Drill rod loading and unloading device based on drill rod box, control system and control method

Abstract

The invention discloses a drill rod loading and unloading device based on a drill rod box, a control system and a control method. The drill rod loading and unloading device comprises a drill stand, and a jacking device, a rod feeding device, the drill rod box, a drill rod, a drill stand and a power head which are arranged on the drill stand, the power head is arranged at the end part of the drill rod box; a plurality of rows of drill rods are arranged in the drill rod box, the bottom of the drill rod box is hollowed out, the jacking device and the rod feeding device are arranged at the bottom of the drill rod box in a staggered mode, and the jacking device is used for jacking the multiple rows of drill rods to ascend or descend. The rod feeding device is used for reaching the position below a preset row of drill rods during rod mounting, the jacking device descends, and the rod feeding device grabs the drill rods and transfers the drill rods to a rod mounting position; when the drill rod is unloaded, the drill rod feeding device grabs the drill rod and transfers the drill rod to the jacking device. By means of the method, input operation instructions for dismounting or mounting the drill rod are simplified, whether misoperation is conducted or not can be automatically judged, follow-up instruction output is stopped, and construction quality and construction safety are improved.

Description

Technical Field

[0001] The invention relates to the field of horizontal directional drilling rig control, and in particular to a drill rod loading and unloading device, a control system and a control method based on a drill rod box. Background Art

[0002] Horizontal directional drilling rig is a kind of drilling equipment that can accurately achieve horizontal drilling without excavating the surface by controlling the direction and angle of the drill bit. It is suitable for a variety of different geological layers such as soil, hard rock and sandy soil. It has been widely used in the laying of underground pipelines for water supply, power supply, communications, coal gas, natural gas and oil.

[0003] At present, the drill rod box disassembly device of the horizontal directional drilling rig is complicated to operate. There are a total of 6 operating buttons, and the normal individual control actions for loading or unloading the rod are 9-10. The operator needs to operate the handle 9-10 times. The operation is complicated and affects the construction efficiency. Once an incorrect operation occurs, the drill rod will slip, which may easily cause safety hazards, increase the construction period, and reduce efficiency.

[0004] Most of the existing horizontal directional drilling rig drill box selection devices rely on mechanical pins. Each time the column is changed, the construction party needs to replace the pin position, which is very inconvenient to operate. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a drill rod loading and unloading device, a control system and a control method based on a drill rod box.

[0006] In order to solve the problems of the prior art, the present invention discloses a drilling rod loading and unloading device based on a drilling rod box, comprising: a drill rack and a jacking device, a rod feeding device, a drilling rod box, a drill rod, a drilling rack and a power head arranged on the drilling rack; the power head is arranged at the end of the drilling rod box; a plurality of rows of drill rods are arranged in the drilling rod box, the bottom of the drilling rod box is hollowed out, the jacking device and the rod feeding device are staggeredly arranged at the bottom of the drilling rod box, the jacking device is used to jack up a plurality of rows of drill rods to rise or fall; the rod feeding device is used to: when loading the rods, the jacking device reaches below a predetermined row of drill rods, the jacking device descends, the rod feeding device grabs the drill rods and moves them to the loading position; when unloading the rods, the rod feeding device grabs the drill rods and moves the drill rods to the jacking device.

[0007] Furthermore, the rod feeding device includes: a shuttle arm and a gripper; the gripper is used to grab the drill rod; the gripper is arranged at the end of the shuttle arm, and the shuttle arm is used to retract so that the gripper reciprocates between two points in a predetermined column of the drill rod box and the loading and unloading rod position.

[0008] Furthermore, the rod feeding device is provided with an anti-collision limiter, and the anti-collision limiter is used to limit the stroke of the shuttle arm to avoid hitting the gripper.

[0009] Furthermore, the rod feeding device is provided with a shuttle arm encoder, and the shuttle arm encoder is used to collect pulses to determine the telescopic length of the shuttle arm.

[0010] Furthermore, the feeding rod device is provided with a shuttle arm encoder zeroing limiter; the shuttle arm encoder zeroing limiter is used to clear the number of pulses collected by the shuttle arm encoder.

[0011] Furthermore, the lifting device is provided with a lifting limit sensing plate, an ascending limiter and a descending limiter; the lifting limit sensing plate rises or descends with the lifting device; the ascending limiter is used to sense the rising height of the lifting limit sensing plate, and the descending limiter is used to sense the descending height of the lifting limit sensing plate.

[0012] Furthermore, it also includes a power head position sensor, and the power head position sensor is used to sense the position of the power head.

[0013] Correspondingly, the present invention also provides a control system for a drill rod box-based loading and unloading drill rod device, the control system is used to control the above-mentioned loading and unloading drill rod device; the control system includes: a drill rod box column selection knob, a display and an operating handle; the display is used to display the number of columns selected by the drill rod box column selection knob; the operating handle is provided with operating components for retracting the shuttle arm, raising and lowering the jacking device, and tightening and releasing the gripper.

[0014] Furthermore, it also includes: a controller and a power head position sensor input terminal, an anti-collision limiter input terminal, an upward limiter input terminal, and a downward limiter input terminal connected to the controller; a shuttle arm encoder reset limit input terminal, a shuttle arm encoder input terminal, a display input bus terminal, an operating handle input bus terminal, a drill rod box selection knob input bus terminal, a gripper grasping output terminal, a gripper releasing input terminal, a shuttle arm extending output terminal, a shuttle arm retracting output terminal, a lifting device rising output terminal, and a lifting device descending output terminal.

[0015] Furthermore, it includes an oil tank, a main pump, a main valve, a solenoid valve group, a gripper cylinder, a shuttle arm cylinder, a lifting cylinder and a main valve output terminal; the main valve is connected to the oil tank through the main pump; the gripper cylinder, the shuttle arm cylinder and the lifting cylinder are respectively connected to the main valve through the solenoid valve group; the main valve output terminal is connected to the controller.

[0016] Furthermore, it comprises a shuttle arm power motor, and the shuttle arm power motor is used to drive the shuttle arm to extend and retract.

[0017] Accordingly, the present invention also provides a control method for a control system of a drill rod box-based loading and unloading drill rod device, comprising: The shuttle arm extension command is input. If the power head is at the end position of the drill rack, it is determined that the rod needs to be installed at this time; according to the number of columns currently selected for the drill rod and the number of pulses of the shuttle arm encoder, it is determined whether the shuttle arm is in the retracted state. If the shuttle arm is not in the retracted state, the subsequent command output is stopped; if the shuttle arm is in the retracted state, it is continued to determine whether the jacking device is in the raised state. If both the rising limiter and the falling limiter are not energized, it means that the jacking device is in the raised state, and the commands are sequentially executed to release the gripper, lower the jacking device, grip the drill rod, and extend the shuttle arm. Otherwise, the commands are sequentially executed to grip the drill rod and extend the shuttle arm. The shuttle arm extension command is input. If the power head is in the position of loading and unloading the drill rod, it is determined that the rod needs to be unloaded at this time, and the initial state needs to be met, the gripper is grasped, the shuttle arm is retracted, and the lifting device is raised; according to the number of columns selected by the current drill rod and the number of pulses of the shuttle arm encoder, it is determined whether the shuttle arm is in the retracted state. If the shuttle arm is not in the retracted state, the subsequent command output is stopped; if the shuttle arm is in the retracted state, it continues to determine whether the lifting device is in the raised state. If both the rising limiter and the falling limiter are not energized, it means that the lifting device is in the raised state, and the command to release the gripper and extend the shuttle arm is executed in sequence. Otherwise, the command needs to be executed in sequence to release the gripper, raise the lifting device, and extend the shuttle arm; The shuttle arm retracts the command input. If the power head is in the position of loading and unloading the drill rod, it is judged that an empty return is required after loading the drill rod at this time. The initial state needs to be satisfied: the gripper is released, the shuttle arm is extended, and the lifting device is lowered; if the shuttle arm encoder reset limiter clears the number of pulses collected by the shuttle arm encoder, it means that the shuttle arm is in a fully extended state, otherwise the subsequent command output is stopped; if the rising limiter and the falling limiter are both energized, it means that the lifting device is in a lowered state, and the sequential execution of the commands makes the lifting device rise, the shuttle arm retract, and the gripper grasp, otherwise the sequential execution of the commands makes the shuttle arm retract and the gripper grasp; The shuttle arm retracts the command input. If the power head is at the end position of the drill rig, it is judged that the drill rod needs to be returned after being disassembled. The initial state needs to be met: the gripper is grasped, the shuttle arm is extended, and the jacking device is raised. If the shuttle arm encoder reset limiter clears the number of pulses collected by the shuttle arm encoder, it means that the shuttle arm is in a fully extended state, otherwise the subsequent command output is stopped. If both the rising limiter and the falling limiter are not energized, it means that the jacking device is in a raised state, and the commands of jacking device descending, gripper grasping, shuttle arm retracting, gripper releasing, jacking device rising, and gripper grasping are executed in sequence. Otherwise, the commands of gripper grasping, shuttle arm retracting, gripper releasing, jacking device rising, and gripper grasping are executed in sequence.

[0018] The present invention has the beneficial effects: The present invention simplifies the input operation instructions for disassembling or installing the drill rod. Only two button presses are required to automatically implement all the operation instructions for disassembling or installing the drill rod box, which greatly simplifies the operation process of disassembling and installing the drill rod. In addition, the present invention can automatically determine whether it is an erroneous operation and stop the subsequent instruction output, which greatly improves the construction quality and construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the front view of the structure of the drilling rod loading and unloading device based on the drilling rod box of the present invention; Figure 2 It is a left side schematic diagram of the structure of the drilling rod loading and unloading device based on the drilling rod box of the present invention; Figure 3 This is a schematic diagram of the electrical structure of a control system for a drill rod loading and unloading device based on a drill rod box of the present invention; Figure 4 It is a schematic diagram of the hydraulic structure of a control system of a drill rod loading and unloading device based on a drill rod box of the present invention; Figure 5 It is a flow chart of a rod delivery mode of a control method of a control system of a drilling rod loading and unloading device based on a drilling rod box of the present invention; Figure 6 It is a schematic flow chart of the idle return mode of the control method of the control system of the drilling rod box-based drilling rod loading and unloading device of the present invention; Figure 7 It is a schematic diagram of the flow of the empty mode of the control method of the control system of the drilling rod box-based drilling rod loading and unloading device of the present invention; Figure 8 The present invention is a schematic flow chart of a rod return mode of a control method of a control system for a drill rod box-based loading and unloading drill rod device.

[0020] Reference numerals: 1, lifting limit sensor plate; 2, lifting device; 3, rising limiter; 4, falling limiter; 5, rod feeding device; 6, drill rod box; 7, drill rod; 8, drill stand; 9, power head position sensor; 10, power head; 11, anti-collision limiter; 12, shuttle arm encoder; 13, shuttle arm encoder zero limiter; 14, shuttle arm; 15, gripper; 101, power head position sensor input terminal; 102, anti-collision limiter input terminal; 103, rising limiter input terminal; 104, falling limiter input terminal; 105, shuttle arm encoder zero limiter input terminal; 106, shuttle Arm encoder input terminal; 107, display input bus terminal; 108, operating handle input bus terminal; 109, drill rod box selection knob input bus terminal; 110, controller; 111, main valve output terminal; 112, gripper clamping output terminal; 113, gripper release input terminal; 114, shuttle arm extending output terminal; 115, shuttle arm retracting output terminal; 116, top lifting output terminal; 117, top lifting output terminal; 201, main pump; 202, main valve; 203, solenoid valve group; 204, gripper cylinder; 205, shuttle arm cylinder; 206, top lifting cylinder. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example

[0022] like Figure 1 As shown, this embodiment provides a drilling rod loading and unloading device based on a drilling rod box, comprising: a drill frame 8 and a jacking device 2, a rod delivery device 5, a drilling rod box 6, a drilling rod 7, a drilling frame 8 and a power head 10 arranged on the drilling frame 8; the power head 10 is arranged at the end of the drilling rod box 6; a plurality of rows of drilling rods 7 are arranged in the drilling rod box 6, the bottom of the drilling rod box 6 is hollowed out, the jacking device 2 and the rod delivery device 5 are staggered at the bottom of the drilling rod box 6, and the number of the jacking device 2 and the rod delivery device 5 is two The two jacking devices 2 are located at the two ends of the bottom of the drill rod 7, and the two rod delivery devices 5 are located between the two jacking devices 2 of the drill rod 7; the jacking device 2 is used to jack up a number of rows of drill rods 7 to rise or fall; the rod delivery device 5 is used to: when loading the drill rods, the jacking device 2 reaches the bottom of the predetermined row of drill rods 7, the jacking device 2 descends, the rod delivery device 5 grabs the drill rod 7 and moves it to the rod loading position; when unloading the drill rods, the rod delivery device 5 grabs the drill rod 7 and moves the drill rod 7 to the jacking device 2.

[0023] The rod delivery device 5 includes a shuttle arm 14 and a gripper 15. The gripper 15 is used to grab the drill rod 7. The gripper 15 is arranged at the end of the shuttle arm 14, and the shuttle arm 14 is arranged vertically with the drill frame 8. The shuttle arm 14 is used for telescopic movement, so that the gripper 15 reciprocates between the two points of the loading and unloading rod position and the drill rod box 6. The power device of the shuttle arm 14 is a motor or a cylinder. The shuttle arm 14 is provided with a shuttle arm encoder 12, and the specific position of the shuttle arm 14 can be determined by reading the number of pulses of the shuttle arm encoder 12. The shuttle arm 14 is equipped with an encoder reset limiter 13. When the encoder reset limiter 13 senses the limit, the pulse count of the shuttle arm encoder 12 is reset to zero, thereby eliminating the cumulative error caused by the reciprocating motion of the shuttle arm. The shuttle arm 14 is equipped with an anti-collision limiter 11. When the limit is sensed, the power head shall not continue to push forward beyond the safe area to prevent the power head from moving beyond the safe area and crashing the shuttle arm 14 and the gripper 15. The anti-collision limiter 11 adopts an anti-collision proximity switch to prevent the power head 10 from pushing forward and crashing the gripper 15 in the event of misoperation; The lifting device 2 is provided with a lifting limit sensing plate 1, an ascending limiter 3 and a descending limiter 4; the lifting limit sensing plate 1 rises or falls with the lifting device 2; the ascending limiter 3 is used to sense the rising height of the lifting limit sensing plate 1, and the descending limiter 4 is used to sense the descending height of the lifting limit sensing plate 1; if both the ascending limiter 3 and the descending limiter 4 are powered, it means that the lifting device 2 is in a falling state, if neither is powered, it means that the lifting device 2 is in a rising state, if neither is powered, it means that the lifting device 2 is in an intermediate state of rising or falling. Both the ascending limiter 3 and the descending limiter 4 use proximity switches, and the specific position of the lifting device 2 can be determined by the induction combination of the proximity switches; The power head 10 is the main component of the directional drill, which is used to push, pull, and rotate forward and reverse with the drill rod 7; a power head position sensor 9 is installed on the power head 10 of the drilling frame 8, and the specific position of the power head 10 on the drilling frame 8 can be calculated according to the pulse number of the sensor. The operation state and the execution logic of the subsequent instructions are judged according to the real-time position of the power head 10 combined with the input instructions of the operating handle. Example

[0024] like Figure 2As shown, the electrical unit of the control system of the drilling rod loading and unloading device provided in Example 1 includes: a controller 110 and a power head position sensor input terminal 101, an anti-collision limiter input terminal 102, an ascending limiter input terminal 103, and a descending limiter input terminal 104 connected to the controller 110; a shuttle arm encoder zeroing limit input terminal 105, a shuttle arm encoder input terminal 106, a display input bus terminal 107, an operating handle input bus terminal 108, a drill rod box selection knob input bus terminal 109, a main valve output terminal 111, a gripper grasping output terminal 112, a gripper releasing input terminal 113, a shuttle arm extending output terminal 114, a shuttle arm retracting output terminal 115, a lifting device ascending output terminal 116, and a lifting device descending output terminal 117.

[0025] The operating unit of the control system includes: a drill rod box selection knob, a display and an operating handle; the traditional method of manually plugging and unplugging the pin shaft to change the number of drill rod boxes is improved to a selection knob panel, which switches the number of columns through the panel and automatically locks the retracted stop position of each column shuttle arm in conjunction with the encoder; the real-time position of the power head on the drill frame and the number of columns currently selected by the drill rod box can be visually observed on the display; the operating handle is provided with operating components for retracting the shuttle arm 14, lifting the jacking device 2, and tightening and loosening the gripper 15. The control command of the operating handle is sent back to the controller 110 as an input signal; the controller 110 outputs the output command to each unit after a series of calculations and logical judgments; Controller 110 is the core control element, and the input end: the power head position sensor input terminal 101 is connected to the 213 and 208 pins of the controller 110 and the positive power supply; the anti-collision limiter input terminal 102, the rising limiter input terminal 103, the falling limiter input terminal 104 and the shuttle arm encoder reset limit input terminal 105 are respectively connected to the 138, 168, 218 and 229 pins of the controller 110 and the ground wire; the encoder is a double pulse and is respectively connected to the 255, 133, 132 and 146 pins of the controller 110; the display is connected to the bus CAN1 of the controller 110 and a 120Ω resistor is connected between the two CAN lines; the operating handle and the drill rod box selection knob are connected to the bus CAN2 of the controller 110 and a 120Ω resistor is connected between the two CAN lines.

[0026] like Figure 3As shown, the power unit of the control system includes: an oil tank, a main pump 201, a main valve 202, a solenoid valve group 203, a gripper cylinder 204, a shuttle arm cylinder 205, a lifting cylinder 206 and a main valve output terminal 111; the main valve 202 is connected to the oil tank through the main pump 201; the gripper cylinder 204, the shuttle arm cylinder 205 and the lifting cylinder 206 are connected to the main valve 202 through the solenoid valve group 203 respectively; the main valve output terminal 111 is connected to the controller 110. The main valve 202 is controlled by the 177 output terminal connected to the controller 110; the solenoid valve group 203 of the shuttle arm, gripper and lifting is controlled by the 149, 173, 150, 174, 130 and 131 terminals connected to the controller 110 to control the solenoid valve power supply, thereby realizing the control of the last execution unit gripper cylinder 204, shuttle arm cylinder 205 and lifting cylinder 206. Example

[0027] This embodiment provides a control method for the control system of the drilling rod loading and unloading device described in Embodiment 2, including the following process: When the column selection knob panel is operated to select the column number, the control system will automatically determine the specific position of the shuttle arm retracting according to the selected column number. During the retracting process of the shuttle arm, if it detects that it has reached the stop area, it will stop the action output and close the shuttle arm retracting solenoid valve. In addition, a deceleration area is set during the retracting process of the shuttle arm to reduce the inertia of the shuttle arm when it retracts, preventing the problem of inaccurate final stop position caused by inertia.

[0028] Automatic loading and unloading of drill rods only requires two signals from the operating handle, one is the automatic extension of the shuttle arm, and the other is the automatic retraction of the shuttle arm; these two signals are divided into 4 operating states, among which the automatic extension of the shuttle arm is divided into two states: sending the rod and emptying, and the automatic retraction of the shuttle arm includes two states: unloading the rod and emptying. The control system determines the execution logic of subsequent actions based on the real-time position of the power head and the input signal of the operating handle.

[0029] First, each action and power head position are divided into several states, as follows: The gripper action is divided into two states: gripper tightening A0 and gripper releasing A1; The shuttle arm action is divided into two states: shuttle arm extending B0 and shuttle arm retracting B1; The lifting action is divided into two states - lifting up C0 and lifting down C1; The power head position is divided into three states: the end position of the drilling rig D0, the position for loading and unloading drill rods D1, and other positions D2; A0=1 means the gripper is in the gripping state; A1=1 means the gripper is in the releasing state, and the same applies to other actions and states.

[0030] The shuttle arm automatically extends the command input, the first step is to determine the real-time position of the power head. If the power head is at the end position of the drilling rig D0=1, it is determined that the rod needs to be sent at this time, and the state is the rod sending mode. The initial state of the rod sending mode is as follows Figure 5 A0=1, B1=1, C0=1 must be satisfied, that is, the gripper is gripped, the shuttle arm is retracted, and the top is in the raised state. The second step is to determine whether the shuttle arm is in the retracted state. The number of columns currently selected and the number of pulses of the encoder can be used to determine whether the shuttle arm is in the retracted state. If it is not in the retracted state, it means that the operation is wrong and the subsequent command output is stopped; if so, the third step continues to determine whether the top is in the raised state. If both the top limit 1 and the top limit 2 are not energized, it means that the top is in the raised state. If so, the instructions are executed sequentially to make A1=1, C1=1, A0=1, B0=1 in sequence. Otherwise, the instructions are directly executed sequentially to make A0=1 and B0=1 in sequence.

[0031] The shuttle arm automatically extends the command input. If the first step determines that the power head is in the loading and unloading drill rod position D1=1, it is determined that the unloading rod state needs to be vacated at this time, which is the vacating mode. The initial state of the vacating mode is as follows: Figure 7 The initial state A0=1, B1=1, C0=1 must be satisfied, that is, the gripper is gripped, the shuttle arm is retracted, and the top is raised. At this time, the second step is to first determine whether the shuttle arm is in the retracted state. According to the currently selected column number and the number of pulses of the encoder, it can be determined whether the shuttle arm is in the retracted state. If it is not in the retracted state, it means that the operation is wrong and the subsequent command output is stopped; if so, the third step continues to determine whether the top is in the raised state. If both the top limit 1 and the top limit 2 are not energized, it means that the top is in the raised state. If so, the instructions are executed sequentially to make A1=1 and B0=1 in sequence. Otherwise, the instructions need to be executed sequentially to make A1=1, C0=0, and B0=1 in sequence.

[0032] The shuttle arm automatically retracts the command input. The first step is to determine the real-time position of the power head. If the power head is in the position of loading and unloading the drill rod D1=1, it is determined that it needs to return after loading the drill rod. The initial state of the return mode is as follows: Figure 6 The initial state A1=1, B0=1, C1=1 must be satisfied, that is, the gripper is released, the shuttle arm is extended, and the top is in the landing state. The second step is to determine whether the shuttle arm is in the extended state. If the shuttle arm clears the sensor point, it means that the shuttle arm is in the fully extended state. If not, it means that the operation input command is incorrect and the subsequent command output is stopped; if so, the third step is to determine whether the top is in the landing state. If both the top limit 1 and the top limit 2 are energized, it means that the top is in the landing state. If so, the instructions need to be executed sequentially to make C0=1, B1=1, A0=1 in sequence, otherwise the instructions are directly executed sequentially to make B1=1, A0=1 in sequence.

[0033] The shuttle arm automatically retracts the command input. If the first step determines that the force head position is at the end position of the drill frame D0=1, it is determined that the drill rod needs to be returned after being disassembled. The initial state of the return mode is as follows: Figure 8 The initial state A0=1, B0=1, C0=1 must be met, that is, the gripper is grasped, the shuttle arm is extended, and the top is raised. At this time, the second step is to determine whether the shuttle arm is in the extended state. If the shuttle arm clears the sensor point, it means that the shuttle arm is in the fully extended state. If not, it means that the operation input command is incorrect and the subsequent command output is stopped; if so, the third step is to determine whether the top is in the raised state. If both the top limit 1 and the top limit 2 are not energized, it means that the top is in the raised state. If so, it is necessary to execute the instructions in sequence to make C1=1, A0=1, B1=1, A1=1, C0=1, A0=1 in sequence, otherwise directly execute the instructions in sequence to make A0=1, B1=1, A1=1, C0=1, A0=1 in sequence.

[0034] According to the above invention, when installing the drill rod, it is only necessary to move the power head to the end position D0=1 of the power head, at which time the operating shuttle arm automatically extends, automatically determines the state of sending the rod and executes subsequent instructions; after the rod is sent, the power head moves forward to the position D1=1 for loading and unloading the drill rod, the recognition is completed, the operating shuttle arm automatically retracts, and automatically determines the empty return state to execute subsequent instructions. Similarly, when disassembling the drill rod, the power head first runs to the position D1=1 for loading and unloading the drill rod, at which time the operating shuttle arm automatically extends, automatically identifies the empty mode for disassembling the drill rod and executes subsequent instructions, and after the unloading is completed, the power head moves back to the end position D0=1 of the power head, the operating shuttle arm automatically retracts, and automatically determines the state of returning the rod and executes subsequent instructions.

[0035] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. At the same time, in the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. And in the drawings of the present invention, the filling pattern is only to distinguish the layers, without any other limitation.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drill rod loading and unloading device based on a drill rod box, characterized in that: include: A drill stand (8), and a jacking device (2), a rod delivery device (5), a drill rod box (6), a drill rod (7), a drill stand (8), and a power head (10) arranged on the drill stand (8); the power head (10) is arranged at the end of the drill rod box (6); a plurality of rows of drill rods (7) are arranged in the drill rod box (6); the bottom of the drill rod box (6) is hollowed out; the jacking device (2) and the rod delivery device (5) are alternately arranged at the bottom of the drill rod box (6); the jacking device (2) is used to jack up a plurality of rows of drill rods (7) to rise or fall; the rod delivery device (5) is used to: when loading the rods, when the jacking device (2) reaches below a predetermined row of drill rods (7), the rod delivery device (5) descends, and the drill rod (7) is grasped and moved to a loading position; when unloading the rods, the rod delivery device (5) grasps the drill rods (7) and moves the drill rods (7) to the jacking device (2).

2. The drill rod loading and unloading device based on the drill rod box according to claim 1 is characterized in that: The rod delivery device (5) comprises a shuttle arm (14) and a gripper (15); the gripper (15) is used to grip the drill rod (7); the gripper (15) is arranged at the end of the shuttle arm (14), and the shuttle arm (14) is used to extend and retract so that the gripper (15) reciprocates between two points predetermined in a row with the drill rod box (6) at a rod loading and unloading position.

3. The drill rod loading and unloading device based on the drill rod box according to claim 2 is characterized in that: The rod delivery device (5) is provided with an anti-collision limiter (11), and the anti-collision limiter (11) is used to limit the travel of the shuttle arm (14) to avoid collision with the gripper (15).

4. The drill rod loading and unloading device based on the drill rod box according to claim 3 is characterized in that: The rod feeding device (5) is provided with a shuttle arm encoder (12), and the shuttle arm encoder (12) is used to collect pulses to determine the telescopic length of the shuttle arm (14).

5. The drill rod loading and unloading device based on the drill rod box according to claim 4 is characterized in that: The rod feeding device (5) is provided with a shuttle arm encoder zeroing stopper (13); the shuttle arm encoder zeroing stopper (13) is used to clear the number of pulses collected by the shuttle arm encoder (12).

6. The drill rod loading and unloading device based on the drill rod box according to claim 5, characterized in that: The jacking device (2) is provided with a jacking limit sensing plate (1), an ascending limiter (3) and a descending limiter (4); the jacking limit sensing plate (1) rises or falls along with the jacking device (2); the ascending limiter (3) is used to sense the rising height of the jacking limit sensing plate (1), and the descending limiter (4) is used to sense the descending height of the jacking limit sensing plate (1).

7. The drill rod loading and unloading device based on the drill rod box according to claim 6, characterized in that: It also includes a power head position sensor (9), wherein the power head position sensor (9) is used to sense the position of the power head (10).

8. A control system for loading and unloading drill rods based on a drill rod box, characterized in that: The control system is used to control the drill rod loading and unloading device according to claim 7; the control system comprises: a drill rod box column selection knob, a display and an operating handle; the display is used to display the column number selected by the drill rod box column selection knob; the operating handle is provided with operating components for retracting the shuttle arm (14), lifting the jacking device (2) and tightening and releasing the gripper (15).

9. The control system for loading and unloading drill rods based on a drill rod box according to claim 8, characterized in that: Also includes: A controller (110) and a power head position sensor input terminal (101), an anti-collision limiter input terminal (102), an ascending limiter input terminal (103), and a descending limiter input terminal (104) connected to the controller (110); a shuttle arm encoder zeroing limiter input terminal (105), a shuttle arm encoder input terminal (106), a display input bus terminal (107), an operating handle input bus terminal (108), a drill rod box selection knob input bus terminal (109), a gripper grasping output terminal (112), a gripper releasing input terminal (113), a shuttle arm extending output terminal (114), a shuttle arm retracting output terminal (115), a lifting device ascending output terminal (116), and a lifting device descending output terminal (117).

10. The control system for loading and unloading drill rods based on a drill rod box according to claim 9, characterized in that: The invention comprises an oil tank, a main pump (201), a main valve (202), a solenoid valve group (203), a gripper oil cylinder (204), a shuttle arm oil cylinder (205), a lifting oil cylinder (206) and a main valve output terminal (111); the main valve (202) is connected to the oil tank via the main pump (201); the gripper oil cylinder (204), the shuttle arm oil cylinder (205) and the lifting oil cylinder (206) are respectively connected to the main valve (202) via the solenoid valve group (203); and the main valve output terminal (111) is connected to a controller (110).

11. The control system for loading and unloading drill rods based on a drill rod box according to claim 9, characterized in that: It comprises a shuttle arm power motor, and the shuttle arm power motor is used to drive the shuttle arm (14) to extend and retract.

12. The control method of the control system of the drill rod box-based loading and unloading drill rod device according to claim 10, characterized in that: include: The shuttle arm (14) extension command is input, and if the power head (10) is at the end position of the drilling frame (8), it is determined that the rod needs to be installed at this time; whether the shuttle arm (14) is in the retracted state is determined according to the number of columns currently selected by the drilling rod (7) and the number of pulses of the shuttle arm encoder (12), and if the shuttle arm (14) is not in the retracted state, the subsequent command output is stopped; if the shuttle arm (14) is in the retracted state, it is continued to determine whether the jacking device (2) is in the raised state, and if both the rising limiter (3) and the falling limiter (4) are not energized, it means that the jacking device (2) is in the raised state, and the commands of the gripper (15) releasing, the jacking device (2) descending, the gripper (15) grasping the drilling rod (7), and the shuttle arm (14) extending are executed in sequence, otherwise the commands of the gripper (15) grasping the drilling rod (7) and the shuttle arm (14) extending are executed in sequence; The shuttle arm (14) extension command is input. If the power head (10) is in the position for loading and unloading the drill rod, it is determined that the rod needs to be unloaded at this time. The initial state needs to be satisfied, the gripper (15) is gripped, the shuttle arm (14) is retracted, and the lifting device (2) is raised. According to the number of columns currently selected by the drill rod (7) and the number of pulses of the shuttle arm encoder (12), it is determined whether the shuttle arm (14) is in the retracted state. If the shuttle arm (14) is not in the retracted state, the subsequent command output is stopped. If the shuttle arm (14) is in the retracted state, it is continued to determine whether the lifting device (2) is in the raised state. If both the rising limiter (3) and the falling limiter (4) are not energized, it means that the lifting device (2) is in the raised state. Then, the command gripper (15) is released and the shuttle arm (14) is extended. Otherwise, the command needs to be executed in sequence to release the gripper (15), raise the lifting device (2), and extend the shuttle arm (14). The shuttle arm (14) retracts a command input. If the power head (10) is in the position for loading and unloading the drill rod, it is determined that an empty return is required after loading the drill rod, and the initial state of the gripper (15) is released, the shuttle arm (14) is extended, and the lifting device (2) is in the lowered state; if the shuttle arm encoder zeroing limiter (13) clears the number of pulses collected by the shuttle arm encoder (12), it means that the shuttle arm (14) is in the fully extended state, otherwise the subsequent command output is stopped; if the rising limiter (3) and the falling limiter (4) are both energized, it means that the lifting device (2) is in the lowered state, and the commands are executed sequentially to make the lifting device (2) rise, the shuttle arm (14) retract, and the gripper (15) grip; otherwise, the commands are executed sequentially to make the shuttle arm (14) retract and the gripper (15) grip; The shuttle arm (14) retracts a command input. If the power head (10) is at the end position of the drilling rig, it is determined that the drill rod needs to be retracted after being disassembled. The initial state needs to be met: the gripper (15) is gripped, the shuttle arm (14) is extended, and the jacking device (2) is raised. If the shuttle arm encoder reset limiter (13) resets the number of pulses collected by the shuttle arm encoder (12), it means that the shuttle arm (14) is in a fully extended state. Otherwise, the subsequent command output is stopped. If the rising limiter (13) resets the number of pulses collected by the shuttle arm encoder (12), it means that the shuttle arm (14) is in a fully extended state. Otherwise, the subsequent command output is stopped. If both the stopper (3) and the lowering limiter (4) are not energized, it means that the jacking device (2) is in the raised state, and the instructions are sequentially executed: the jacking device (2) is lowered, the gripper (15) is gripped, the shuttle arm (14) is retracted, the gripper (15) is released, the jacking device (2) is raised, and the gripper (15) is gripped; otherwise, the instructions are sequentially executed: the gripper (15) is gripped, the shuttle arm (14) is retracted, the gripper (15) is released, the jacking device (2) is raised, and the gripper (15) is gripped.

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