Drill rod control equipment, drill rod control method and down-the-hole drill

Abstract

The invention provides drill rod control equipment. The drill rod control equipment comprises a driving device, a rotary assembly, a drill rod warehouse, a mechanical arm, a rod dismounting device and a control unit. Wherein the rotary assembly is used for installing an initial drill rod and a drill bit; the driving device is in transmission connection with the rotary assembly and used for driving the rotary assembly to rotate so as to drive the initial drill rod and the drill bit to conduct drilling operation; the drill rod warehouse is used for placing standby drill rods, the manipulator is used for taking out the standby drill rods from the drill rod warehouse, and the rod dismounting device is used for connecting the taken-out standby drill rods with initial drill rods; the control unit comprises a controller and an electromagnetic valve assembly, the electromagnetic valve assembly is in transmission connection with the driving device, the rotating assembly, the drill rod warehouse, the manipulator and the rod unloading device, and the controller is used for controlling the driving device, the rotating assembly, the drill rod warehouse, the manipulator and the rod unloading device to work through the electromagnetic valve assembly. The invention further provides a drill rod control method for the drill rod control equipment and a down-the-hole drill with the drill rod control equipment.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a drill rod control device, a drill rod control method using the drill rod control device, and a down-the-hole drill having the drill rod control device. Background Art

[0002] Some current down-the-hole drills use automated rod adding and unloading systems to control drill rods, which can automatically install and remove drill rods from working positions. However, the automation level of drill rod control in the related prior art is generally not perfect. When taking drill rods out of a drill rod warehouse and putting them back into a drill rod warehouse, the automatic out-of-warehouse and automatic in-warehouse operation of drill rods cannot be realized, and generally manual means are still required to complete the out-of-warehouse and in-warehouse operation of drill rods.

[0003] Therefore, it is necessary to provide a more novel drill rod control device for a down-the-hole drill to solve the problem of low automation level of drill rod control in the prior art. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a more novel drill rod control device for a down-the-hole drill rig, a drill rod control method using the drill rod control device, and a down-the-hole drill rig having the drill rod control device, so as to solve the problem of low degree of automation of drill rod control in the prior art.

[0005] A preferred embodiment of one aspect of the present application provides a drill rod control device, including a drive device, a rotary assembly, a drill rod storage, a manipulator, a rod unloader, and a control unit; the rotary assembly is used to install an initial drill rod and a drill bit; the drive device is transmission-connected to the rotary assembly, and is used to drive the rotary assembly to rotate, thereby driving the initial drill rod and the drill bit to perform drilling operations; the drill rod storage is used to place spare drill rods, the manipulator is used to take out the spare drill rods from the drill rod storage, and the rod unloader is used to connect the taken-out spare drill rods with the initial drill rods; the control unit includes a controller and an electromagnetic valve assembly electrically connected to the controller, the electromagnetic valve assembly is transmission-connected to the drive device, the rotary assembly, the drill rod storage, the manipulator, and the rod unloader, and the controller is used to control the operation of the drive device, the rotary assembly, the drill rod storage, the manipulator, and the rod unloader through the electromagnetic valve assembly.

[0006] In some embodiments, the driving device is further used to drive the rotary assembly to advance in a preset drilling direction or to retreat in a direction opposite to the drilling direction.

[0007] In some embodiments, the drill rod control equipment also includes a main beam, the driving device, the rotating assembly, the manipulator assembly and the rod unloader are sequentially installed on the main beam, and the drill rod storage is arranged in parallel with the main beam and connected to the main beam.

[0008] In some embodiments, the drill rod magazine includes a drill rod magazine body for installing the spare drill rod, a drill rod magazine connecting arm for connecting the drill rod magazine body to the main beam, a drill rod magazine motor installed on the drill rod magazine body, and a chuck transmission-connected to the drill rod magazine motor for driving the spare drill rod to rotate.

[0009] In some embodiments, the manipulator includes a fixed seat fixed on the main beam, a swing seat pivotally mounted on the fixed seat, a mechanical arm fixed on the swing seat, a movable gripper pivotally mounted on the mechanical arm, a clamping cylinder for driving the movable gripper to open and close relative to the mechanical arm, and a swing cylinder for driving the swing seat to swing relative to the fixed seat.

[0010] In some embodiments, the rod remover includes a lower clamp, an upper clamp rotatable relative to the lower clamp, and a deflection cylinder transmission-connected to the upper clamp; the lower clamp is used to clamp the initial drill rod, the upper clamp is used to clamp the spare drill rod, and the deflection cylinder is used to drive the upper clamp to rotate so as to connect or disconnect the spare drill rod from the initial drill rod.

[0011] Another preferred embodiment of the present application provides a drill rod control method, comprising the following steps:

[0012] S0, providing the drill rod control device as described in the above embodiment;

[0013] S1, initializing the drill pipe control device;

[0014] S2, using the drill rod control device to perform automatic rod connection drilling operation;

[0015] S3, using the drill rod control device to perform automatic rod unloading and storage operations.

[0016] In some embodiments, step S2 includes the following sub-steps:

[0017] S21, using the driving device and the rotary assembly to start a drilling operation;

[0018] S22, when additional drill rods are needed, selecting spare drill rods from the drill rod library;

[0019] S23, using the manipulator to transport the spare drill pipe to a preset centering position;

[0020] S24, connecting the spare drill pipe to the rotary assembly;

[0021] S25, using the rotary head to transport the spare drill rod to the rod unloader;

[0022] S26, using the rod unloader to connect the spare drill rod to the initial drill rod;

[0023] S27, controlling the manipulator to move away and perform the drilling operation again.

[0024] In some embodiments, step S3 includes the following sub-steps:

[0025] S31, stopping the rotation of the swivel head of the swivel assembly, and controlling the swivel head to move to a preset rod unloading position;

[0026] S32, clamping two drill rods that need to be separated from each other by the rod unloader;

[0027] S33, clamping the drill rod to be removed from the two drill rods to be separated from each other in a light clamping mode by the manipulator;

[0028] S34, separating two drill rods that need to be separated from each other by the rod unloader;

[0029] S35, moving the drill rod to be removed to a preset storage location through the rotary assembly;

[0030] S36, clamping the drill rod to be removed by the manipulator in a re-clamping mode, and separating the rotary assembly from the drill rod to be removed;

[0031] S37, sending the drill rods to be removed back to the drill rod warehouse through the manipulator.

[0032] A preferred embodiment of another aspect of the present application provides a down-the-hole drilling rig, which includes the drill rod control device as described in the above embodiment.

[0033] The drill rod control device, drill rod control method and down-the-hole drilling rig provided by the above preferred embodiment of the present application can improve all aspects of the operations of the rod unloader unloading, the rotary head drilling and retreating, the manipulator connecting the rods in and out of the warehouse, and the drill rod warehouse cooperating with the manipulator to make the drill rods in and out of the warehouse into fully automated operations under the assistance of the rotary encoder and the sensor and the logic control of the controller combined with the solenoid valve assembly, and have a significantly higher degree of automation compared to the existing technology of manually performing drill rod in and out of the warehouse. Therefore, compared with the existing technology in the field, the drill rod control device, drill rod control method and down-the-hole drilling rig provided by the embodiment of the present application have a more reasonable structural design, simpler control logic, and a higher degree of automation, which can further improve the comfort and simplicity of the staff's operation, and effectively reduce misoperation, thereby greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 The present invention provides a schematic diagram of the overall structure of a drill rod control device according to a preferred embodiment of the present invention.

[0036] Figure 2 for Figure 1 The schematic diagram of the structure of the driving device of the drill rod control equipment is shown.

[0037] Figure 3 for Figure 1 A schematic structural diagram of a drill rod library of a drill rod control device is shown.

[0038] Figure 4 for Figure 3 A partial enlarged schematic diagram of the drill rod magazine is shown.

[0039] Figure 5 for Figure 1 The schematic diagram of the structure of the manipulator of the drill rod control equipment is shown.

[0040] Figure 6 for Figure 5 The schematic diagram of the structure of the robot shown is from another perspective.

[0041] Fig. 7A for Figure 5 Schematic diagram of the centering working state of the manipulator shown.

[0042] Figure 7B for Figure 5The schematic diagram of the robot's warehousing and retrieval working status is shown.

[0043] Figure 8 for Figure 1 The structural schematic diagram of the rod unloader of the drill rod control equipment is shown.

[0044] Fig. 9 A flowchart of a drill rod control method provided as a preferred embodiment of the present application.

[0045] Fig.10 for Fig. 9 The control principle diagram of the connecting rod drilling step in the drill rod control method shown.

[0046] Fig.11 for Fig. 9 The control logic diagram of the connecting rod drilling step in the drill rod control method shown.

[0047] Fig.12 for Fig. 9 The control principle diagram of the drill rod unloading and storage step in the drill rod control method shown.

[0048] Fig.13 for Fig. 9 The control logic diagram of the drill rod unloading and storage step in the drill rod control method shown.

[0049] Description of Figure Numbers:

[0050] 1-driving device; 11-propulsion motor; 12-driving shaft; 13-sprocket; 101-absolute rotary encoder;

[0051] 2-swivel assembly; 21-mounting seat; 22-swivel head;

[0052] 3-drill rod magazine; 30-drill rod magazine body; 31-drill rod magazine motor; 32-indexing plate; 33-connecting shaft; 34-chuck shaft; 35-chuck; 39-drill rod magazine connecting arm; 301, 302-indexing sensors;

[0053] 4-manipulator; 41-fixed seat; 42-rotating shaft 42; 43-swinging seat; 44-mechanical arm; 45-movable gripper; 46-clamping cylinder; 47-swinging cylinder; 401-position sensor; 402-sensor connecting plate; 411-first limit adjustment rod; 412-second limit adjustment rod; 413-third limit adjustment rod; 414-follow-up support rod;

[0054] 5-rod unloader; 5A-upper clamp; 5B-lower clamp; 51-fixed clamp seat; 52-swing clamp seat; 53-rotating flange; 54A, 54B-jaws; 501-deflection cylinder; 502-clamping cylinder;

[0055] 6-Dust collecting device;

[0056] 7- Main beam;

[0057] 8-control unit; 81-controller; 82-solenoid valve assembly; YD1A, YD1B-drill rod library solenoid valve; YD9, YD7B, YD7A-manipulator clamping solenoid valve; YD5B, YD5A-manipulator alignment solenoid valve; Y101, Y102-advance solenoid valve; Y103, Y104-rotation solenoid valve; YD3A, YD3B-unloader clamping solenoid valve; YD4A, YD4B-unloader deflection solenoid valve;

[0058] 9- Spare drill pipe. DETAILED DESCRIPTION

[0059] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the description of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] See also Figure 1 A preferred embodiment of the present application provides a drill rod control device, which can be used to automatically control the drill rod in an engineering machinery performing drilling operations, such as a down-the-hole drill. The drill rod control device includes a drive device 1, a rotary assembly 2, a drill rod magazine 3, a manipulator 4, a rod unloader 5, a dust collector 6, a main beam 7 and a control unit 8. The drive device 1, the rotary assembly 2, the manipulator assembly 4, the rod unloader 5, and the dust collector 6 are sequentially mounted on the main beam 7. Preferably, the drive device 1 and the dust collector 6 are respectively mounted at both ends of the main beam 7, the rotary assembly 2 is mounted at a position adjacent to the drive device 1, the rod unloader 5 is mounted at a position adjacent to the dust collector 6, and the manipulator 4 is mounted at a position between the rotary assembly 2 and the rod unloader 5. The drill rod magazine 3 is arranged in parallel with the main beam 7 and is arranged adjacent to the manipulator 4. Preferably, the drill rod magazine 3 can also be connected to the main beam 7.

[0061] The control unit 8 is used to control the operation of the driving device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5. In this embodiment, the control unit 8 includes a controller 81 and a solenoid valve assembly 82 electrically connected to the controller 81. The controller 81 can be, for example, an existing central processing unit (CPU) or a data processing device such as a single-chip microcomputer. The solenoid valve assembly 82 establishes transmission connections with the driving device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5, respectively, so that the controller 81 can control the driving device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5 to operate respectively through the solenoid valve assembly 82. Please refer to Fig.10 and Fig.12 In this embodiment, the solenoid valve assembly 82 may include: drill rod storage solenoid valves YD1A and YD1B for controlling the drill rod storage 3; manipulator clamping solenoid valves YD9, YD7B, YD7A and manipulator alignment solenoid valves YD5B and YD5A for controlling the manipulator 4; propulsion solenoid valves Y101 and Y102 for controlling the drive device 1; rotation solenoid valves Y103 and Y104 for controlling the rotation assembly 2; rod unloader clamping solenoid valves YD3A and YD3B for controlling the rod unloader 5, and rod unloader deflection solenoid valves YD4A and YD4B. The specific working principles of these solenoid valves will be described in detail below.

[0062] Please also read Figure 2 The driving device 1 includes a propulsion motor 11, a driving shaft 12, a sprocket 13 and an absolute value rotary encoder 101. The driving shaft 11 is connected to the propulsion motor 11 through an existing connection mechanism such as a spline, the sprocket 13 is fixed to the driving shaft 12 through an existing connection mechanism such as a flat key, and the absolute value rotary encoder 101 is fixed to the driving shaft 12 through an existing connection mechanism such as a coupling. Preferably, the propulsion motor 11 and the absolute value rotary encoder 101 are respectively arranged on opposite sides of the main beam 7 to facilitate assembly and monitoring of the working status.

[0063] The rotary assembly 2 includes a mounting seat 21 and a rotary head 22, wherein the mounting seat 21 is mounted on the main beam 7, and the rotary head 22 is rotatably mounted on the mounting seat 21. The rotary head 22 is equipped with, for example, an existing drill bit, an impactor, and at least one initial drill rod according to, for example, existing technical means (the drill bit, the impactor, and the initial drill rod can all refer to the existing technology, so they are not shown in the figure), and the sprocket 13 is connected to the rotary head 22 through an existing transmission mechanism such as a chain, so that the driving device 1 can drive the rotary head 22 to rotate, and advance in a preset drilling direction or retreat in a direction opposite to the drilling direction through rotation, so that the rotary head 22 drives the drill bit, the impactor, and the drill rod installed thereon to perform drilling operations. In a further embodiment, the driving device 1 can further include, for example, an existing rotary motor (not shown in the figure), and the rotary motor is dedicated to driving the rotary head 22 to rotate in a preset forward and reverse direction, so that the rotary assembly 2 has more sufficient power.

[0064] Please also read Figure 3 and Figure 4The drill rod magazine 3 includes a drill rod magazine body 30, a drill rod magazine connecting arm 39, a drill rod magazine motor 31, a dividing plate 32, a connecting shaft 33, a chuck shaft 34, a chuck 35, and dividing sensors 301 and 302. Preferably, two drill rod magazine bodies 30 and two drill rod magazine connecting arms 39 are provided, and each drill rod magazine body 30 is connected to the main beam 7 through a drill rod magazine connecting arm 39, and the two drill rod magazine connecting arms 39 are preferably arranged between the rotary assembly 2 and the rod unloader 5. The drill rod magazine 3 is used to install at least one spare drill rod 9, and the two drill rod magazine bodies 30 are used to accommodate the two ends of the drill rod 9 respectively. The drill rod magazine motor 31 is installed at the end of one of the drill rod magazine bodies 30, the connecting shaft 33 is connected to the drill rod magazine motor 31 through an existing connecting mechanism such as a spline, the indexing plate 32 is fastened to the end of the connecting shaft 33 close to the drill rod magazine motor 31 through an existing fastening mechanism such as a bolt, one end of the chuck shaft 34 is fastened to the end of the connecting shaft 33 away from the drill rod magazine motor 31 through an existing fastening mechanism such as a bolt, and the other end of the chuck shaft 34 is rotatably inserted in another drill rod magazine 30. The chuck 35 is fastened to the chuck shaft 34 through an existing fastening mechanism such as a bolt, and the spare drill rod 9 is embedded in the notch opened on the outside of the chuck 35, so that the chuck 35 can drive the spare drill rod 9 to rotate. The indexing sensors 301 and 302 are installed at a position adjacent to the indexing plate 32, and are used to respectively sense the forward and reverse rotation of the indexing plate 32 to confirm the indexing of the indexing plate 32.

[0065] Please also read Figure 5 and Figure 6 In this embodiment, the number of manipulators 4 is preferably two, and both manipulators 4 are arranged between the rotary assembly 2 and the rod unloader 5. Each manipulator 4 includes a fixed seat 41, a rotating shaft 42, a swing seat 43, a mechanical arm 44, a movable gripper 45, a clamping cylinder 46, and a swing cylinder 47. The fixed seat 41 is fastened to the main beam 7 by an existing fastening mechanism such as bolts, the rotating shaft 42 is mounted on the fixed seat 41, the swing seat 43 is pivotally mounted on the rotating shaft 42, the mechanical arm 44 is fastened to the swing seat 43 by an existing fastening mechanism such as bolts, and the movable gripper 45 is pivotally mounted on the mechanical arm 44 by a pin 451. The two ends of the clamping cylinder 46 can be relatively retracted, one end of which is fixed on the mechanical arm 44, and the other end is fixed on the movable gripper 45, so that when the clamping cylinder 46 is retracted, it can drive the movable gripper 45 to pivot around the pin 451, so that the mechanical arm 44 and the movable gripper 45 are relatively opened and closed to achieve the opening and clamping action. The two ends of the swinging cylinder 47 can be relatively retracted, one end of which is fixed on the fixed seat 41, and the other end is fixed on the swinging seat 43 or the mechanical arm 44, so that when the swinging cylinder 47 is retracted, it can drive the swinging seat 43 to pivot around the rotating shaft 42, and then make the swinging seat 43 swing relative to the fixed seat 41 to adjust the working posture.

[0066] Please also read Fig. 7A and Figure 7B In this embodiment, each manipulator 4 further includes a first limit adjustment rod 411, a second limit adjustment rod 412, a third limit adjustment rod 413, a follower support rod 414, a position sensor 401, and a sensor connecting plate 402. The first limit adjustment rod 411 is installed on the fixed seat 41, and is used to limit the posture of the fixed seat 41 relative to the main beam 7; the second limit adjustment rod 412 is installed between the fixed seat 41 and the swing seat 43, and is used to limit the posture of the swing seat 43 relative to the fixed seat 41; the third limit adjustment rod 413 is installed in the mechanical arm 44, and is used to limit the posture of the mechanical arm 44 relative to the swing seat 43. One end of the follower support rod 414 is pivotally connected to the fixed seat 41, and the other end is connected to the mechanical arm 44. The position sensor 401 is installed at one end of the sensor connecting plate 402, and the sensor connecting plate 402 is connected to the fixed seat 401. In actual work, the swing seat 43 can be driven by the swing cylinder 47 to drive the mechanical arm 44 to swing toward the main beam 7 to align with the swivel head 22. At this time, the follower support rod 414 is driven by the mechanical arm 44 to pivot, and the position sensor 401 senses the position change of the follower support rod 414, so that it can be determined that the manipulator 4 has reached the position such as Fig. 7A The centering position shown; at this time, the manipulator 4 is aligned with the turret 22, and the manipulator arm 44 and the movable gripper 45 can be used to clamp the drill rod 9 and provide it to the turret 22, or to clamp the drill rod 9 installed on the turret 22 for removal. Similarly, the swing seat 43 can be driven by the swing cylinder 47 to drive the manipulator 44 to swing in the direction of the chuck shaft 34 of the drill rod library 3 to align with the drill rod library 3. At this time, the follower support rod 414 is driven by the manipulator 44 to pivot, and the position sensor 401 senses the position change of the follower support rod 414, so that it can be determined that the manipulator 4 has reached the position as shown. Figure 7B At this time, the manipulator 4 is aligned with the drill rod warehouse 3, and the manipulator arm 44 and the movable gripper 45 can be used to clamp the drill rod 9 in the drill rod warehouse 3 to take it out, and can also clamp the drill rod 9 outside the drill rod warehouse 3 to send it into the drill rod warehouse 3. When the manipulator 4 reaches the above-mentioned centering position and the entry and exit position, in addition to ensuring that the manipulator 4 reaches the accurate position through the sensing signal of the position sensor 401, the mechanical limit of the first limit adjustment rod 411, the second limit adjustment rod 412, and the third limit adjustment rod 413 can also be used to ensure that the coaxiality of the drill rod 9 relative to the center of the swivel head 22 when the manipulator 4 grabs the drill rod 9 and reaches the centering position, and the concentricity of the drill rod 9 relative to the chuck 5 when the manipulator 4 grabs the drill rod 9 and reaches the entry and exit position.

[0067] Please also read Figure 8The rod unloader 5 includes an upper clamp 5A, a lower clamp 5B, a fixed clamp seat 51, a swing clamp seat 52, a rotating flange 53, a deflection cylinder 501, and a clamping cylinder 502. The fixed clamp seat 51 is fixed on the main beam 7, and the rotating flange 3 is fixed on the fixed clamp seat 51, which is used to position the drill rod; the upper clamp 5A and the lower clamp 5B are installed in parallel on the fixed clamp seat 51, and their jaws are aligned with the rotating flange 3. The deflection cylinder 501 is connected to the upper clamp 5A through the swing clamp seat 52, and is used to drive the upper clamp 5A to rotate; there are at least two clamping cylinders 502, which are connected to the upper clamp 5A and the lower clamp 5B respectively, and are used to drive the upper clamp 5A and the lower clamp 5B to clamp and release.

[0068] When using the rod unloader 5, two drill rods connected together by threads can be inserted into the rotating flange 3 for positioning, and then the joint of the two drill rods can be moved into the rod unloader 5 so that one drill rod is aligned with the jaw 54A of the upper clamp 5A, that is, in the position of Figure 8 The other drill rod is aligned with the jaw 54B of the lower clamp 5B, that is, in the loose rod position shown in FIG. Figure 8 The rod unloading position shown. The upper clamp 5A and the lower clamp 5 are driven by the clamping cylinder 502 to clamp the two drill rods respectively, and then the upper clamp 5A and the drill rod clamped by it are driven by the deflection cylinder 501 to rotate in the rotating flange 53, so that the drill rod clamped by the upper clamp 5A rotates relative to the lower clamp 5B and the drill rod clamped by it, thereby unloading the mutually meshed threads of the two drill rods, separating the two drill rods, and achieving the purpose of unloading the rods. It can be understood that when the upper clamp 5A and the drill rod clamped by it are driven by the deflection cylinder 501 to rotate in the rotating flange 53, the two drill rods can be separated by driving the upper clamp 5A and the drill rod clamped by it to rotate in the preset unloading direction, and the two drill rods can be further tightened by driving the upper clamp 5A and the drill rod clamped by it to rotate in the direction opposite to the unloading direction; that is, the rod unloader 5 can be used to separate two drill rods, and can also be used to connect two drill rods.

[0069] The dust collecting device 6 is used to collect dust generated during the working process of the driving device 1, the rotary assembly 2, the drill rod magazine 3, the manipulator 4, and the rod unloader 5. The dust collecting device 6 can be an existing dust collecting device, which will not be described in detail here.

[0070] In this embodiment, in combination with the above-mentioned specific hardware structure of the driving device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5, the specific functions of each solenoid valve in the solenoid valve assembly 82 can preferably be set as follows: the drill rod storage solenoid valves YD1A and YD1B are used to control the drill rod storage motor 31 to rotate clockwise and counterclockwise respectively; the manipulator clamping solenoid valves YD9, YD7B and YD7A are used to control the clamping cylinder 46 of the manipulator 4 to clamp lightly, clamp heavily and release respectively; the manipulator alignment solenoid valves YD5B and YD5A are used to control the drill rod storage motor 31 to rotate clockwise and counterclockwise respectively; The swing cylinder 4 that controls the manipulator 4 drives the manipulator 4 to swing to the centering position and the entry and exit position; the propulsion solenoid valves Y101 and Y102 are used to respectively control the propulsion motor 11 of the drive device 1 to drive the swivel head 22 to advance and retreat, and the rotation solenoid valves Y103 and Y104 are used to respectively control the forward and reverse rotation of the swivel head 2; the rod unloader clamping solenoid valves YD3A and YD3B are used to respectively control the clamping and releasing of the clamping cylinder 502 of the rod unloader 5; the rod unloader deflection solenoid valves YD4A and YD4B are used to respectively control the deflection and return of the deflection cylinder 501 of the rod unloader 5.

[0071] When the drill rod control device is used in a down-the-hole drilling rig, it can automatically complete the entire workflow of drill rod out of storage, installation, drilling, retraction, disassembly, and storage, achieving a higher degree of automation than the prior art. The specific usage method can be found in the drill rod control method detailed below.

[0072] A preferred embodiment of another aspect of the present application further provides a drill rod control method, which can be implemented by the drill rod control device provided in the above embodiment.

[0073] In order to more clearly understand the drill rod control method provided by the present embodiment, the workflow that the existing commonly used drill rod control equipment needs to execute in the down-the-hole drilling rig is first introduced here. According to the prior art, the drill rod control equipment usually works according to the following process: the propulsion motor drives the sprocket to rotate in a first direction, such as clockwise, and the sprocket drives the swivel head of the swivel assembly to rotate through the chain, and further drives the drill rod, the impactor and the drill bit installed on the swivel head to drill in the preset drilling direction toward the drilling target through the swivel head to form a borehole in the drilling target. After the first drill rod is completely drilled into the borehole, the manipulator clamps the second drill rod from the drill rod warehouse at the entry and exit position and transports it to the centering position. After the swivel head is connected to the second drill rod at the centering position, it continues to impact the drilling, and so on. When the drilling reaches the desired depth, the propulsion motor drives the sprocket to rotate in a second direction opposite to the first direction, such as counterclockwise. The sprocket drives the rotary head, the drill rod, the impactor and the drill bit to retreat in the direction opposite to the drilling direction through the chain, and moves the rotary head to the preset unloading position. The drill rod connected to the back is removed by the unloading device; then the manipulator grabs the removed drill rod at the centering position and sends it back to the entry and exit position, and the drill rod storage motor drives the drill rod storage body to rotate to send the drill rod back to the drill rod storage; this is repeated until all drill rods except the first drill rod are removed and sent back to the drill rod storage, thus completing the entire workflow of the drill rod control device. In the prior art, almost all steps of the above workflow are completed by manual operation by operators through handles, which is cumbersome, time-consuming and low in precision. Nowadays, some down-the-hole drilling rigs use automated rod adding and unloading systems to control drill rods, which can automatically install and remove drill rods from working positions; however, the degree of automation in the control of drill rods in the related prior art is generally not perfect. When taking drill rods out of the drill rod warehouse and putting them back into the drill rod warehouse, it is impossible to realize automatic out-of-warehouse and automatic storage of drill rods. Generally, manual means are still required to complete the out-of-warehouse and storage operations of drill rods.

[0074] In the drill rod control method provided in the embodiment of the present application, the action principle of each mechanical component can also refer to the above-mentioned prior art. However, compared with the prior art, the drill rod control method provided in the embodiment of the present application can automatically complete the entire workflow including drill rod out of the warehouse, installation, drilling, retraction, disassembly, and storage, without manual operation. Fig. 9 , the drill rod control method comprises the following steps:

[0075] S0, providing a drill rod control device. The drill rod control device may be the drill rod control device as described in the above embodiment.

[0076] S1, initialize the drill rod control device. The purpose of step S1 is to adjust the drill rod control device to a state where it can perform automated work. In this embodiment, step S1 may include the following operations: using the controller 81 to control the solenoid valve assembly 82 through DO / PWM output, so that each solenoid valve of the solenoid valve assembly 82 can control the hydraulic oil entering each actuator (such as a motor, a cylinder, etc.) corresponding to them by opening and closing after powering on, thereby driving the drive device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5 to work in a preset manner; and using the controller 81 to establish signal communication feedback with each sensing device (such as a rotary encoder, a position sensor, etc.) of the drill rod control device through the CAN bus, so that the controller 81 determines whether the drive device 1, the rotary assembly 2, the drill rod storage 3, the manipulator 4, and the rod unloader 5 move to the set position through the sensing signal generated by the sensing device, so as to realize the automated work of the drill rod control device. Preferably, step S1 preferably also includes controlling the two manipulators 4 to move to the entry and exit positions through the solenoid valve assembly 82, and making the two manipulators 4 in a synchronous action state.

[0077] S2, use the drill rod control device to perform automatic rod drilling operation. Please refer to Fig.10 and Fig.11 , the step S2 may include the following sub-steps:

[0078] S21, the driving device 1 and the rotary assembly 2 of the drill rod control device are used to start the drilling operation. For example, the propulsion motor 11 can drive the sprocket 13 to rotate in a first direction, such as a clockwise direction, and the sprocket 13 drives the rotary head 22 to rotate through a chain, and the rotary head 22 further drives the initial drill rod, the impactor and the drill bit pre-installed on the rotary head 22 according to the prior art to drill toward the drilling target in a preset drilling direction to form a borehole in the drilling target.

[0079] S22, when additional drill rods are needed, a spare drill rod 9 is selected from the drill rod library 3. For example, when the initial drill rod installed on the turret 22 has completely entered the borehole, the rod unloader 5 can be driven to clamp the initial drill rod through its lower clamp 5B, and then the turret 22 can be driven to rotate in a second direction opposite to the first direction, such as a counterclockwise direction, to separate the turret 22 from the initial drill rod and return to the preset drill rod installation position. At this time, the controller 81 can control the solenoid valve YD7A based on the current state of the drill rod control device, and then control the movable grippers 45 of the two manipulators 4 at the entry and exit positions to open under the drive of the clamping cylinder 46; at the same time, the controller 81 controls the solenoid valve YD1B to start the drill rod warehouse motor 31, driving the connecting shaft 33 to rotate counterclockwise, and then the dividing plate 32 and the chuck shaft 34 rotate together with the connecting shaft 33, and the chuck 35 fixed on the chuck shaft 34 drives the selected spare drill rod 9 in the drill rod warehouse 3 to rotate toward the entry and exit position; when the dividing plate 32 is close enough to the dividing sensor 302, the controller 81 receives the dividing signal fed back by the dividing sensor 302, and determines that the spare drill rod 9 has accurately reached the entry and exit position and is clamped between the mechanical arm 44 and the movable gripper 45 of the manipulator 4.

[0080] S23, use the manipulator 4 to transport the spare drill rod 9 to the centering position. For example, the controller 81 can control the solenoid valve YD7B to drive the clamping cylinder 46 of the manipulator 4 again, so that the movable gripper 45 clamps the spare drill rod 9; then the controller 81 controls the solenoid valve YD5B to drive the swing cylinder 47 of the manipulator 4 to rotate toward the center of the rotary head 22, so that the manipulator 4 and the spare drill rod 9 reach the preset centering position; when the follow-up support rod 414 is close enough to the position sensor 401, the controller 81 receives the out-of-stock arrival signal fed back by the position sensor 401, and determines that the manipulator 4 and the spare drill rod 9 have reached the centering position.

[0081] S24, connect the spare drill rod 9 to the rotary assembly 2. For example, the controller 81 can control the solenoid valves Y101 and Y103 to drive the rotary head 22 to move toward the spare drill rod 9 and rotate in a first direction, such as clockwise, so that the rotary head 22 is threadedly connected to the spare drill rod 9.

[0082] S25, use the swivel head 22 to transport the spare drill rod 9 to the rod unloader 5. For example, after the sub-step S24 is completed, the solenoid valve YD9 can be controlled by the controller 81 to switch the manipulator 4 to the light clamping mode. At this time, the manipulator 4 only plays the role of straightening and guiding the spare drill rod 9 clamped by it. The spare drill rod 9 can slide along its own axis or rotate around its own axis in the manipulator 4 under the action of external force. Then, the solenoid valve Y101 is controlled by the controller 81, and then the swivel head 22 is controlled to drive the spare drill rod 9 to rotate and advance toward the rod unloader 5 until the spare drill rod 9 is delivered to the rod unloader 5.

[0083] S26, the spare drill rod 9 is connected to the initial drill rod by using the rod unloader 5. For example, the rod unloader 5 can be driven to clamp the spare drill rod 9 through its upper clamp 5A, and the spare drill rod 9 is aligned with the initial drill rod clamped by the lower clamp 5B, and then according to the working principle of the rod unloader 5, the upper clamp 5A and the spare drill rod 9 clamped by it are driven to rotate by the deflection cylinder 501, so that the spare drill rod 9 and the initial drill rod are engaged with each other through threads and tightened.

[0084] S27, control the manipulator 4 to move away, and perform the drilling operation again. For example, after sub-step S26 is completed, the controller 81 can control the solenoid valve YD5A to move the manipulator 4 back to the storage position, and then perform the operation of step S21 again. At this point, the entire automatic rod connection drilling process of a spare drill rod 9 is completed. If necessary, the above sub-steps S22 to S27 can be repeated to automatically connect more spare drill rods 9 to continue drilling and continuously expand the drilling depth.

[0085] S3, use the drill rod control device to perform automatic rod unloading and storage operation. Please refer to Fig.12 and Fig.13 , the step S3 may include the following sub-steps:

[0086] S31, stop the rotation of the swivel head 2 of the swivel assembly 22, and control the swivel head 2 to move to the preset rod unloading position. For example, after the drilling operation is completed, the controller 81 can first control the solenoid valve Y103 or Y104 to stop the rotation of the swivel head 2, and then control the solenoid valve YD102 to make the propulsion motor 11 drive the swivel head 22 to retreat to the preset rod unloading position under the logical control of the rotary encoder 101. At the rod unloading position, the two drill rods that need to be separated from each other are respectively aligned with the jaws 54A of the upper clamp 5A and the jaws 54B of the lower clamp 5B of the rod unloader 5. For ease of understanding, the above-mentioned initial drill rod and spare drill rod 9 are described below as examples of two drill rods that need to be separated from each other. According to the prior art, it can be understood that since the spare drill rod 9 is a drill rod added after the initial drill rod, the spare drill rod 9 is installed on the swivel head 22 of the swivel assembly 2 at this time.

[0087] S32, clamp the two drill rods to be separated by the rod unloader 5. For example, the controller 81 can control the electromagnetic valve YD3A, so that the upper clamp 5A and the lower clamp 5B of the rod unloader 5 are driven by the clamping cylinder 502 to clamp the two drill rods to be separated.

[0088] S33, the drill rod to be removed from the two drill rods to be separated is clamped by the manipulator 4 in a light clamping mode. For example, the solenoid valves YD7A, YD5B and YD9 can be controlled by the controller to make the manipulator 4 first open the movable gripper 45 under the drive of the clamping cylinder 46, and rotate to the centering position under the drive of the swing cylinder 47, and then clamp the drill rod to be removed, such as the spare drill rod 9, in a light clamping mode. At this time, the manipulator 4 only plays the role of straightening and guiding the spare drill rod 9 it clamps, and the spare drill rod 9 can slide along its own axis or rotate around its own axis in the manipulator 4 under the action of external force.

[0089] S34, the two drill rods to be separated from each other are separated from each other by the rod unloader 5. For example, the controller can control the electromagnetic valve YD4A, so that the upper clamp 5A drives the spare drill rod 9 clamped by it to rotate under the drive of the deflection cylinder 501, so that the threads of the spare drill rod 9 and the initial drill rod that are meshed with each other are unloaded, thereby separating the spare drill rod 9 from the initial drill rod.

[0090] S35, the drill rod to be removed is moved to the preset access position through the rotary assembly 2. For example, the controller 81 can control the solenoid valve YD3B to make the upper clamp 5A release the spare drill rod 9 under the drive of the clamping cylinder 502; then the controller 81 controls the solenoid valve Y102 to make the rotary head 22 drive the spare drill rod 9 to rotate and retreat, and move the spare drill rod 9 to the access position under the logic control of the rotary encoder 101.

[0091] S36, the drill rod to be removed is clamped by the manipulator 4 in the re-clamping mode, and the rotary assembly 2 is separated from the drill rod to be removed. For example, the controller 81 can control the solenoid valve YD7B to switch the manipulator 4 to the re-clamping mode to clamp the spare drill rod 9 therein; then the controller 81 controls the solenoid valves Y102 and Y104 to drive the rotary head 22 to move toward the spare drill rod 9 and rotate in a second direction, such as counterclockwise, so that the threaded connection between the rotary head 22 and the spare drill rod 9 is removed, and the rotary head 22 is separated from the spare drill rod 9.

[0092] S37, the drill rod to be removed is sent back to the drill rod warehouse 3 by the manipulator 4. For example, the controller 81 can control the solenoid valve YD5A, so that the manipulator 4 rotates to the storage entry and exit position under the drive of the swing cylinder 47 to embed the spare drill rod 9 into the chuck 35; when the follower support rod 414 is close enough to the position sensor 401, the controller 81 receives the storage position signal fed back by the position sensor 401, and determines that the spare drill rod 9 has been embedded in the chuck 35 at this time, then controls the manipulator 4 to stop rotating, and then controls the solenoid valve YD7A to release the manipulator 4; next, the controller 81 controls the solenoid valve YD1A, so that the drill rod warehouse motor 31 starts and drives the chuck shaft 34, the chuck 35 and the spare drill rod 9 to rotate, and when the indexing plate 32 rotating with the drill rod warehouse motor 31 is close enough to the indexing sensor 301, the controller 81 receives the indexing signal fed back by the indexing sensor 301, indicating that the spare drill rod 9 has rotated to the correct storage position in the drill rod warehouse 3 with the chuck 35. This completes the entire automatic unloading and storage process of a spare drill rod 9. If necessary, the above sub-steps S31 to S37 can be repeated to unload more spare drill rods 9 one by one and store them in the drill rod storehouse 3.

[0093] Another preferred embodiment of the present application also provides a down-the-hole drilling rig, including, for example, an existing drill rod and a drill rod control device as described in the above embodiment, wherein the drill rod control device can be used to control the drill rod of the down-the-hole drilling rig according to the above drill rod control method.

[0094] According to the above-mentioned embodiments, it can be understood that in the drill rod control device, the drill rod control method using the drill rod control device, and the down-the-hole drilling rig having the drill rod control device provided in the present application, the propulsion motor 11 of the driving device 1 can be controlled by the solenoid valve assembly 82 to rotate in a preset manner to realize the drilling and retraction of the swivel head 22, and the rotary encoder 101 that rotates with the propulsion motor 22 can be used to control the exact position of the drilling and retraction of the swivel head 22, such as the rod unloading position, the entry and exit position, etc.; the solenoid valve assembly 82 can also control the clamping cylinder 47 of the manipulator 4 to realize the light clamping, heavy clamping and loosening of the drill rod by the movable gripper 45, and control the swing of the manipulator 4 The oil cylinder 46 enables the manipulator 4 to grab the drill rod and take it out of the warehouse and into the warehouse; at the same time, the position sensor 401 of the manipulator 4 can assist in judging whether the drill rod grabbed by the manipulator 4 has accurately reached the preset centering position and storage position, so as to judge the next action in the electronic control logic; the solenoid valve assembly 82 can also control the forward and reverse rotation of the drill rod warehouse motor 3 to realize the chuck shaft 34 and the chuck 35 to drive the drill rod to enter and exit the warehouse, so as to be synchronized with the logical sequence of the manipulator 4 grabbing the drill rod to enter and exit the warehouse; at the same time, the dividing plate 32 that follows the drill rod warehouse motor 31 cooperates with the dividing sensors 301 and 302 of the drill rod warehouse 3 to generate a feedback signal to judge whether the drill rod has been accurately entered and exited the warehouse. Obviously, the technical solution provided by the implementation mode of the present application, with the assistance of a rotary encoder and a sensor and the logical control of a controller combined with an electromagnetic valve assembly, can improve all aspects of the operations of the rod unloader unloading rods, the rotary head drilling in and out, the robot connecting rods in and out of the warehouse, and the drill rod warehouse cooperating with the robot to bring drill rods in and out of the warehouse into fully automated operations. Compared with the existing technology that uses manual operations to bring drill rods in and out of the warehouse, it has a significantly higher degree of automation.

[0095] Therefore, compared with the prior art in the field, the drill rod control equipment, the drill rod control method using the drill rod control equipment, and the down-the-hole drilling rig structure with the drill rod control equipment provided by the embodiments of the present application are more reasonably designed, the control logic is simpler, and the degree of automation is higher. It can further improve the comfort and convenience of the staff's operation and effectively reduce misoperation, thereby greatly improving work efficiency.

[0096] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A drill pipe control device, characterized in that: It includes a driving device, a rotary component, a drill rod storage, a manipulator, a rod unloader, and a control unit; the rotary component is used to install the initial drill rod and drill bit; the driving device is connected to the rotary component in a transmission manner, and is used to drive the rotary component to rotate, and then drive the initial drill rod and drill bit to perform drilling operations; the drill rod storage is used to place spare drill rods, the manipulator is used to take out the spare drill rods from the drill rod storage, and the rod unloader is used to connect the taken out spare drill rods with the initial drill rods; the control unit includes a controller and an electromagnetic valve component electrically connected to the controller, the electromagnetic valve component is connected to the driving device, the rotary component, the drill rod storage, the manipulator, and the rod unloader in a transmission manner, and the controller is used to control the operation of the driving device, the rotary component, the drill rod storage, the manipulator, and the rod unloader through the electromagnetic valve component.

2. The drill rod control device according to claim 1, characterized in that: The driving device is also used to drive the rotary assembly to advance in a preset drilling direction or to retreat in a direction opposite to the drilling direction.

3. The drill rod control device according to claim 1, characterized in that: The drill rod control equipment also includes a main beam, the driving device, the rotary assembly, the manipulator assembly and the rod unloader are sequentially mounted on the main beam, and the drill rod storage is arranged in parallel with the main beam and connected to the main beam.

4. The drill rod control device according to claim 3, characterized in that: The drill rod magazine includes a drill rod magazine body for installing the spare drill rod, a drill rod magazine connecting arm for connecting the drill rod magazine body with the main beam, a drill rod magazine motor installed on the drill rod magazine body, and a chuck drivingly connected to the drill rod magazine motor for driving the spare drill rod to rotate.

5. The drill rod control device according to claim 3, characterized in that: The manipulator includes a fixed seat fixed on the main beam, a swing seat pivotally mounted on the fixed seat, a mechanical arm fixed on the swing seat, a movable gripper pivotally mounted on the mechanical arm, a clamping cylinder for driving the movable gripper to open and close relative to the mechanical arm, and a swing cylinder for driving the swing seat to swing relative to the fixed seat.

6. The drill rod control device according to claim 1, characterized in that: The rod remover includes a lower clamp, an upper clamp rotatable relative to the lower clamp, and a deflection cylinder transmission-connected to the upper clamp; the lower clamp is used to clamp the initial drill rod, the upper clamp is used to clamp the spare drill rod, and the deflection cylinder is used to drive the upper clamp to rotate so as to connect or separate the spare drill rod from the initial drill rod.

7. A drill rod control method, characterized in that: The following steps are involved: S0, providing a drill pipe control device as described in any one of claims 1-6; S1, initializing the drill pipe control device; S2, using the drill rod control device to perform automatic rod connection drilling operation; S3, using the drill rod control device to perform automatic rod unloading and storage operations.

8. The drill rod control method according to claim 7, characterized in that: The step S2 comprises the following sub-steps: S21, using the driving device and the rotary assembly to start a drilling operation; S22, when additional drill rods are needed, selecting spare drill rods from the drill rod library; S23, using the manipulator to transport the spare drill pipe to a preset centering position; S24, connecting the spare drill pipe to the rotary assembly; S25, using the rotary head to transport the spare drill rod to the rod unloader; S26, using the rod unloader to connect the spare drill rod to the initial drill rod; S27, controlling the manipulator to move away and perform the drilling operation again.

9. The drill rod control method according to claim 7, characterized in that: The step S3 comprises the following sub-steps: S31, stopping the rotation of the swivel head of the swivel assembly, and controlling the swivel head to move to a preset rod unloading position; S32, clamping two drill rods that need to be separated from each other by the rod unloader; S33, clamping the drill rod to be removed from the two drill rods to be separated from each other in a light clamping mode by the manipulator; S34, separating two drill rods that need to be separated from each other by the rod unloader; S35, moving the drill rod to be removed to a preset storage location through the rotary assembly; S36, clamping the drill rod to be removed by the manipulator in a re-clamping mode, and separating the rotary assembly from the drill rod to be removed; S37, sending the drill rods to be removed back to the drill rod warehouse through the manipulator.

10. A down-the-hole drilling rig, characterized in that: The invention comprises the drill rod control device as claimed in any one of claims 1 to 6.

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