling drive mechanism 1 to move to the top; 8) Control the drill bit operating mechanism 3 to retract to the initial position; (9) Control the drill bit operating mechanism 3 to rotate to the gripping position facing the drill bit storage mechanism 4; (10) Control the drill bit storage mechanism 4 to rotate until the drill pipe clamp 441 is aligned with the drill bit operating mechanism 3; (11) Control the drill bit operating mechanism 3 to extend until the drill pipe clamp 441 is engaged in the drill bit storage mechanism 4; (12) Control the drill bit operating mechanism 3 to release the drill pipe 41; (13) Control the drill bit operating mechanism 3 to retract to the initial position; (14) Control the drill bit operating mechanism 3 to rotate to the initial angle.

[0073] Step S8 determines whether the recycling is complete; if not, proceed to step S6; if yes, end the recycling process.

[0074] Example 3

[0075] like Figure 10 As shown, this embodiment provides a control system that controls the various mechanisms of the robot provided in Embodiment 1 to cooperate with each other to complete drilling and sampling operations. The system includes a main control computer, a multi-axis motion controller, several drive controllers, a DC brushless motor, and an incremental encoder. The main control computer communicates with the multi-axis motion controller via Ethernet. The multi-axis motion controller is connected to several drive controllers in series. Each drive controller is connected to a DC brushless motor and an incremental encoder to form an execution unit.

[0076] Specifically, the system comprises a main control computer, a multi-axis motion controller, drive controllers, brushless DC motors, and incremental encoders. The main control computer communicates with the multi-axis motion controller via Ethernet. The multi-axis motion controller is connected in series with ten drive controllers, each of which is connected to a brushless DC motor and an incremental encoder. These ten sets of actuators, consisting of brushless DC motors and incremental encoders, independently control the motion states of ten degrees of freedom.

[0077] Furthermore, the incremental encoder feeds back the status information of the drilling drive mechanism 1, the drill pipe clamping mechanism 2, the drill tool operating mechanism 3, the drill tool storage mechanism 4, and the core tube operating mechanism 5 to the drive controller; the drive controller controls the movement of the drilling drive mechanism 1, the drill pipe clamping mechanism 2, the drill tool operating mechanism 3, the drill tool storage mechanism 4, and the core tube operating mechanism 5 according to the instructions sent by the multi-axis motion controller.

[0078] The main control computer is used for human-machine interaction, sending operation commands to the multi-axis motion controller and reading data from it. The multi-axis motion controller acts as the master station, and ten sets of actuators act as slave stations. An EtherCAT linear network topology is formed by connecting the master and slave stations in series, enabling EtherCAT bus communication between the multi-axis motion controller and the drive controller. The multi-axis motion controller can send commands such as motion mode, speed, acceleration, and position to the drive controller, and read information such as current, speed, acceleration, and position from the drive controller.

[0079] The ten sets of actuators consist of brushless DC motors and incremental encoders, with the incremental encoders embedded inside the brushless DC motors. The actuators are mounted on their respective components. The drive controller, based on commands from the multi-axis motion controller, controls the actuators' movement through position, speed, and torque measurement. Simultaneously, the incremental encoders read the motor's speed and position information and feed it back to the drive controller. One multi-axis motion controller controls multiple sets of actuators independently. The main control computer acts as the host computer, controlling the multi-axis motion system. Each time, it only needs to call the program package generated for each step in the control software and issue commands to the multi-axis motion system to complete a specific sampling step, allowing for on-demand start and stop.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wireline coring drilling robot, characterized in that: The system includes a support (6), a drilling drive mechanism (1), a drill pipe clamping mechanism (2), a drill bit operating mechanism (3), a drill bit storage mechanism (4), and a core tube operating mechanism (5); the support (6) is used to assemble the drilling drive mechanism (1), the drill pipe clamping mechanism (2), the drill bit operating mechanism (3), the drill bit storage mechanism (4), and the core tube operating mechanism (5); there is an operating distance between the drilling drive mechanism (1), the drill pipe clamping mechanism (2), the drill bit operating mechanism (3), the drill bit storage mechanism (4), and the core tube operating mechanism (5) in the horizontal direction; The drill bit storage mechanism (4) is used to store drill bits and has the degree of freedom to rotate around its own axis; The drill bit operating mechanism (3) is flush with the drill bit storage mechanism (4). The drill bit operating mechanism (3) is used to grab the drill bit from the drill bit storage mechanism (4) for transfer and is installed on the drilling drive mechanism (1). The degrees of freedom of the drill bit operating mechanism (3) include grabbing, telescopic and transfer. The drill bit includes a drill pipe (41) and a core tube (42). The drilling drive mechanism (1) is mounted on the bracket (6). The drilling drive mechanism (1) is used to drive the drill bit to drill into the formation and has the freedom to rotate around its own axis and feed vertically. The drill pipe clamping mechanism (2) is used to clamp the drill pipe (41). The drill pipe clamping mechanism (2) includes an upper clamping mechanism (21) and a lower clamping mechanism (22) arranged coaxially. Both the upper clamping mechanism (21) and the lower clamping mechanism (22) have the freedom to clamp towards their own axis. The upper clamping mechanism (21) is assembled to the drilling drive mechanism (1) and rotates and moves with the drilling drive mechanism (1). The lower clamping mechanism (22) is assembled to the bracket (6). The core tube operating mechanism (5) is mounted on the bracket (6) and located above the drill string storage mechanism (4). The core tube operating mechanism (5) is used to retrieve the core tube (42) and transfer it from the drill string operating mechanism (3) to the drill string storage mechanism (4) for storage. The core tube operating mechanism (5) has the freedom to deflect and retrieve. The degrees of freedom of the drilling drive mechanism (1), the drill pipe clamping mechanism (2), the drill tool operating mechanism (3), the drill tool storage mechanism (4), and the core tube operating mechanism (5) are all independently controlled by a set of execution units; The drill bit operating mechanism (3) includes a telescopic mechanical arm (32), an operating frame (33), and an operating rotation device (34); The telescopic end of the telescopic robotic arm (32) is provided with grippers (31) for gripping the drill pipe (41) and the core tube (42), and the fixed end of the telescopic robotic arm (32) is mounted on the operating frame (33). The operating rotating device (34) is connected to the operating frame (33) to drive the operating frame (33) to rotate around the axis; the operating frame (33) is rotatably mounted on the bracket (6); the telescopic mechanical arm (32) is flush with the height of the drill storage mechanism (4), and the telescopic mechanical arm (32) can grab the drill; The core tube operating mechanism (5) is provided with a linear motion unit (51) for driving the core tube operating mechanism (5) to move linearly in the horizontal direction and a winch (52) for lifting the core tube. The core tube operating mechanism (5) is also equipped with a retrieval head, which is mounted on the linear motion unit (51) and connected to the winch (52) via a rope. The winch (52) drives the retrieval head to move vertically.

2. The wireline coring drilling robot according to claim 1, characterized in that: The drill bit storage mechanism (4) includes a storage structure and a storage rotation device (43); The storage structure is cylindrical, and its outer wall is provided with a fixing structure for clamping and fixing the drill bit; The output end of the storage rotation device (43) is connected to the storage structure and drives the storage structure to rotate around the axis. The fixed end of the storage rotation device (43) is connected to the bracket (6).

3. The wireline coring drilling robot according to claim 2, characterized in that: The drill pipe (41) and the core pipe (42) are spaced apart and clamped and fixed to the fixing structure.

4. The wireline coring drilling robot according to claim 3, characterized in that: The storage structure includes a plurality of coaxially arranged carrier disks (44), and the fixing structure is evenly distributed circumferentially on the edge of the carrier disks (44); The fixing structure includes a drill pipe clamp (441) and a core clamp (442). One of the drill pipe clamp (441) or the core clamp (442) is mounted on the top surface of the support plate (44), and the other is mounted on the bottom surface of the support plate (44). The drill pipe clamp (441) and the core clamp (442) are distributed at intervals.

5. The wireline coring drilling robot according to claim 1, characterized in that: The drilling drive mechanism (1) includes a drilling linear drive unit (11), a drilling rotary drive unit (13), and a feed frame (12); The feed frame (12) is mounted on the support (6), the drilling linear drive unit (11) is mounted on the feed frame (12), and the drilling linear drive unit (11) moves vertically along the feed frame (12); The fixed end of the drilling rotation drive unit (13) is mounted on the drilling linear drive unit (11), and the output end of the drilling rotation drive unit (13) is connected to the upper clamping mechanism (21) to drive the upper clamping mechanism (21) to rotate.

6. A method for planning a wireline coring drilling sequence, characterized in that: Drilling operations using the wireline coring drilling robot according to any one of claims 1-5 include the following steps: S1. Place the drill pipe (41); S2. Determine if this is the first drilling attempt; if not, connect the drill pipe (41) and proceed to step S3; if yes, proceed directly to step S3. S3. Drilling; S4. Recycle core tube (42); S5. Determine whether the target depth has been reached; if not, place the core tube (42) and proceed to step S1; if yes, proceed to step S6. S6. Determine if there is a drill string; if not, proceed to step S7; if yes, disconnect the drill string and proceed to step S7. S7. Recover the drill pipe (41); S8. Determine whether the recycling is complete; if not, proceed to step S6; if yes, end the recycling process.

7. The wireline coring drilling sequence planning method according to claim 6, characterized in that: The specific operation of step S1 is as follows: S101: Control the drill storage mechanism (4) to rotate from the position where the drill pipe (41) is stored to the corresponding gripping position of the drill operation mechanism (3); S102: Control the drill bit operating mechanism (3) to rotate to the gripping position facing the drill bit storage mechanism (4); S103: Control the drill bit operating mechanism (3) to extend to the drill bit storage mechanism (4); S104: Control the drill bit operating mechanism (3) to clamp the drill bit storage mechanism (4); S105: Control the drill bit operating mechanism (3) to retract to the initial position; S106: Control the drill bit operating mechanism (3) to rotate and align with the position of the drilling drive mechanism (1), i.e., the initial angle; S107: Control the position of the drill bit operating mechanism (3) extending to the vertical movement direction of the drilling drive mechanism (1); S108: Control the drilling drive mechanism (1) to move downwards to the height of the drill string; S109: The upper clamping mechanism (21) of the control drill pipe clamping mechanism (2) clamps the drill string; S110: Control the drill bit operating mechanism (3) to release the drill bit; S111: Control the drill bit operating mechanism (3) to retract to the initial position.

8. The wireline coring drilling sequence planning method according to claim 7, characterized in that: The specific operation of step S4 is as follows: S401: The upper clamping mechanism (21) of the control drill pipe clamping mechanism (2) is released; S402: Control the drilling drive mechanism (1) to move to the top position; S403: Control the core tube operating mechanism (5) to extend to the drilling position so that the retrieval head is coaxial with the drilling; S404: The winch (52) of the control core tube operating mechanism (5) lowers the retrieval head and connects it to the core tube (42); S405: The winch (52) of the control core tube operating mechanism (5) raises the retrieval head to lift the core tube (42); S406: Control the drilling tool operating mechanism (3) to extend to the core tube (42) at the drilling position; S407: Control the drill bit operating mechanism (3) to clamp the core tube (42); S408: Control the drill bit operating mechanism (3) to retract to the initial position; S409: Control the drill bit operating mechanism (3) to rotate to the gripping position facing the drill bit storage mechanism (4); S410: Control the drill storage mechanism (4) to rotate until the core clamp (442) is aligned with the drill operation mechanism (3); S411: Control the drill bit operating mechanism (3) to extend to the drill bit storage mechanism (4) and engage with the core clamp (442); S412: Control the drill bit operating mechanism (3) to release the core tube (42); S413: Control the drill bit operating mechanism (3) to retract to the initial position; S414: Control the drill bit operating mechanism (3) to rotate to the initial angle; S415: Control the core tube operating mechanism (5) to retract to the initial position.

9. A control system, characterized in that: The tool for controlling the wireline coring drilling robot according to any one of claims 1-6 to perform operations includes a main control computer, a multi-axis motion controller, several drive controllers, a DC brushless motor, and an incremental encoder. The main control computer communicates with the multi-axis motion controller via Ethernet. The multi-axis motion controller is connected in series with several drive controllers. Each drive controller is connected to a brushless DC motor and an incremental encoder to form the execution unit. The incremental encoder feeds back the status information of the drilling drive mechanism (1), the drill pipe clamping mechanism (2), the drill tool operating mechanism (3), the drill tool storage mechanism (4), and the core tube operating mechanism (5) to the drive controller; the drive controller controls the movement of the drilling drive mechanism (1), the drill pipe clamping mechanism (2), the drill tool operating mechanism (3), the drill tool storage mechanism (4), and the core tube operating mechanism (5) according to the instructions sent by the multi-axis motion controller.

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