A pipe handling device based on a pipe rack, a control system and a control method

Abstract

The application discloses a kind of based on drilling rod box's loading and unloading drilling rod device, control system and control method, comprising: drill stand and be located on the jacking device of the drill stand, rod feeding device, drilling rod box, drill rod, drill stand and power head;The power head is located at the end of drilling rod box;Several columns of drill rods are provided in the drilling rod box, the bottom of the drilling rod box is hollow, the jacking device and rod feeding device are staggered and arranged at the bottom of the drilling rod box, and the jacking device is used to jack several columns of drill rods to rise or fall;When loading rod, the rod feeding device reaches below the predetermined column of drill rods, the jacking device is lowered, the rod feeding device grabs the drill rod and moves to the loading position;When unloading rod, the rod feeding device grabs the drill rod and moves the drill rod to the jacking device. So that the input operation instruction of disassembling or installing drill rod is simplified, and the application can automatically judge whether it is a misoperation, and stop subsequent command output, improve the construction quality and construction safety.

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, control system and 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] Currently, 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 installing or removing 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 drill rod box-based loading and unloading device, comprising: a drill rig and a jacking device, a rod feeding device, a drill rod box, a drill rod, a drill rig and a power head arranged on the drill rig; the power head is arranged at the end 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 staggeredly arranged at the bottom of the drill rod box, the jacking device is used to jack up or down a plurality of rows of drill rods; the rod feeding device is used to: when loading the drill rods, the jacking device reaches below a predetermined row of drill rods, the rod feeding device descends, the rod feeding device grabs the drill rods and moves them to the loading position; when unloading the drill 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 between the rod loading and unloading position and the drill rod box.

[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 collision with the gripper.

[0009] Furthermore, the feeding rod 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 clearing limiter; the shuttle arm encoder clearing 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 falls 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, a power head position sensor is included, 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 being used to control the above-mentioned loading and unloading drill rod device; the control system comprising: a drill rod box column selection knob, a display and an operating handle; the display being used to display the number of columns selected by the drill rod box column selection knob; the operating handle being provided with operating components for extending and 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 clear 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 oil cylinder, a shuttle arm oil cylinder, a lifting oil cylinder and a main valve output terminal; the main valve is connected to the oil tank through the main pump; the gripper oil cylinder, the shuttle arm oil cylinder and the lifting oil 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 includes 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 further provides a control method for a control system of a drill rod box-based loading and unloading drill rod device, comprising:

[0018] 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; based on 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 further determined 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: the gripper releases, the jacking device descends, the gripper grasps the drill rod, and the shuttle arm extends. Otherwise, the commands are sequentially executed: the gripper grasps the drill rod and the shuttle arm extends.

[0019] 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. The initial state needs to be met, the gripper is gripped, the shuttle arm is retracted, and the jacking device is raised. 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 of releasing the gripper and extending the shuttle arm are executed in sequence. Otherwise, the commands need to be executed in sequence to release the gripper, raise the jacking device, and extend the shuttle arm.

[0020] The shuttle arm retraction command is input. If the power head is in the position of loading and unloading the drill rod, it is judged that it needs to return to idle after loading the drill rod. 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 the 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 the lowered state. The commands are executed sequentially to make the lifting device rise, the shuttle arm retract, and the gripper tighten. Otherwise, the commands are executed sequentially to retract the shuttle arm and tighten the gripper.

[0021] The shuttle arm retraction command is 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 tightened, 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 tightening, shuttle arm retracting, gripper releasing, jacking device rising, and gripper tightening are executed in sequence. Otherwise, the commands of gripper tightening, shuttle arm retracting, gripper releasing, jacking device rising, and gripper tightening are executed in sequence.

[0022] The present invention has the beneficial effects:

[0023] This invention simplifies the input of operational instructions for removing or installing drill rods. Simply pressing a button twice automatically executes all drill rod removal or installation instructions from the drill rod box, significantly simplifying the process. Furthermore, the invention can automatically determine if an operation is incorrect and stop outputting subsequent instructions, significantly improving construction quality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the main structure of the drill rod loading and unloading device based on the drill rod box of the present invention;

[0025] Figure 2 It is a left side schematic diagram of the structure of the drill rod loading and unloading device based on the drill rod box of the present invention;

[0026] Figure 3 This is a schematic diagram of the electrical structure of the control system of the drill rod box-based drilling rod loading and unloading device of the present invention;

[0027] Figure 4 This is a schematic diagram of the hydraulic structure of a control system for a drill rod loading and unloading device based on a drill rod box according to the present invention;

[0028] Figure 5 1. It is a flow chart of a rod delivery mode of a control method of a control system of a drill rod box-based loading and unloading device of the present invention;

[0029] Figure 6 1. It is a flowchart 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;

[0030] Figure 7 1. It is a schematic flow chart of the control method of the control system of the drilling rod box-based loading and unloading device in the empty mode of the present invention;

[0031] Figure 8 The present invention is a flow chart of the rod return mode of the control method of the control system of the drill rod box-based loading and unloading device.

[0032] Reference numerals:

[0033] 1. Lifting limit sensor plate; 2. Lifting device; 3. Ascending limiter; 4. Descending 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 reset limiter; 14. Shuttle arm; 15. Gripper; 101. Power head position sensor input terminal; 102. Anti-collision limiter input terminal; 103. Ascending limiter input terminal; 104. Descending limiter input terminal; 105. Shuttle arm encoder reset limiter input terminal; 106. Shuttle arm 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 grip output terminal; 113, gripper release input terminal; 114, shuttle arm extension output terminal; 115, shuttle arm retraction output terminal; 116, jacking output terminal; 117, jacking output terminal; 201, main pump; 202, main valve; 203, solenoid valve group; 204, gripper cylinder; 205, shuttle arm cylinder; 206, jacking cylinder. DETAILED DESCRIPTION

[0034] 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 solutions of the present invention and are not intended to limit the scope of protection of the present invention. Example

[0035] like Figure 1 As shown, this embodiment provides a drill rod loading and unloading device based on a drill rod box, comprising: a drill rig 8 and a jacking device 2, a rod delivery device 5, a drill rod box 6, a drill rod 7, a drill rig 8 and a power head 10 arranged on the drill rig 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 staggered at the bottom of the drill 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 both ends of the bottom of the drill rod 7, and the two rod feeding devices 5 are located between the two jacking devices 2 of the drill rod 7; the jacking device 2 is used to jack up or down several rows of drill rods 7; the rod feeding device 5 is used to: when loading the drill rods, when it reaches the bottom of the predetermined row of drill rods 7, the jacking device 2 descends, and the rod feeding device 5 grabs the drill rods 7 and moves them to the loading position; when unloading the drill rods, the rod feeding device 5 grabs the drill rods 7 and moves the drill rods 7 to the jacking device 2.

[0036] The rod feeding device 5 comprises a shuttle arm 14 and a gripper 15. The gripper 15 is used to grasp the drill rod 7. The gripper 15 is located at the end of the shuttle arm 14, which is perpendicular to the drill rig 8. The shuttle arm 14 is designed to extend and reciprocate between the gripper 15 and the drill rod box 6 at two predetermined points between the loading and unloading locations. The shuttle arm 14 is powered by a motor or a hydraulic cylinder. The shuttle arm 14 is equipped with a shuttle arm encoder 12, which reads the pulse count of the shuttle arm encoder 12 to determine its specific position. An encoder reset limiter 13 is installed on the shuttle arm 14. When the encoder reset limiter 13 senses a limit, it resets the pulse count of the shuttle arm encoder 12 to zero, thereby eliminating the accumulated error caused by the shuttle arm's reciprocating motion. The shuttle arm 14 is also equipped with an anti-collision limiter 11. When this limit is sensed, the power head cannot be pushed further beyond the safe zone, preventing it from crashing into the shuttle arm 14 and gripper 15. The anti-collision limiter 11 adopts an anti-collision proximity switch to prevent the power head 10 from pushing forward and crashing into the gripper 15 in the event of misoperation;

[0037] 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 energized, it indicates that the lifting device 2 is in a falling state; if neither is energized, it indicates that the lifting device 2 is in a rising state; if neither is energized, it indicates that the lifting device 2 is in an intermediate state between ascending and descending. 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;

[0038] The power head 10 is the main component of a directional drill, used to push, pull, and reverse the drill rod 7. A power head position sensor 9 is mounted on the drill rig 8. The sensor's pulse count determines the specific position of the power head 10 on the drill rig 8. The real-time position of the power head 10, combined with input from the operating handle, determines the operating status and execution logic of subsequent commands. Example

[0039] like Figure 2As shown, the electrical unit of the control system of the drill rod loading and unloading device provided in Example 1 in this embodiment 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 zero 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.

[0040] The control system's operating unit includes a drill rod box selection knob, a display, and an operating handle. The traditional manual insertion and removal of pins to change the number of drill rod box rows is improved to a selection knob panel. The panel switches the number of rows, and an encoder automatically locks the retraction stop position of each row's shuttle arm. The display visualizes the power head's real-time position on the drill rig and the currently selected row number of the drill rod box. The operating handle includes operating components for extending and retracting the shuttle arm 14, raising and lowering the jacking device 2, and tightening and loosening the gripper 15. The operating handle's control commands are transmitted back to the controller 110 as input signals. After a series of calculations and logical judgments, the controller 110 outputs the commands to each unit.

[0041] The controller 110 is the core control component, 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 descending limiter input terminal 104 and the shuttle arm encoder clear 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 dual pulse connected to the 255, 133, 132 and 146 pins of the controller 110 respectively; 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.

[0042] like Figure 3As shown, the control system's power unit includes: a fuel tank, a main pump 201, a main valve 202, a solenoid valve group 203, a gripper cylinder 204, a shuttle arm cylinder 205, a jacking cylinder 206, and a main valve output terminal 111. The main valve 202 is connected to the fuel tank via the main pump 201; the gripper cylinder 204, the shuttle arm cylinder 205, and the jacking cylinder 206 are each connected to the main valve 202 via the solenoid valve group 203; and the main valve output terminal 111 is connected to the controller 110. The main valve 202 is controlled by output terminal 177 connected to the controller 110. The solenoid valve group 203 for the shuttle arm, gripper, and jacking cylinder is energized by terminals 149, 173, 150, 174, 130, and 131 connected to the controller 110, thereby controlling the gripper cylinder 204, the shuttle arm cylinder 205, and the jacking cylinder 206, the final actuator units. Example

[0043] This embodiment provides a control method for the control system of the drill rod loading and unloading device described in Example 2, including the following process:

[0044] After selecting a row number using the row selector knob, the control system automatically determines the specific position of the shuttle arm retraction based on the selected row number. During the retraction process, if the control system detects that the shuttle arm has reached the stop zone, it stops the motion output and closes the shuttle arm retraction solenoid valve. In addition, a deceleration zone is set during the retraction process to reduce the shuttle arm's inertia during retraction, preventing inaccurate final stop position caused by inertia.

[0045] Automatic drill rod loading and unloading requires only two signals from the operating handle: one for the shuttle arm to automatically extend and the other for its automatic retraction. These two signals are divided into four operating states: automatic shuttle arm extension has two states: rod delivery and rod release, while automatic shuttle arm retraction has two states: rod unloading and rod return. The control system determines the subsequent action execution logic based on the real-time position of the power head and the input signals from the operating handle.

[0046] First, each action and power head position is divided into several states, as follows:

[0047] The gripper action is divided into two states: gripper gripping A0, gripper releasing A1;

[0048] The shuttle arm action is divided into two states: shuttle arm extends B0, shuttle arm retracts B1;

[0049] The jacking action is divided into two states - jacking up C0 and jacking down C1;

[0050] The power head position is divided into three states: the end position of the drill frame D0, the position for loading and unloading drill rods D1, and other positions D2;

[0051] 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.

[0052] 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 drill frame 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, and C0=1 must be satisfied, indicating that the gripper is gripping, the shuttle arm is retracted, and the jack is in the raised state. The second step is to determine whether the shuttle arm is in the retracted state. This is determined based on the currently selected column number and the encoder pulse count. If it is not retracted, the operation is incorrect and subsequent command output is stopped. If so, the third step continues to determine whether the jack is in the raised state. If both jack limit 1 and jack limit 2 are de-energized, the jack is in the raised state. If so, the commands are executed sequentially to set A1=1, C1=1, A0=1, and B0=1. Otherwise, the commands are executed directly to set A0=1 and B0=1.

[0053] The shuttle arm automatically extends the command input. If the first step determines that the power head position is in the drilling rod loading and unloading position D1=1, it is determined that the unloading 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 states A0=1, B1=1, and C0=1 must be met, indicating that the gripper is gripping, the shuttle arm is retracted, and the jack is raised. The second step is to determine whether the shuttle arm is retracted. This is determined based on the currently selected column number and the encoder pulse count. If it is not retracted, the operation is incorrect and subsequent command output is stopped. If so, the third step is to determine whether the jack is raised. If both jack limit 1 and jack limit 2 are de-energized, the jack is raised. If so, the commands are executed sequentially to set A1=1 and B0=1. Otherwise, the commands are executed sequentially to set A1=1, C0=0, and B0=1.

[0054] 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 drill rod loading and unloading position 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 states A1=1, B0=1, and C1=1 must be met, indicating that the gripper is released, the shuttle arm is extended, and the jack is in the lowering 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 fully extended. If not, it indicates that the operation input command is incorrect and subsequent command output is stopped. If so, the third step is to determine whether the jack is in the lowering state. If both jack limit 1 and jack limit 2 are energized, it means that the jack is in the lowering state. If so, the instructions must be executed sequentially to make C0=1, B1=1, and A0=1. Otherwise, the instructions must be executed sequentially to make B1=1 and A0=1.

[0055] 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 rack D0=1, it is determined that the drill rod needs to be returned after being removed. The initial state of the return rod mode is as follows: Figure 8 The initial states A0=1, B0=1, and C0=1 must be met, meaning the gripper is gripping, the shuttle arm is extending, and the jack is in the raised 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 indicates that the shuttle arm is fully extended. If not, the input command is incorrect and subsequent command output is stopped. If so, the third step is to determine whether the jack is in the raised state. If both jack limit 1 and jack limit 2 are de-energized, it indicates that the jack is in the raised state. If so, the commands must be executed sequentially to achieve C1=1, A0=1, B1=1, A1=1, C0=1, and A0=1. Otherwise, the commands must be executed directly to achieve A0=1, B1=1, A1=1, C0=1, and A0=1.

[0056] According to the above invention, when installing a drill rod, the power head only needs to be moved to the power head end position D0=1. At this point, the operating shuttle arm automatically extends, automatically determines the rod delivery status, and executes subsequent instructions. After the rod delivery is completed, the power head advances to the drill rod loading and unloading position D1=1, the recognition is completed, the operating shuttle arm automatically retracts, and automatically determines the empty return status to execute subsequent instructions. Similarly, when removing a drill rod, the power head first moves to the drill rod loading and unloading position D1=1. At this point, the operating shuttle arm automatically extends, automatically identifies the empty release mode for drill rod removal, and executes subsequent instructions. After the unloading is completed, the power head moves back to the power head end position D0=1. The operating shuttle arm automatically retracts, automatically determines the rod return status, and executes subsequent instructions.

[0057] It is to be understood that the terminology used herein such as first and second, and the like, is only intended to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Also, in the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application. In the drawings of the present application, the filling patterns are only for distinguishing layers, and do not have any other limitations.

[0058] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, alternatives, and variations can be made in the embodiments without departing from the spirit and scope of the present application as 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 staggeredly 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 the drill rod (7) is loaded and unloaded, the rod delivery device (5) grabs the drill rod (7) and moves it to the loading position. When the drill rod (7) is loaded and unloaded, the rod delivery device (5) grabs the drill rod (7) and moves it to the lifting device (2). The rod delivery device (5) comprises a shuttle arm (14) and a gripper (15). The gripper (15) is used to grab the drill rod (7). The gripper (15) is provided at the end of the shuttle arm (14). The shuttle arm (14) is used to extend and retract so that the gripper (15) can be moved during loading and unloading. The rod position and the drill rod box (6) are arranged in a predetermined sequence and reciprocate at two points; the rod feeding device (5) is provided with an anti-collision limiter (11), and the anti-collision limiter (11) is used to limit the stroke of the shuttle arm (14) to avoid hitting the gripper (15); 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); it is characterized in that the rod feeding device (5) is provided with a shuttle arm encoder zero limiter (13); the shuttle arm encoder zero limiter (13) is used to The number of pulses collected by the shuttle arm encoder (12) is reset; 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 along 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); and a power head position sensor (9) is also included, and the power head position sensor (9) is used to sense the position of the power head (10); The shuttle arm (14) extends the command input. If the power head (10) is at the end position of the drill frame (8), it is determined that the rod needs to be installed at this time; according to the number of columns selected by the current 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 jacking 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 jacking device (2) is in the raised state, and the command gripper (15) is released, the jacking device (2) is lowered, the gripper (15) grasps the drill rod (7), and the shuttle arm (14) is extended. Otherwise, the command gripper (15) grasps the drill rod (7) and the shuttle arm (14) is extended. The shuttle arm (14) extends the command input. If the power head (10) is in the position of loading and unloading the drill rod, it is judged that the rod needs to be unloaded at this time. The initial state needs to be met, the gripper (15) is gripped, the shuttle arm (14) is retracted, and the lifting device (2) is raised. According to the number of columns selected by the current drill rod (7) and the number of pulses of the shuttle arm encoder (12), it is judged 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 judge 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 the command input. If the power head (10) is in the position for loading and unloading the drill rod, it is determined that the drill rod needs to be loaded and unloaded at this time. The initial state of the gripper (15) is released, the shuttle arm (14) is extended, and the lifting device (2) is in the lowering state. 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 the fully extended state. Otherwise, the subsequent command output is stopped. If the rising limiter (3) and the falling limiter (4) are all energized, it means that the lifting device (2) is in the lowering state. The sequential execution of the command causes the lifting device (2) to rise, the shuttle arm (14) to retract, and the gripper (15) to tighten. Otherwise, the sequential execution of the command causes the shuttle arm (14) to retract and the gripper (15) to tighten. The shuttle arm (14) retracts the command input. If the power head (10) is at the end position of the drill frame, it is determined that the drill rod needs to be returned after being disassembled. The initial state of the gripper (15) is required to be grasped, 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 the fully extended state. Otherwise, the subsequent command output is stopped. If the rising limit If the positioner (3) and the lowering limiter (4) are all not energized, it means that the jacking device (2) is in the raised state, and the instructions for the jacking device (2) are sequentially executed: the jacking device (2) is lowered, the gripper (15) is tightened, the shuttle arm (14) is retracted, the gripper (15) is released, the jacking device (2) is raised, and the gripper (15) is tightened. Otherwise, the instructions for the gripper (15) is tightened, the shuttle arm (14) is retracted, the gripper (15) is released, the jacking device (2) is raised, and the gripper (15) is tightened are sequentially executed.

2. 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 1; 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 extending and retracting the shuttle arm (14), raising and lowering the jacking device (2) and tightening and releasing the gripper (15).

3. The control system for loading and unloading drill rods based on a drill rod box according to claim 2, 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 zero 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 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).

4. The control system for loading and unloading drill rods based on a drill rod box according to claim 3, 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).

5. The control system for loading and unloading drill rods based on a drill rod box according to claim 3, 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.

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