Control method and system of drill pipe warehouse mechanism, electronic equipment and storage medium

Abstract

The invention discloses a control method and system of a drill pipe warehouse mechanism, electronic equipment and a storage medium, and belongs to the technical field of drilling machines. The drill rod warehouse mechanism comprises an upper support, a lower support, a center rod, a rotating oil cylinder, a positioning disc chuck, a supporting plate and a mechanical arm, the upper support, the lower support and the mechanical arm are installed on a mast of the drilling machine, the center rod is rotatably installed between the upper support and the lower support, the rotating oil cylinder is connected with the center rod, and the positioning disc chuck and the supporting plate are fixedly installed on the center rod. The positioning disc chuck comprises a plurality of drill rod clamping positions, the positioning disc chuck is used for limiting the alternative drill rods borne by the supporting plate to the corresponding drill rod clamping positions, and the upper support and the lower support are provided with inlets and outlets allowing the drill rods to pass through at the same positions. And the rotary oil cylinder, the manipulator and the power head are controlled to perform rod replacement operation on the alternative drill rods. Automatic rod replacement can be achieved, and the working efficiency of the drilling machine is improved.

Description

Technical Field

[0001] The present application relates to the technical field of drilling rigs, and in particular to a control method, system, electronic equipment and storage medium for a drill rod storage mechanism. Background Art

[0002] Drilling rigs such as open-pit drilling rigs, down-the-hole drilling rigs, and rotary drilling rigs can be used for rock drilling in various projects such as open-pit mining, building foundation excavation, water conservancy, power stations, building materials, and transportation. During the construction of the drilling rig, especially when drilling medium-deep holes in large mines, it is often necessary to repeatedly connect, unload, and replace the rod because the drilling depth is greater than the maximum depth of a single drill rod. This operation is very complicated, and some machines even use manpower to replace the rod, which has low work efficiency and poor construction safety.

[0003] Therefore, how to realize automatic rod changing and improve the working efficiency of the drilling rig is a technical problem that technicians in this field currently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a control method, system, electronic equipment and storage medium for a drill rod storage mechanism, which can realize automatic rod replacement and improve the working efficiency of the drilling rig.

[0005] In order to solve the above technical problems, the present application provides a control method for a drill rod storage mechanism, the drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning disc, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning disc and the pallet are fixedly installed on the center rod, the positioning disc comprises a plurality of drill rod clamping positions, the positioning disc is used to limit the alternative drill rod carried by the pallet to the corresponding drill rod clamping position, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rod to pass through at the same position, and the control method of the drill rod storage mechanism comprises:

[0006] If a departure instruction is received, the rotary cylinder is controlled to drive the center rod to rotate around the central axis, so that the alternative drill rod in the drill rod clamping position is rotated to a position corresponding to the entrance and exit;

[0007] Controlling the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod;

[0008] Controlling the manipulator to swing to a second preset position so that the drilling rig connects the power head to the tail of the alternative drill rod; wherein the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head;

[0009] The manipulator is controlled to release the alternative drill rod and swing to the initial position.

[0010] Optionally, also include:

[0011] If a storage instruction is received, the power head is controlled to lift the drill rod to be stored to a third preset position, and disconnect the drill rod to be stored from other drill rods;

[0012] Controlling the manipulator to swing to the second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored;

[0013] Determine whether there is an idle drill rod position at the position corresponding to the entrance and exit;

[0014] If yes, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position;

[0015] If not, the rotary cylinder is controlled to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at a position corresponding to the inlet and outlet;

[0016] After the drill rod to be stored is placed in the idle drill rod clamping position, the manipulator is controlled to release the drill rod to be stored and swing to the initial position.

[0017] Optionally, during the process of unloading, controlling the rotary cylinder to drive the central rod to rotate around the central axis includes:

[0018] Control the rotary cylinder to drive the center rod to rotate positively around the central axis by a preset angle; wherein the preset angle is the angular interval between adjacent drill rod clamping positions;

[0019] Correspondingly, during the storage process, after the drill rod to be stored is placed in the idle drill rod clamping position, the method further includes:

[0020] The rotary cylinder is controlled to drive the center rod to rotate in the opposite direction around the central axis by the preset angle.

[0021] Optionally, the positioning faceplate includes N drill rod positions, and the N drill rod positions are evenly distributed at preset angle intervals, N ≥ 2; the support plate is provided with N proximity switch trigger devices, and the N proximity switch trigger devices are evenly distributed at preset angle intervals, and the lower bracket is provided with a drill rod warehouse proximity switch;

[0022] Correspondingly, it also includes:

[0023] Determining whether the proximity switch is triggered by the drill rod library proximity switch triggering device;

[0024] If so, it is determined that the drill rod is rotated to a position corresponding to the entrance and exit.

[0025] Optionally, after the drilling rig connects the power head to the tail of the alternative drill rod, the method further includes:

[0026] Determine whether the drilling rig has a need for a connecting rod;

[0027] If so, the manipulator is controlled to clamp the alternative drill rod according to preset conditions, so that the head of the alternative drill rod is connected to the tail of the previous drill rod under the drive of the power head.

[0028] Optionally, the manipulator includes a claw, a claw cylinder and a swing cylinder; the claw cylinder is used to control the claw to clamp or release the drill rod, and the swing cylinder is used to control the claw to swing.

[0029] The present application also provides a control method for a drill rod storage mechanism, the drill rod storage mechanism comprising an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rods carried by the pallet to the corresponding drill rod clamping positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control method of the drill rod storage mechanism comprises:

[0030] If a storage instruction is received, the power head of the drilling rig is controlled to lift the drill rod to be stored to a third preset position, and disconnect the drill rod to be stored from other drill rods;

[0031] Controlling the manipulator to swing to a second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored;

[0032] Determine whether there is an idle drill rod position at the position corresponding to the entrance and exit;

[0033] If yes, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position;

[0034] If not, the rotary cylinder is controlled to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at a position corresponding to the inlet and outlet;

[0035] After the drill rod to be stored is placed in the idle drill rod clamping position, the manipulator is controlled to release the drill rod to be stored and swing to an initial position.

[0036] The present application also provides a control system for a drill rod storage mechanism, the drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rods carried by the pallet to the corresponding drill rod clamping positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control system of the drill rod storage mechanism comprises:

[0037] A rotation control module is used to control the rotary cylinder to drive the center rod to rotate around the central axis if a departure instruction is received, so that the alternative drill rod in the drill rod position is rotated to a position corresponding to the entrance and exit;

[0038] A rod taking control module, used for controlling the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod;

[0039] A rod placing control module, used to control the manipulator to swing to a second preset position so that the drilling rig connects the power head with the tail of the alternative drill rod; wherein the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head;

[0040] The first resetting module is used to control the manipulator to release the alternative drill rod and swing to the initial position.

[0041] The present application also provides a control system for a drill rod storage mechanism, the drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rods carried by the pallet to the corresponding drill rod clamping positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control system of the drill rod storage mechanism comprises:

[0042] A lifting control module, for controlling the power head of the drilling rig to lift the drill rod to be stored to a third preset position and disconnecting the drill rod to be stored from other drill rods if a storage instruction is received;

[0043] A clamping control module, used for controlling the manipulator to swing to a second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored;

[0044] The storage module is used to determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; if there is an idle drill rod position, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; if there is no idle drill rod position, control the rotary cylinder to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the entrance and exit;

[0045] The second resetting module is used to control the manipulator to release the drill rod to be stored and swing it to an initial position after the drill rod to be stored is placed in the idle drill rod clamping position.

[0046] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the control method for the drill rod storage mechanism are implemented.

[0047] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the control method of the drill rod storage mechanism are implemented.

[0048] In summary, the present application provides a control method for a drill rod storage mechanism, the drill rod storage mechanism used in the method includes an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate includes a plurality of drill rod positions, the positioning faceplate is used to limit the alternative drill rod carried by the pallet to the corresponding drill rod position, and the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rod to pass through at the same position. When receiving a depot instruction, the present application controls the rotating oil cylinder to drive the center rod to rotate, and rotates the alternative drill rod to the entrance and exit. The manipulator is controlled to swing from the initial position to the first preset position and clamp the alternative drill rod, and then the manipulator continues to swing to the second preset position to ensure that the central axis of the alternative drill rod coincides with the central axis of the power head, so as to facilitate the quick connection between the power head and the tail of the drill rod. After the power head and the alternative drill rod are connected, the manipulator releases the alternative drill rod and returns to the initial position. The above process can realize automatic rod changing, improve the working efficiency of the drilling rig, and meet the needs of efficient drilling operations. The present application also provides a control system for a drill rod library mechanism, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A flow chart of a control method for a drill rod storage mechanism provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of an automatic loading and unloading drill rod warehouse provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of an upper bracket structure provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the structure of a support plate and a proximity switch trigger device provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the control principle of an automatic rod loading and unloading control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] See below Figure 1 , Figure 1 A flowchart of a control method for a drill rod storage mechanism provided in an embodiment of the present application.

[0058] Specific steps may include:

[0059] S101: If a departure instruction is received, the rotary cylinder is controlled to drive the center rod to rotate around the central axis, so that the alternative drill rod in the drill rod position is rotated to a position corresponding to the entrance and exit;

[0060] Among them, this embodiment can be applied to a drilling rig equipped with a drill rod storage mechanism, which includes an upper bracket, a lower bracket, a center rod, a rotating cylinder, a positioning disc, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating cylinder is connected to the center rod, the positioning disc and the pallet are fixedly installed on the center rod, the positioning disc includes a plurality of drill rod positions, the positioning disc is used to limit the alternative drill rod carried by the pallet to the corresponding drill rod positions, and the upper bracket and the lower bracket are provided with entrances and exits allowing drill rods to pass through at the same position.

[0061] The upper bracket is located at the upper part of the drill rod storage mechanism, providing support and stability for the entire mechanism. The lower bracket is located at the lower part of the drill rod storage mechanism, corresponding to the upper bracket, and together provide support for the entire mechanism.

[0062] The upper bracket and the lower bracket are both provided with an entrance and an exit at the same position. The entrance and the exit are passages in the drill rod storage mechanism that allow drill rods to pass through. The shape and size of the entrance and the exit match the drill rod clamping position. When the positioning faceplate is rotated to the entrance and the exit position, the alternative drill rod can be conveniently taken out or put in through the entrance and the exit.

[0063] The center rod is rotatably mounted between the upper bracket and the lower bracket. When the rotary cylinder is working, the center rod will rotate accordingly, thereby driving the positioning disc and the support plate mounted on the center rod to rotate together. Specifically, the center rod can be mounted between the upper bracket and the lower bracket through a bearing or other rotating device to ensure that the center rod can rotate smoothly.

[0064] The rotary cylinder is the power source for driving the center rod to rotate. When receiving the control signal, the rotary cylinder will extend and retract, thereby pushing the center rod to rotate to the specified position. The rotary cylinder and the center rod can be connected by pins, flanges and other devices to ensure stable transmission.

[0065] The positioning faceplate is a device used to position and fix the alternative drill rods in the drill rod storage mechanism. The positioning faceplate can be circular or polygonal, and the positioning faceplate is provided with multiple drill rod positions. Each drill rod position is used to limit the position of the alternative drill rod. Specifically, the positioning faceplate can be fixedly mounted on the center rod and rotate with the rotation of the center rod. When the center rod rotates to the specified position, the drill rod position on the positioning faceplate will also be aligned with the entrance and exit, which is convenient for taking out and putting in the drill rod.

[0066] The support plate is a planar structure used to carry the alternative drill rod. The shape and size of the support plate match the positioning faceplate and is installed below the positioning faceplate (i.e., the support plate is set at the lower end of the center rod). When the alternative drill rod is placed on the drill rod position of the positioning faceplate, the support plate will support and stabilize the drill rod.

[0067] The manipulator is an automated device used to clamp, move and release drill rods in the drill rod magazine. The manipulator can move along a specific path and has the function of clamping and releasing drill rods. The manipulator is installed on the mast of the drilling rig, usually near the entrance and exit of the drill rod magazine. In this way, when the center rod is rotated to the specified position, the manipulator can easily clamp and move the alternative drill rods.

[0068] The outbound instruction is an instruction for taking out the alternative drill rod from the drill rod storage mechanism and connecting it to the power head of the drilling rig. The outbound instruction can be issued by the control system of the drilling rig. After receiving the outbound instruction, the control system of the drill rod storage mechanism can start the rotary cylinder to drive the center rod to rotate around the central axis. When the center rod rotates, the positioning disc and the support plate fixedly mounted on the center rod will also rotate together. A plurality of drill rod clamps are provided on the positioning disc, and alternative drill rods can be provided in the drill rod clamps. Therefore, when the center rod rotates, the drill rod clamps and the alternative drill rods therein will also move together.

[0069] The upper bracket and the lower bracket of the drill rod storage mechanism are provided with an entrance and exit for allowing the drill rod to pass through at the same position. When the center rod rotates to the position corresponding to the entrance and exit, a drill rod clamp on the positioning faceplate will be aligned with the entrance and exit to facilitate the removal of the alternative drill rod.

[0070] S102: Control the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod;

[0071] The manipulator is an automated device in the drill rod storage mechanism for clamping, moving and releasing drill rods. Before the drill rod replacement operation begins, the manipulator is located in the initial position. The initial position is the parking position of the manipulator when it is idle or waiting for instructions, ensuring that the manipulator does not interfere with the operation of other components. This embodiment does not limit the number of manipulators in the drill rod storage mechanism, and takes the example of two manipulators, that is, the mast of the drilling rig is equipped with an upper manipulator and a lower manipulator.

[0072] When the drill rod storage mechanism receives the outbound instruction and the alternative drill rod has been rotated to the position corresponding to the entrance and exit, the control system will send a control signal to the manipulator to control the manipulator to start the operation of clamping the drill rod. Specifically, the manipulator can swing along a preset path to a first preset position. The first preset position is a position that enables the manipulator to clamp the alternative drill rod to ensure that the clamping process can proceed smoothly.

[0073] S103: Controlling the manipulator to swing to a second preset position so that the drilling rig connects the power head to the tail of the alternative drill rod;

[0074] When the alternative drill rod is successfully clamped, the manipulator can be controlled to swing from the first preset position to the second preset position, and the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head.

[0075] After the manipulator reaches the second preset position, the manipulator continues to clamp the alternative drill rod to prevent the alternative drill rod from falling. The power head is a component in the drilling rig that provides rotational power. After the manipulator reaches the second preset position, the drilling rig can connect the joint of the power head to the tail of the alternative drill rod.

[0076] The power head and the alternative drill rod can be connected by threads. After the manipulator reaches the second preset position, the power head can move downward and rotate forward so as to be connected with the tail of the alternative drill rod.

[0077] S104: Control the manipulator to release the alternative drill rod and swing it to the initial position.

[0078] After the power head is connected to the tail of the alternative drill rod, the manipulator can be controlled to release the alternative drill rod and swing from the second preset position to the initial position. If the outbound instruction is received again, the operations of S101-S104 can be performed again. The above-mentioned process of executing S101-S104 is the outbound process.

[0079] Upon receiving the outbound instruction, this embodiment controls the rotary cylinder to drive the center rod to rotate and rotate the alternative drill rod to the entrance and exit. The manipulator is controlled to swing from the initial position to the first preset position and clamp the alternative drill rod, and then the manipulator continues to swing to the second preset position to ensure that the central axis of the alternative drill rod coincides with the central axis of the power head, so as to facilitate the rapid connection between the power head and the tail of the drill rod. After the power head and the alternative drill rod are connected, the manipulator releases the alternative drill rod and returns to the initial position. The above process can realize automatic rod changing, improve the working efficiency of the drilling rig, and meet the needs of efficient drilling operations.

[0080] When the drilling operation is completed or the drill rod needs to be replaced, the drill rod connected to the power head needs to be safely and accurately stored back to the drill rod storage mechanism. Based on the above drill rod storage mechanism, the drill rod storage can also be realized in the following ways. The specific process includes:

[0081] Step A1: If a storage instruction is received, the power head is controlled to lift the drill rod to be stored to a third preset position, and the connection between the drill rod to be stored and other drill rods is released.

[0082] After receiving the storage instruction, the power head moves upward to lift the drill rod from the underground or drilling position. In this embodiment, the drill rod connected to the power head is called the drill rod to be stored. When the drill rod to be stored is lifted to the third preset position, the drill rod to be stored has left the drilling position, so as to perform the storage operation.

[0083] After the drill rod to be stored is lifted to the third preset position, the connection between the drill rod to be stored and the other drill rods needs to be released. In this embodiment, the upper clamp and the lower clamp can be used to clamp the drill rod to be stored and the other drill rods respectively, and the connection between the drill rod to be stored and the other drill rods can be released by controlling the rotation of the upper clamp and / or the lower clamp.

[0084] This is usually achieved through a specific connection mechanism or locking device. The control system sends a control signal to these mechanisms or devices to instruct them to start working to release the connection between the drill pipe to be stored and other drill pipes.

[0085] Step A2: Control the manipulator to swing to the second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored.

[0086] After releasing the connection between the drill rod to be stored and other drill rods, this embodiment can control the manipulator to swing to the second preset position; when the manipulator reaches the second preset position, it can accurately clamp the drill rod to be stored, while ensuring that the connection between the drill rod to be stored and the power head can be safely released.

[0087] Step A3: Determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; if so, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; if not, control the rotating cylinder to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the entrance and exit.

[0088] Among them, this embodiment can determine whether there is an idle drill rod position (that is, a drill rod position without a drill rod) at a position corresponding to an entrance and exit of the drill rod library (that is, a position where a drill rod is put in or taken out). Specifically, this embodiment can determine whether there is an idle drill rod position by using a detection device such as a sensor or a camera.

[0089] If there is an idle drill rod position at the position corresponding to the entrance and exit, the manipulator is controlled to swing to the first preset position and the drill rod to be stored is placed in the idle drill rod position.

[0090] If there is no vacant drill rod position at the position corresponding to the entrance and exit, the rotating cylinder is controlled to drive the center rod to rotate around the central axis so that the vacant drill rod is positioned at the position corresponding to the entrance and exit, and then the manipulator is controlled to swing to this first preset position and place the drill rod to be stored in the vacant drill rod position.

[0091] Step A4: After the drill rod to be stored is placed in the idle drill rod clamping position, the manipulator is controlled to release the drill rod to be stored and swing to the initial position.

[0092] After the drill rod to be stored is placed in the idle drill rod position, the present embodiment controls the manipulator to release the drill rod and swing it back to the initial position so as to respond to the next operation instruction at any time. The process of executing steps A1 to A4 is the storage process.

[0093] See also Figure 2 and Figure 3 , Figure 2 A schematic diagram of the structure of an automatic loading and unloading drill rod warehouse provided in an embodiment of the present application is shown in FIG. Figure 3 A schematic diagram of the structure of a robot provided in an embodiment of the present application. Figure 2 and Figure 3 In the figure, 1 represents a rotary cylinder, 2 represents an upper bracket, 3 represents an upper manipulator, 4 represents a center rod, 5 represents a lower bracket, 6 represents a buffer pad, 7 represents a support plate, 8 represents a lower manipulator, 9 represents a positioning disc, 10 represents a mast, 11 represents a power head, 12 represents a rod change detection proximity switch, 13 represents a drill rod, 14 represents a drill rod warehouse proximity switch, 15 represents a manipulator limit proximity switch, 16 represents a pinch claw proximity switch, 17 represents a pinch claw, 18 represents a pinch claw cylinder, 19 represents a manipulator swing cylinder, 20 represents an upper clamp, 21 represents a lower clamp, and 22 represents a rod unloading cylinder. The above-mentioned rotary cylinder can be replaced by a cylinder + ratchet mechanism, and the rotation of the drill rod warehouse can also be driven by a rotary motor. Figure 3 The position of the center of the power head is also shown.

[0094] As for Figure 1 , Figure 2 Further introduction to the corresponding embodiment, during the outbound process, the rotating cylinder can be controlled to drive the center rod to rotate around the central axis in the following manner: control the rotating cylinder to drive the center rod to rotate forward around the central axis by a preset angle; wherein the preset angle is the angular interval between adjacent drill rod positions; correspondingly, during the warehousing process, after the drill rod to be stored is placed in the vacant drill rod position, the rotating cylinder can also be controlled to drive the center rod to rotate reversely around the central axis by the preset angle.

[0095] As a feasible implementation, the positioning faceplate includes N drill rod clamps, and the N drill rod clamps are evenly distributed at preset angle intervals, N ≥ 2; the support plate is provided with N proximity switch trigger devices, and the N proximity switch trigger devices are evenly distributed at preset angle intervals, and the lower bracket is provided with a drill rod warehouse proximity switch;

[0096] Correspondingly, this embodiment can determine whether the proximity switch is triggered by the drill rod storage proximity switch trigger device; if so, it is determined that the drill rod holder is rotated to the position corresponding to the entrance and exit; if not, it is determined that the drill rod holder has not yet been rotated to the position corresponding to the entrance and exit.

[0097] As for Figure 1 Further introduction to the corresponding embodiment, after the drilling rig connects the power head with the tail of the alternative drill rod, it can continue to determine whether the drilling rig has a need to connect the drill rod; if so, the manipulator is controlled to clamp the alternative drill rod according to preset conditions, so that the head of the alternative drill rod is connected to the tail of the previous drill rod under the drive of the power head.

[0098] As for Figure 1 , Figure 3 In the further introduction of the corresponding embodiment, the manipulator includes a gripper, a gripper oil cylinder and a swing oil cylinder; the gripper oil cylinder is used to control the gripper to clamp or release the drill rod, and the swing oil cylinder is used to control the gripper to swing. In this embodiment, the gripper can be controlled by the gripper oil cylinder to clamp and release the drill rod; in this embodiment, the gripper can also be controlled by the swing oil cylinder to change the position of the gripper.

[0099] The process described in the above embodiment is explained below through an embodiment in actual application.

[0100] The present embodiment provides an automatic loading and unloading drill rod warehouse and a control method thereof that can accommodate multiple drill rods and can automatically and repeatedly change rods. The drill rod warehouse includes an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning disc, a pallet, and two upper and lower manipulators. The upper bracket and the lower bracket are installed on the mast of the drill rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the center rod is installed with a positioning disc and a pallet, the positioning disc is provided with multiple drill rod clamping positions, the rotating oil cylinder drives the center rod to rotate, the positioning disc and the pallet drive the drill rod to rotate, the upper bracket and the lower bracket each have a drill rod entrance and exit, the upper and lower manipulators grab the drill rod from the drill rod entrance and exit, swing to the center of the power head sliding on the mast of the drill rig, the upper / lower clamp is installed on the mast of the drill rig, the upper / lower clamp clamps the two drill rods connected up and down, the power head rotates and moves up and down, and the connection and removal of the upper and lower drill rods are realized. The drill rod warehouse is also provided with a proximity switch for detecting the position of the drill rod, a proximity switch for detecting the swing position of the manipulator, and a proximity switch for detecting the gripping of the drill rod by the claw. A swing-in pressure sensor is provided to detect whether the manipulator has swung into position. The mast of the drilling rig is also provided with a rod change detection proximity switch to detect whether the power head is in the rod change position and a depth sensor to detect the movement distance of the power head. The power head is provided with a power head speed sensor. The controller collects the sensor and proximity switch signals, determines the position of the power head, drill rod and drill rod warehouse, makes control decisions, outputs signals to the solenoid valve, drives the corresponding oil cylinder to move, and realizes the automatic loading and unloading rod function. This embodiment can improve the degree of automation of drilling operations, reduce labor intensity, effectively reduce auxiliary operation time, and improve work efficiency.

[0101] See also Figure 4 and Figure 5 , Figure 4 A schematic diagram of an upper bracket structure provided in an embodiment of the present application is shown in FIG. Figure 5 A schematic diagram of the structure of a support plate and a proximity switch trigger device provided in an embodiment of the present application. Figure 4 The figure shows the upper support 2, the mast 10, the entrance and exit, the drill rod 13 and the center of the power head. Figure 5 The proximity switch trigger device and the support plate are shown in FIG.

[0102] The upper end of the center rod is rotatably arranged at one end of the upper bracket, and the other end of the upper bracket is fixed on the drill rig mast; the lower end of the center rod is rotatably arranged at one end of the lower bracket, and the other end of the lower bracket is fixed on the drill rig mast, at least two positioning discs are arranged on the center rod along its axial direction, the positioning discs are provided with a plurality of evenly arranged drill rod clamping positions, and a support plate is provided at the bottom of the center rod.

[0103] A rotating oil cylinder is arranged on the upper bracket, and the rotating oil cylinder passes through the center hole of the upper bracket and is connected with the center rod, driving the center rod, the positioning disc and the supporting plate to rotate, and the positioning disc and the supporting plate rotate together with the drill rod.

[0104] The lower side of the support plate is provided with a proximity switch trigger device equal to the number of drill rod clamping positions, and the support plate is padded with a buffer pad to avoid direct collision between the drill rod and the support plate. The mast of the drilling rig is provided with two upper and lower manipulators, which are provided with a pinching claw, a manipulator swing cylinder and a manipulator pinching claw cylinder.

[0105] A drill rod warehouse proximity switch is installed on the lower bracket to detect the rotation position of the proximity switch trigger device under the pallet; the manipulator is provided with a manipulator limit proximity switch and a pinch claw proximity switch, the pinch claw proximity switch 16 detects that the pinch claw grasps the drill rod, and the manipulator limit proximity switch detects that the pinch claw has swung back to the entrance and exit position of the drill rod warehouse.

[0106] The mast of the drilling rig is also provided with a rod change detection proximity switch for detecting whether the power head is at the rod change position and a depth sensor for detecting the moving distance of the power head. The power head is provided with a power head speed sensor.

[0107] The automatic rod loading and unloading drill rod warehouse is provided with a controller, which collects sensor and proximity switch signals, determines the position of the drill rod and the drill rod warehouse and the connection status of the drill rod, makes a control decision, outputs a signal to the solenoid valve, drives the corresponding oil cylinder to move, and realizes the rod loading and unloading function.

[0108] The solenoid valves include upper / lower manipulator swing-in solenoid valve, upper / lower manipulator swing-out solenoid valve, upper / lower claw clamping solenoid valve, upper / lower claw release solenoid valve, upper / lower claw floating solenoid valve, drill rod storage forward rotation solenoid valve, drill rod storage reverse rotation solenoid valve, rod unloading cylinder extension solenoid valve, rod unloading cylinder retraction solenoid valve and other solenoid valves.

[0109] The automatic rod connection and unloading control method provided in this embodiment includes a rod connection control process and a rod unloading control process.

[0110] If the required drilling depth is greater than the maximum drilling depth of a single drill rod, when the controller receives the sensor signal and determines that the driving depth of the power head reaches the maximum stroke position, the connecting rod control is performed, including the following steps:

[0111] Step B1: The power head connector is separated from the drill pipe;

[0112] The controller controls the lower clamping cylinder to clamp the tail of the drilled drill rod (hereinafter referred to as the second drill rod) through the lower clamp clamping solenoid valve; controls the power head to reverse and detach from the drill rod through the power head reversal solenoid valve; and controls the power head to lift back to the top position through the power head push-up solenoid valve.

[0113] Step B2: Drill pipe out of the warehouse;

[0114] The controller controls the drill rod warehouse to rotate forward around the central axis by one position through the forward solenoid valve of the drill rod warehouse, so that the drill rod to be connected stops at the entrance and exit position in the drill rod warehouse (at this time, the controller will receive the signal output by the proximity switch of the drill rod warehouse, and there is no output signal from the proximity switch after leaving the entrance and exit position). Then, the upper / lower manipulator swing-out solenoid valve is used to simultaneously control the upper / lower manipulator swing cylinder to shorten synchronously, so that the manipulator swings out to the position of grabbing the drill rod (at this time, the controller will receive the signal output by the manipulator limit proximity switch). Then, the upper / lower claw clamping solenoid valve is used to simultaneously control the upper / lower manipulator claw cylinder to extend, so that the claw clamps the drill rod at the entrance and exit position of the drill rod warehouse (hereinafter referred to as the first drill rod, and the controller will receive the signal output by the claw proximity switch at this time). Then, the upper / lower manipulator swing-in solenoid valve is used to simultaneously control the upper and lower manipulator swing cylinder to extend to the maximum, and the manipulator swing-in pressure sensor signal is collected at the same time to make the drill rod out of the warehouse and swing the drill rod into the center position of the power head axis.

[0115] In this embodiment, it can be determined whether the drill rod is swung to the center position of the power head axis according to the change of the manipulator's swing pressure.

[0116] Step B3: The power head joint is connected to the drill pipe;

[0117] In this step, the power head is controlled to rotate forward through the power head forward solenoid valve, and the power head is controlled to descend through the power head thrust descending solenoid valve. At the same time, the power head speed sensor signal is collected to connect the power head connector to the tail of the first drill pipe.

[0118] In this embodiment, it can be determined whether the power head joint is connected to the tail of the first drill pipe according to the change of the rotation speed of the power head.

[0119] Step B4: Drill pipe connection;

[0120] In this step, the upper / lower claw floating solenoid valves are used to synchronously control the floating of the upper / lower manipulator claws, so that the drill rod will not slip due to gravity, but can move under the torque and push of the power head; the power head is controlled to continue to rotate forward and descend, and the power head speed sensor signal is collected at the same time to connect the head of the first drill rod with the tail of the second drill rod.

[0121] In this embodiment, it can be determined whether the first drill rod head is connected to the second drill rod tail according to the change in the rotation speed of the power head.

[0122] Step B5: the robot returns to its original position;

[0123] In this step, the upper / lower claws are released by releasing the solenoid valves and controlling the claw cylinders of the upper / lower manipulators to shorten so that the claws are released (after the claws are released, the claw proximity switch has no output signal); the upper / lower manipulator swing-out solenoid valves are used to control the upper / lower manipulator swing cylinders to shorten synchronously so that the upper and lower manipulators are swung back to their original positions (at this time, the controller will receive the signal output by the drill rod library proximity switch); the lower clamping solenoid valve is used to control the lower clamping cylinder to release the tail of the second drill rod that has been drilled, completing a rod connection.

[0124] This step can measure the depth in the following way: each time the drill rod library completes a rod connection action, the number of drill rods n increases by 1, the depth increases by the drill rod length Ld, the controller collects the depth L1 of the power head descending drilling, and calculates the actual drilling depth = L1 + n * Ld - L0. L0 is the reference depth, that is, the advancement depth when the drill bit contacts the ground.

[0125] The controller receives the sensor signal, determines that the drill bit has drilled to the designed depth, and then performs rod unloading control, including the following steps:

[0126] Step C1: Drill pipe detachment.

[0127] The controller outputs a control signal to control the lifting of the power head through the power head push-up solenoid valve, and at the same time collects the power head drilling depth sensor signal, and lifts it to the predetermined unloading height position; if the depth sensor fails, the lifting height will stop when the rod change detection proximity switch position is reached. The lower clamping solenoid valve controls the lower clamping cylinder to clamp the tail of the second drill rod, and the upper clamping solenoid valve controls the upper clamping cylinder to clamp the head of the first drill rod. The unloading cylinder extension solenoid valve controls the unloading cylinder to extend, so that the first drill rod rotates and loosens it from the second drill rod; the upper clamp release solenoid valve controls the upper clamping cylinder to loosen the first drill rod; the unloading cylinder retraction solenoid valve controls the unloading cylinder to retract, so that the upper clamp returns to its original position.

[0128] Step C2: The power head connector is separated from the drill pipe;

[0129] In this step, the upper / lower manipulator swing-in solenoid valve is used to simultaneously control the upper / lower manipulator swing cylinder to extend to the maximum, and the manipulator swing-in pressure sensor signal is collected at the same time. According to the change of the manipulator swing-in pressure, the manipulator is swung to the drill rod position of the center axis of the power head. At this time, the manipulator limit switch has no signal output; then the upper / lower claw clamping solenoid valve is used to simultaneously control the extension of the upper / lower manipulator claw cylinder, so that the claw clamps the first drill rod. During clamping, the controller will receive the signal output by the claw proximity switch; then the power head is reversed through the power head reversal solenoid valve, and the power head is lifted through the power head push-up solenoid valve at the same time, so that the power head is separated from the first drill rod. When the power head reversal torque is not enough to loosen the power head joint and the first drill rod, the two sections of drill rod can be loosened, and the power head joint can be loosened by clamping the power head joint with the upper clamp.

[0130] Step C3: Drill pipe storage;

[0131] In this step, the upper / lower manipulator swings out the solenoid valve and controls the upper / lower manipulator swing cylinder to shorten synchronously, so that the first drill rod stops at the entrance and exit position in the drill rod warehouse. At this time, the controller will receive the signal output by the manipulator limit proximity switch; the upper / lower claw release solenoid valve controls the upper / lower manipulator's claw cylinder to shorten synchronously to release the claw. After the claw is released, the claw proximity switch has no output signal; the controller then controls the drill rod warehouse to reverse one position around the central axis through the drill rod warehouse reversal solenoid valve. After receiving the signal output by the drill rod warehouse proximity switch, the controller determines that the first drill rod has entered the warehouse.

[0132] Step C4: The power head joint is connected to the drill pipe;

[0133] The controller controls the descent of the power head through the power head push-down solenoid valve, and at the same time collects the power head drilling depth sensor signal. After determining that the power head has descended close to the tail of the second drill rod, the power head is controlled to rotate forward through the power head forward rotation solenoid valve, and at the same time, the power head is controlled to descend through the power head push-down solenoid valve, and at the same time, the power head speed sensor signal and the power head drilling depth sensor signal are collected to connect the power head to the tail of the second drill rod.

[0134] Repeat the control process of steps C1 to C4 to continue unloading and storing the second drill rod. Repeat this process until the last drill rod is lifted and the power head is raised to the top.

[0135] The open-pit drilling rig automatic drilling control system provided in this embodiment can also be provided with a rod change detection proximity switch. When unloading the rod, the power head needs to be lifted to a predetermined rod unloading height position. Generally, the rod unloading height position is detected by a depth sensor. If the depth sensor fails and the lifting height exceeds the predetermined height and reaches the rod change detection proximity switch position, the lifting is stopped to achieve double protection.

[0136] The above embodiments can improve the automation degree of drilling operations, have simple operation, reliable performance, good maintainability, reduce labor intensity, effectively reduce the auxiliary operation time of drilling by a down-the-hole drill, and improve work efficiency.

[0137] See also Figure 6 , Figure 6 A schematic diagram of the control principle of an automatic rod loading and unloading control method provided in an embodiment of the present application, wherein the controller can control the upper manipulator to swing out and in based on the solenoid valve, proximity switch and pressure sensor; the controller can control the clamping, floating and loosening of the upper manipulator's claws based on the solenoid valve and proximity switch; the controller can control the rotation of the drill rod magazine (including forward and reverse rotation) based on the solenoid valve and proximity switch; the controller can control the lower manipulator to swing out and in based on the solenoid valve, proximity switch and pressure sensor; the controller can control the clamping, floating and loosening of the lower manipulator's claws based on the solenoid valve and proximity switch; the controller can control the propulsion (including pushing down and lifting up) of the power head based on the solenoid valve and depth sensor; the controller can control the rotation (including forward and reverse rotation) of the power head based on the solenoid valve and speed sensor; the controller can control the clamping and loosening of the lower clamp based on the solenoid valve; the controller can control the clamping and loosening of the upper clamp based on the solenoid valve; the controller can control the extension and retraction of the rod unloading cylinder based on the solenoid valve.

[0138] A control system for a drill rod storage mechanism provided in an embodiment of the present application, the drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning disc, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning disc and the pallet are fixedly installed on the center rod, the positioning disc comprises a plurality of drill rod clamping positions, the positioning disc is used to limit the optional drill rod carried by the pallet to the corresponding drill rod clamping position, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rod to pass through at the same position, and the control system of the drill rod storage mechanism comprises:

[0139] A rotation control module is used to control the rotary cylinder to drive the center rod to rotate around the central axis if a departure instruction is received, so that the alternative drill rod in the drill rod position is rotated to a position corresponding to the entrance and exit;

[0140] A rod taking control module, used for controlling the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod;

[0141] A rod placing control module, used to control the manipulator to swing to a second preset position so that the drilling rig connects the power head with the tail of the alternative drill rod; wherein the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head;

[0142] The first resetting module is used to control the manipulator to release the alternative drill rod and swing to the initial position.

[0143] Upon receiving the outbound instruction, this embodiment controls the rotary cylinder to drive the center rod to rotate and rotate the alternative drill rod to the entrance and exit. The manipulator is controlled to swing from the initial position to the first preset position and clamp the alternative drill rod, and then the manipulator continues to swing to the second preset position to ensure that the central axis of the alternative drill rod coincides with the central axis of the power head, so as to facilitate the rapid connection between the power head and the tail of the drill rod. After the power head and the alternative drill rod are connected, the manipulator releases the alternative drill rod and returns to the initial position. The above process can realize automatic rod changing, improve the working efficiency of the drilling rig, and meet the needs of efficient drilling operations.

[0144] Furthermore, it also includes:

[0145] A lifting control module, for controlling the power head to lift the drill rod to be stored to a third preset position and disconnecting the drill rod to be stored from other drill rods if a storage instruction is received;

[0146] A clamping control module, used for controlling the manipulator to swing to the second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored;

[0147] The storage module is used to determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; if so, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; if not, control the rotary cylinder to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the entrance and exit;

[0148] The second resetting module is used to control the manipulator to release the drill rod to be stored and swing it to the initial position after the drill rod to be stored is placed in the idle drill rod clamping position.

[0149] Furthermore, the process in which the rotation control module controls the rotating cylinder to drive the center rod to rotate around the central axis includes: during the outbound process, controlling the rotating cylinder to drive the center rod to rotate forwardly around the central axis by a preset angle; wherein the preset angle is the angular interval between adjacent drill rod positions; and also used for controlling the rotating cylinder to drive the center rod to rotate reversely around the central axis by the preset angle after placing the drill rod to be stored in the vacant drill rod position during the warehousing process.

[0150] Further, the positioning faceplate includes N drill rod positions, and the N drill rod positions are evenly distributed at preset angle intervals, N ≥ 2; the support plate is provided with N proximity switch trigger devices, and the N proximity switch trigger devices are evenly distributed at preset angle intervals, and the lower bracket is provided with a drill rod warehouse proximity switch;

[0151] Correspondingly, it also includes:

[0152] The position determination module is used to determine whether the proximity switch is triggered by the drill rod library proximity switch triggering device; if so, it is determined that the drill rod is rotated to the position corresponding to the entrance and exit.

[0153] Furthermore, it also includes:

[0154] The connecting rod module is used to determine whether the drilling rig has a connecting rod requirement after the drilling rig connects the power head with the tail of the alternative drill rod; if so, control the manipulator to clamp the alternative drill rod according to preset conditions so that the head of the alternative drill rod is connected to the tail of the previous drill rod under the drive of the power head.

[0155] Furthermore, the manipulator includes a claw, a claw cylinder and a swing cylinder; the claw cylinder is used to control the claw to clamp or release the drill rod, and the swing cylinder is used to control the claw to swing.

[0156] The present embodiment also provides a control system for a drill rod storage mechanism, the drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rod carried by the pallet to the corresponding drill rod clamping position, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rod to pass through at the same position, and the control system of the drill rod storage mechanism comprises:

[0157] A lifting control module, for controlling the power head of the drilling rig to lift the drill rod to be stored to a third preset position and disconnecting the drill rod to be stored from other drill rods if a storage instruction is received;

[0158] A clamping control module, used for controlling the manipulator to swing to a second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored;

[0159] The storage module is used to determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; if there is an idle drill rod position, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; if there is no idle drill rod position, control the rotary cylinder to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the entrance and exit;

[0160] The second resetting module is used to control the manipulator to release the drill rod to be stored and swing it to an initial position after the drill rod to be stored is placed in the idle drill rod clamping position.

[0161] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0162] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0163] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0164] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0165] It should also be noted that, in this specification, relational terms such as first and second, etc. 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 "comprises", "comprising" 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. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for a drill rod storage mechanism, characterized in that: The drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, wherein the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rods carried by the pallet to the corresponding drill rod clamping positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control method of the drill rod storage mechanism comprises: If a departure instruction is received, the rotary cylinder is controlled to drive the center rod to rotate around the central axis, so that the alternative drill rod in the drill rod clamping position is rotated to a position corresponding to the entrance and exit; Controlling the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod; Controlling the manipulator to swing to a second preset position so that the drilling rig connects the power head to the tail of the alternative drill rod; wherein the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head; The manipulator is controlled to release the alternative drill rod and swing to the initial position.

2. The control method of the drill rod storage mechanism according to claim 1, characterized in that: Also includes: If a storage instruction is received, the power head is controlled to lift the drill rod to be stored to a third preset position, and disconnect the drill rod to be stored from other drill rods; Controlling the manipulator to swing to the second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored; Determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; If yes, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; If not, the rotary cylinder is controlled to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at a position corresponding to the inlet and outlet; After the drill rod to be stored is placed in the idle drill rod clamping position, the manipulator is controlled to release the drill rod to be stored and swing to the initial position.

3. The control method of the drill rod storage mechanism according to claim 2, characterized in that: During the outbound process, the rotary cylinder is controlled to drive the central rod to rotate around the central axis, including: Control the rotary cylinder to drive the center rod to rotate positively around the central axis by a preset angle; wherein the preset angle is the angular interval between adjacent drill rod clamping positions; Correspondingly, during the storage process, after the drill rod to be stored is placed in the idle drill rod position, the method further includes: The rotary cylinder is controlled to drive the center rod to rotate in the opposite direction around the central axis by the preset angle.

4. The control method of the drill rod storage mechanism according to claim 1, characterized in that: The positioning faceplate includes N drill rod positions, and the N drill rod positions are evenly distributed at preset angle intervals, N ≥ 2; the support plate is provided with N proximity switch trigger devices, and the N proximity switch trigger devices are evenly distributed at preset angle intervals, and the lower bracket is provided with a drill rod warehouse proximity switch; Correspondingly, it also includes: Determining whether the proximity switch is triggered by the drill rod library proximity switch triggering device; If so, it is determined that the drill rod is rotated to a position corresponding to the entrance and exit.

5. The control method of the drill rod storage mechanism according to claim 1, characterized in that: After the drilling rig connects the power head to the tail of the alternative drill rod, the method further includes: Determine whether the drilling rig has a need for a connecting rod; If so, the manipulator is controlled to clamp the alternative drill rod according to preset conditions, so that the head of the alternative drill rod is connected to the tail of the previous drill rod under the drive of the power head.

6. The control method of the drill rod storage mechanism according to claim 1, characterized in that: The manipulator comprises a claw, a claw oil cylinder and a swing oil cylinder; the claw oil cylinder is used to control the claw to clamp or release the drill rod, and the swing oil cylinder is used to control the claw to swing.

7. A control method for a drill rod storage mechanism, characterized in that: The drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, wherein the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod clamping positions, the positioning faceplate is used to limit the alternative drill rods carried by the pallet to the corresponding drill rod clamping positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control method of the drill rod storage mechanism comprises: If a storage instruction is received, the power head of the drilling rig is controlled to lift the drill rod to be stored to a third preset position, and disconnect the drill rod to be stored from other drill rods; Controlling the manipulator to swing to a second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored; Determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; If yes, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; If not, the rotary cylinder is controlled to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at a position corresponding to the inlet and outlet; After the drill rod to be stored is placed in the idle drill rod clamping position, the manipulator is controlled to release the drill rod to be stored and swing to an initial position.

8. A control system for a drill rod storage mechanism, characterized in that: The drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, wherein the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod positions, the positioning faceplate is used to limit the optional drill rods carried by the pallet to the corresponding drill rod positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control system of the drill rod storage mechanism comprises: A rotation control module is used to control the rotary cylinder to drive the center rod to rotate around the central axis if a departure instruction is received, so that the alternative drill rod in the drill rod position is rotated to a position corresponding to the entrance and exit; A rod taking control module, used for controlling the manipulator to swing from an initial position to a first preset position and clamp the alternative drill rod; A rod placing control module, used to control the manipulator to swing to a second preset position so that the drilling rig connects the power head with the tail of the alternative drill rod; wherein the second preset position is a position where the central axis of the alternative drill rod coincides with the central axis of the power head; The first resetting module is used to control the manipulator to release the alternative drill rod and swing to the initial position.

9. A control system for a drill rod storage mechanism, characterized in that: The drill rod storage mechanism comprises an upper bracket, a lower bracket, a center rod, a rotating oil cylinder, a positioning faceplate, a pallet and a manipulator, wherein the upper bracket, the lower bracket and the manipulator are installed on the mast of the drilling rig, the center rod is rotatably installed between the upper bracket and the lower bracket, the rotating oil cylinder is connected to the center rod, the positioning faceplate and the pallet are fixedly installed on the center rod, the positioning faceplate comprises a plurality of drill rod positions, the positioning faceplate is used to limit the optional drill rods carried by the pallet to the corresponding drill rod positions, the upper bracket and the lower bracket are provided with an entrance and exit allowing the drill rods to pass through at the same position, and the control system of the drill rod storage mechanism comprises: A lifting control module, for controlling the power head of the drilling rig to lift the drill rod to be stored to a third preset position and disconnecting the drill rod to be stored from other drill rods if a storage instruction is received; A clamping control module, used for controlling the manipulator to swing to a second preset position and clamp the drill rod to be stored, so as to release the connection between the power head and the drill rod to be stored; The storage module is used to determine whether there is an idle drill rod position at the position corresponding to the entrance and exit; if there is an idle drill rod position, control the manipulator to swing to the first preset position and place the drill rod to be stored in the idle drill rod position; if there is no idle drill rod position, control the rotary cylinder to drive the center rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the entrance and exit; The second resetting module is used to control the manipulator to release the drill rod to be stored and swing it to an initial position after the drill rod to be stored is placed in the idle drill rod clamping position.

10. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the control method of the drill rod storage mechanism according to any one of claims 1 to 7 are implemented.

11. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the control method of the drill rod storage mechanism according to any one of claims 1 to 7 are implemented.

Images