A control method and system of a drill pipe storage mechanism, an electronic device and a storage medium

Abstract

The application discloses a control method and system of a drill rod warehouse mechanism, an electronic device and a storage medium, and belongs to the technical field of drilling rigs. The drill rod warehouse mechanism comprises an upper support, a lower support, a center rod, a rotary oil cylinder, a positioning chuck, a supporting plate and a manipulator. The upper support, the lower support and the manipulator are installed on a mast of a drilling rig. The center rod is rotatably installed between the upper support and the lower support. The rotary oil cylinder is connected with the center rod. The positioning chuck and the supporting plate are fixedly installed on the center rod. The positioning chuck comprises a plurality of drill rod clamping positions. The positioning chuck is used for limiting alternative drill rods carried by the supporting plate in corresponding drill rod clamping positions. The upper support and the lower support are provided with entrances and exits allowing the drill rods to pass through at the same position. After receiving an instruction, the drill rod warehouse mechanism can control the rotary oil cylinder, the manipulator and a power head to perform a rod changing operation on the alternative drill rods. The application can realize automatic rod changing and improve the working efficiency of the drilling rig.

Description

Technical Field

[0001] This application relates to the field of drilling rig technology, and in particular to a control method, system, electronic device and storage medium for a drill pipe magazine mechanism. Background Technology

[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 engineering projects, including open-pit mining, foundation excavation, water conservancy, power plants, building materials, and transportation. During drilling operations, especially in medium-to-deep hole drilling in large mines, the drilling depth often exceeds the maximum depth of a single drill rod, requiring repeated rod replacement and splicing. This operation is very complex, and some machines even rely on manual rod replacement, resulting in low efficiency and poor construction safety.

[0003] Therefore, how to achieve automated rod changing and improve the working efficiency of drilling rigs is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a control method, system, electronic device, and storage medium for a drill pipe magazine mechanism, which can realize automated pipe changing and improve the working efficiency of the drilling rig.

[0005] To solve the above-mentioned technical problems, this application provides a control method for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill pipes to pass through. The control method for the drill pipe magazine mechanism includes:

[0006] If an outbound command is received, the rotary cylinder is controlled to drive the central rod to rotate around the central axis, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet / outlet;

[0007] Control the robotic arm to swing from the initial position to the first preset position and clamp the alternative drill rod;

[0008] The robotic arm is controlled 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 in which the central axis of the alternative drill rod coincides with the central axis of the power head;

[0009] Control the robotic arm to release the alternative drill rod and swing it to the initial position.

[0010] Optional, also includes:

[0011] If an entry command is received, the power head is controlled to lift the drill rod to be entered to the third preset position and disconnect the drill rod to be entered from other drill rods.

[0012] Control the robotic arm to swing to the second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage;

[0013] Determine whether there is an available drill rod holder at the location corresponding to the entrance / exit;

[0014] If so, control the robotic arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder;

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

[0016] After placing the drill rod to be stored in the empty drill rod holder, the robot arm is controlled to release the drill rod to be stored and swing back to the initial position.

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

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

[0019] Accordingly, during the warehousing process, after placing the drill rod to be warehoused in the available drill rod holder, the process also includes:

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

[0021] Optionally, the positioning disc includes N drill rod holders, and the N drill rod holders are evenly distributed at preset angle intervals, where N≥2; the support plate is provided with N proximity switch triggering devices, and the N proximity switch triggering devices are evenly distributed at the preset angle intervals; the lower support is provided with a drill rod magazine proximity switch.

[0022] Correspondingly, it also includes:

[0023] Determine whether the proximity switch is triggered by the drill pipe magazine proximity switch triggering device;

[0024] If so, it is determined that the drill rod clamp has rotated to the position corresponding to the inlet / outlet.

[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 requires a connecting rod;

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

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

[0029] This application also provides a control method for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of a drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill pipes to pass through. The control method for the drill pipe magazine mechanism includes:

[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 the third preset position and disconnect the drill rod to be stored from other drill rods.

[0031] The robotic arm is controlled to swing to a second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage;

[0032] Determine whether there is an available drill rod holder at the location corresponding to the entrance / exit;

[0033] If so, control the robotic arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder;

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

[0035] After placing the drill rod to be stored in the empty drill rod holder, the robot arm is controlled to release the drill rod to be stored and swing back to the initial position.

[0036] This application also provides a control system for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill pipes to pass through. The control system of the drill pipe magazine mechanism includes:

[0037] The rotation control module is used to control the rotary cylinder to drive the central rod to rotate around the central axis if an outbound command is received, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet and outlet.

[0038] The rod-taking control module is used to control the robotic arm to swing from the initial position to the first preset position and clamp the alternative drill rod;

[0039] The rod release control module is used to control 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 in which the central axis of the alternative drill rod coincides with the central axis of the power head;

[0040] The first reset module is used to control the robotic arm to release the alternative drill rod and swing it to the initial position.

[0041] This application also provides a control system for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill pipes to pass through. The control system of the drill pipe magazine mechanism includes:

[0042] The lifting control module is used to control the power head of the drilling rig to lift the drill rod to be stored to the third preset position if a storage instruction is received, and to disconnect the drill rod to be stored from other drill rods.

[0043] The clamping control module is used to control the robotic arm to swing to a second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage;

[0044] The warehousing module is used to determine whether there is an empty drill rod holder at the location corresponding to the entrance / exit; it is also used to control the robot arm to swing to a first preset position and place the drill rod to be stored in the empty drill rod holder if there is an empty drill rod holder; if there is no empty drill rod holder, it controls the rotary cylinder to drive the central rod to rotate around the central axis so that the empty drill rod is placed at the location corresponding to the entrance / exit.

[0045] The second reset module is used to control the robotic arm to release the drill rod to be stored and swing it back to the initial position after the drill rod to be stored is placed in the empty drill rod holder.

[0046] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the control method for the drill pipe magazine mechanism described above.

[0047] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the drill pipe magazine mechanism described above.

[0048] In summary, this application provides a control method for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a robotic arm. The upper support, lower support, and robotic arm are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper and lower supports. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots, which are used to limit the candidate drill pipes carried by the support plate to the corresponding slots. The upper and lower supports have inlets and outlets at the same positions, allowing drill pipes to pass through. When a magazine release command is received, this application controls the rotary cylinder to drive the central rod to rotate, rotating the candidate drill pipe to the inlet / outlet. The robotic arm swings from its initial position to a first preset position and clamps the candidate drill rod. It then continues to swing to a second preset position, ensuring the central axis of the candidate drill rod coincides with the central axis of the power head, facilitating rapid connection between the power head and the drill rod tail. After the power head and candidate drill rod are connected, the robotic arm releases the candidate drill rod and returns to its initial position. This process enables automated rod changing, improving drilling rig efficiency and meeting the demands of high-efficiency drilling operations. This application also provides a control system for a drill rod storage mechanism, a storage medium, and an electronic device, all possessing the aforementioned advantages, which will not be elaborated upon here. Attached Figure Description

[0049] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart illustrating a control method for a drill pipe magazine mechanism provided in this application embodiment;

[0051] Figure 2 This is a schematic diagram of an automatic rod unloading drill rod magazine structure provided in an embodiment of this application;

[0052] Figure 3 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0053] Figure 4 This is a schematic diagram of an upper support structure provided in an embodiment of this application;

[0054] Figure 5 A schematic diagram of a tray and proximity switch triggering device provided in an embodiment of this application;

[0055] Figure 6 This is a schematic diagram illustrating the control principle of an automatic rod unloading control method provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] Please see below. Figure 1 , Figure 1 A flowchart illustrating a control method for a drill pipe magazine mechanism provided in an embodiment of this application.

[0058] Specific steps may include:

[0059] S101: If an outbound command is received, the rotary cylinder is controlled to drive the central rod to rotate around the central axis, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet / outlet;

[0060] This embodiment can be applied to drilling rigs equipped with a drill rod magazine mechanism. The drill rod magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill rod slots. The positioning disc is used to limit the alternative drill rods carried by the support plate to the corresponding drill rod slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill rods to pass through.

[0061] The upper support is located at the top of the drill pipe magazine mechanism, providing support and stability for the entire mechanism. The lower support is located at the bottom of the drill pipe magazine mechanism, corresponding to the upper support, and together they provide support for the entire mechanism.

[0062] Both the upper and lower supports have inlets / outlets at the same location, which are channels within the drill pipe magazine mechanism that allow drill pipes to pass through. The shape and size of the inlets / outlets match the drill pipe clamping positions. When the positioning disc rotates to the inlet / outlet position, alternative drill pipes can be easily removed or inserted through the inlet / outlet.

[0063] The center rod is rotatably mounted between the upper and lower supports. When the rotary cylinder operates, the center rod rotates accordingly, thereby causing the positioning disc and support plate mounted on the center rod to rotate together. Specifically, the center rod can be mounted between the upper and lower supports via bearings or other rotating devices to ensure smooth rotation of the center rod.

[0064] The rotary cylinder is the power source that drives the center rod to rotate. When it receives a control signal, the rotary cylinder extends or retracts, thereby pushing the center rod to a designated position. The rotary cylinder and the center rod can be connected via pins, flanges, or other devices to ensure stable transmission.

[0065] The positioning disc is a device in the drill pipe magazine mechanism used to position and secure alternative drill pipes. The positioning disc can be circular or polygonal and has multiple drill pipe slots. Each slot limits the movement of the alternative drill pipe. Specifically, the positioning disc can be fixedly mounted on a central rod and rotates with the central rod. When the central rod rotates to the designated position, the drill pipe slots on the positioning disc align with the inlet / outlet, facilitating the removal and insertion of drill pipes.

[0066] The support plate is a planar structure used to support alternative drill rods. The shape and size of the support plate match the positioning disc and it is installed below the positioning disc (i.e., the support plate is located at the lower end of the center rod). When the alternative drill rod is placed in the drill rod holder of the positioning disc, the support plate supports and stabilizes the drill rod.

[0067] A robotic arm is an automated device in the drill pipe magazine mechanism used for gripping, moving, and releasing drill pipes. The robotic arm can move along a specific path and has the function of gripping and releasing drill pipes. It is mounted on the mast of the drilling rig, typically near the entrance / exit of the drill pipe magazine mechanism. This allows the robotic arm to easily grip and move alternative drill pipes when the center rod rotates to the designated position.

[0068] The release command is used to remove the alternative drill rod from the drill rod magazine mechanism and connect it to the drilling rig's power head. This release command can be issued by the drilling rig's control system. Upon receiving the release command, the drill rod magazine mechanism's control system can activate the rotary cylinder to rotate the center rod around its central axis. As the center rod rotates, the positioning disc and support plate fixedly mounted on it also rotate. The positioning disc has multiple drill rod slots, which can hold alternative drill rods. Therefore, when the center rod rotates, the drill rod slots and the alternative drill rods within them also move together.

[0069] The upper and lower supports of the drill pipe magazine mechanism have inlets and outlets at the same location that allow drill pipes to pass through. When the center rod rotates to the position corresponding to the inlet and outlet, a drill pipe holder on the positioning disc will be precisely aligned with the inlet and outlet to retrieve the alternative drill pipe.

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

[0071] The robotic arm is an automated device in the drill pipe magazine mechanism used for clamping, moving, and releasing drill pipes. Before the drill pipe changing operation begins, the robotic arm is in its initial position. The initial position is the parking position of the robotic arm when idle or awaiting instructions, ensuring that the robotic arm does not interfere with the operation of other components. This embodiment does not limit the number of robotic arms in the drill pipe magazine mechanism; for example, it uses two robotic arms, i.e., an upper robotic arm and a lower robotic arm mounted on the drilling rig's mast.

[0072] Once the drill pipe storage mechanism receives the release command and the candidate drill pipe has been rotated to the corresponding position at the inlet / outlet, the control system sends a control signal to the robotic arm to initiate the gripping operation. Specifically, the robotic arm can swing along a preset path to a first preset position. This first preset position ensures the robotic arm can grip the candidate drill pipe, guaranteeing a smooth gripping process.

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

[0074] Once the candidate drill rod is successfully clamped, the robotic arm can be controlled to swing from a first preset position to a second preset position, where the central axis of the candidate drill rod coincides with the central axis of the power head.

[0075] After the robotic arm reaches the second preset position, it continues to hold the alternative drill rod to prevent it from falling. The power head is the component in the drilling rig that provides rotational power. After the robotic arm reaches the second preset position, the drilling rig can connect the connector 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 robot arm reaches the second preset position, the power head can move downward and rotate forward to connect with the tail of the alternative drill rod.

[0077] S104: Control the robotic arm 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 robotic arm can be controlled to release the alternative drill rod and swing from the second preset position to the initial position. If a delivery command is received again, operations S101-S104 can be executed again. The process of executing S101-S104 is the delivery process.

[0079] Upon receiving the outgoing command, this embodiment controls the rotary cylinder to drive the central rod to rotate, moving the candidate drill rod to the inlet / outlet. The robotic arm then swings from its initial position to a first preset position and clamps the candidate drill rod. Subsequently, the robotic arm continues to swing to a second preset position, ensuring that the central axis of the candidate drill rod coincides with the central axis of the power head, facilitating rapid connection between the power head and the drill rod's tail. After the power head and candidate drill rod are connected, the robotic arm releases the candidate drill rod and returns to its initial position. This process enables automated rod changing, improves the drilling rig's working efficiency, and meets the requirements of high-efficiency drilling operations.

[0080] When drilling operations are completed or drill pipe needs to be replaced, the drill pipe connected to the power head must be safely and accurately stored back into the drill pipe storage mechanism. Based on the aforementioned drill pipe storage mechanism, drill pipe storage can also be achieved through the following methods, the specific process of which includes:

[0081] Step A1: If an entry command is received, control the power head to lift the drill rod to be entered to the third preset position and disconnect the drill rod to be entered from other drill rods.

[0082] Upon receiving the storage instruction, the power head moves upward to lift the drill pipe from the ground or drilling position. In this embodiment, the drill pipe connected to the power head is referred to as the storage drill pipe. When the storage drill pipe is lifted to the third preset position, it has been removed from the drilling position, ready for storage operation.

[0083] After the drill pipe to be stored is raised to the third preset position, it is necessary to disconnect the drill pipe from other drill pipes. In this embodiment, an upper clamp and a lower clamp can be used to clamp the drill pipe to be stored and other drill pipes respectively. By controlling the rotation of the upper clamp and / or the lower clamp, the drill pipe to be stored is disconnected from other drill pipes.

[0084] This is typically achieved through specific connecting mechanisms or locking devices. The control system sends control signals to these mechanisms or devices, instructing them to begin working to disconnect the drill pipe to be stored from other drill pipes.

[0085] Step A2: Control the robotic arm to swing to the second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage.

[0086] After disconnecting the drill rod to be stored from other drill rods, this embodiment can control the robot arm to swing to the second preset position; when the robot arm 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 disconnected.

[0087] Step A3: Determine whether there is an empty drill rod holder at the position corresponding to the entrance / exit; if yes, control the robot arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder; if no, control the rotary cylinder to drive the central rod to rotate around the central axis so that the empty drill rod is holdered at the position corresponding to the entrance / exit.

[0088] In this embodiment, it can determine whether there is an empty drill rod holder (i.e., a drill rod holder where no drill rod is placed or removed) at the entrance / exit of the drill rod magazine. Specifically, this embodiment can use detection devices such as sensors or cameras to determine whether there is an empty drill rod holder.

[0089] If there is an available drill rod holder at the location corresponding to the entrance / exit, the robotic arm is controlled to swing to this first preset position and place the drill rod to be stored in the available drill rod holder.

[0090] If there is no available drill rod holder at the location corresponding to the entrance / exit, the rotary cylinder is controlled to drive the central rod to rotate around the central axis so that the available drill rod is holdered at the location corresponding to the entrance / exit. Then, the robotic arm is controlled to swing to this first preset position and place the drill rod to be stored in the available drill rod holder.

[0091] Step A4: After placing the drill rod to be stored in the empty drill rod holder, control the robot arm to release the drill rod to be stored and swing it back to the initial position.

[0092] After the drill rod to be stored is placed in the empty drill rod holder, this embodiment controls the robotic arm to release the drill rod and swing back to its initial position, so as to respond to the next operation command at any time. The process of executing steps A1 to A4 above is the storage process.

[0093] Please see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of an automatic rod unloading drill rod magazine structure provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application. Figure 2 and Figure 3 In the diagram, 1 represents a rotary cylinder, 2 represents an upper support, 3 represents an upper robotic arm, 4 represents a center rod, 5 represents a lower support, 6 represents a buffer pad, 7 represents a support plate, 8 represents a lower robotic arm, 9 represents a positioning disc, 10 represents a mast, 11 represents a power head, 12 represents a rod changing detection proximity switch, 13 represents a drill pipe, 14 represents a drill pipe magazine proximity switch, 15 represents a robotic arm limit proximity switch, 16 represents a gripper proximity switch, 17 represents a gripper, 18 represents a gripper cylinder, 19 represents a robotic arm swing cylinder, 20 represents an upper clamping device, 21 represents a lower clamping device, and 22 represents a rod unloading cylinder. The rotary cylinder can be replaced with a cylinder + ratchet mechanism, and the rotation of the drill pipe magazine can also be driven by a rotary motor. Figure 3 The location of the power head center is also shown.

[0094] As for Figure 1 , Figure 2 In a further description of the corresponding embodiment, during the outgoing process, the rotary cylinder can be controlled to drive the central rod to rotate around the central axis in the following way: the rotary cylinder is controlled to drive the central rod to rotate forward 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 ingoing process, after the drill rod to be put into the warehouse is placed in the empty drill rod clamping position, the rotary cylinder can also be controlled to drive the central rod to rotate in the opposite direction around the central axis by the preset angle.

[0095] As a feasible implementation, the positioning disc includes N drill rod holders, and the N drill rod holders are evenly distributed at preset angle intervals, where N≥2; the support plate is equipped with N proximity switch triggering devices, and the N proximity switch triggering devices are evenly distributed at the preset angle intervals; the lower support is equipped with a drill rod magazine proximity switch.

[0096] Accordingly, this embodiment can determine whether the proximity switch is triggered by the drill pipe magazine proximity switch triggering device; if so, it is determined that the drill pipe holder has rotated to the position corresponding to the entrance / exit; if not, it is determined that the drill pipe holder has not yet rotated to the position corresponding to the entrance / exit.

[0097] As for Figure 1 In a further description of the corresponding embodiment, after the drilling rig connects the power head to the tail of the alternative drill rod, it can continue to determine whether the drilling rig has a rod connection requirement; if so, the robotic arm 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 a further description of the corresponding embodiment, the robotic arm includes a gripper, a gripper cylinder, and a swing cylinder; the gripper cylinder is used to control the gripper to clamp or release the drill rod, and the swing cylinder is used to control the gripper to swing. In this embodiment, the gripper can be controlled by the gripper cylinder to clamp and release the drill rod; in this embodiment, the gripper can also be controlled by the swing cylinder to change the position of the gripper.

[0099] The process described in the above embodiments is illustrated below through examples in practical applications.

[0100] This embodiment provides an automatic drill pipe magazine capable of accommodating multiple drill pipes and automatically re-changing them, along with its control method. The drill pipe magazine includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and two robotic arms (upper and lower). The upper and lower supports are mounted on the drill frame mast, and the central rod is rotatably mounted between the upper and lower supports. The central rod is equipped with a positioning disc and a support plate, which have multiple drill pipe clamping positions. The rotary cylinder drives the central rod to rotate, causing the positioning disc and support plate to rotate the drill pipes. Each of the upper and lower supports has a drill pipe inlet / outlet. The two robotic arms grab drill pipes from the inlets / outlets and swing them to the center of a power head that slides on the drill frame mast. The drill frame mast is equipped with upper / lower grippers that clamp two drill pipes connected vertically. The power head rotates and moves up and down, enabling the connection and disconnection of the two drill pipes. The drill pipe magazine also includes proximity switches for detecting the position of the drill pipes, proximity switches for detecting the swing position of the robotic arms, and proximity switches for detecting when the grippers are holding the drill pipes. A pendulum pressure sensor is installed to detect the swing position of the robotic arm. The drill mast is also equipped with a rod-changing detection proximity switch to check if the power head is in the rod-changing position, and a depth sensor to detect the distance the power head has moved. The power head is equipped with a power head speed sensor. The controller collects signals from the sensors and proximity switches, determines the position of the power head, drill rod, and drill rod magazine, makes control decisions, and outputs signals to the solenoid valves to drive the corresponding hydraulic cylinders, thus achieving automatic rod unloading. This embodiment can improve the automation level of drilling operations, reduce labor intensity, effectively reduce auxiliary operation time, and improve work efficiency.

[0101] Please see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of an upper support structure provided in an embodiment of this application. Figure 5 This is a schematic diagram of a tray and proximity switch triggering device provided in an embodiment of this application. Figure 4 The diagram shows the upper support 2, mast 10, inlet / outlet, drill pipe 13, and power head center. Figure 5 The image shows the proximity switch triggering device and the tray.

[0102] The upper end of the central rod is rotatably mounted on one end of the upper support, and the other end of the upper support is fixed to the drill frame mast; the lower end of the central rod is rotatably mounted on one end of the lower support, and the other end of the lower support is fixed to the drill frame mast; at least two positioning discs are provided along the axial direction of the central rod, and the positioning discs are provided with multiple evenly arranged drill rod slots; a support plate is provided at the bottom of the central rod.

[0103] The upper support is equipped with a rotary cylinder, which passes through the central hole of the upper support and is connected to the central rod, driving the central rod, the positioning disc and the support plate to rotate. The positioning disc and the support plate rotate together with the drill rod.

[0104] The underside of the support plate is equipped with a number of proximity switch triggering devices equal to the number of drill pipe clamping positions. A buffer pad is placed on the support plate to prevent direct collision between the drill pipe and the support plate. The drill frame mast is equipped with two robotic arms, one above the other. Each robotic arm has a gripper, a robotic arm swing cylinder, and a robotic arm gripper cylinder.

[0105] The lower support is equipped with a drill pipe magazine proximity switch to detect the rotation position of the proximity switch triggering device under the tray; the robotic arm is equipped with a robotic arm limit proximity switch and a claw proximity switch. The claw proximity switch 16 detects that the claw has gripped the drill pipe, and the robotic arm limit proximity switch detects that the claw has swung back to the drill pipe magazine entrance / exit position.

[0106] The drill mast is also equipped with a rod-changing detection proximity switch to check if the power head is in the rod-changing position, and a depth sensor to detect the distance the power head has moved. The power head is equipped with a power head speed sensor.

[0107] The automatic rod unloading drill rod magazine is equipped with a controller. The controller collects signals from sensors and proximity switches, determines the position of the drill rod and the drill rod magazine and the connection status of the drill rod, makes control decisions, and outputs signals to the solenoid valve to drive the corresponding hydraulic cylinder to perform the rod unloading function.

[0108] The solenoid valves include solenoid valves for the upper / lower manipulator swing in, upper / lower manipulator swing out, upper / lower gripper clamping, upper / lower gripper releasing, upper / lower gripper floating, drill pipe magazine forward rotation, drill pipe magazine reverse rotation, unloading cylinder extension, and unloading cylinder retraction.

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

[0110] If the required drilling depth is greater than the maximum drilling depth of a single drill rod, then when the controller receives a sensor signal and determines that the power head has reached its maximum stroke position, it will perform rod connection control, including the following steps:

[0111] Step B1: Disconnect the power head connector from the drill pipe;

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

[0113] Step B2: Drill pipe is removed from the warehouse;

[0114] The controller controls the drill pipe magazine to rotate clockwise around its central axis by one stop via the drill pipe magazine forward rotation solenoid valve, stopping the drill pipe to be received at the inlet / outlet position in the drill pipe magazine (at this time, the controller will receive a signal from the drill pipe magazine proximity switch; after leaving the inlet / outlet position, the proximity switch will not output a signal). Then, the controller controls the upper / lower manipulator swing solenoid valve to simultaneously shorten the upper / lower manipulator swing cylinder, causing the manipulator to swing out to the position to grab the drill pipe (at this time, the controller will receive a signal from the manipulator limit proximity switch). Then, the controller controls the upper / lower manipulator gripper clamping solenoid valve to simultaneously extend the upper / lower manipulator gripper cylinder, causing the gripper to clamp the drill pipe at the drill pipe magazine inlet / outlet position (hereinafter referred to as the first drill pipe; at this time, the controller will receive a signal from the gripper proximity switch). Then, the controller controls the upper / lower manipulator swing in solenoid valve to simultaneously extend the upper / lower manipulator swing cylinder to its maximum extension, while simultaneously collecting the manipulator swing in pressure sensor signal, causing the drill pipe to exit the magazine and swing in to the center position of the power head axis.

[0115] This embodiment can determine whether the drill rod has been swung to the center position of the power head axis based on the change in the swing pressure of the robot arm.

[0116] Step B3: Connect the power head connector to the drill pipe;

[0117] This step controls the forward rotation of the power head via the forward rotation solenoid valve, and simultaneously controls the descent of the power head via the power head propulsion and descent 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] This embodiment can determine whether the power head connector is connected to the tail of the first drill pipe based on the change in the rotational speed of the power head.

[0119] Step B4: Drill pipe connection;

[0120] This step uses the floating solenoid valves of the upper and lower grippers to synchronously control the floating of the grippers of the upper and lower manipulators, so that the drill rod will not slip due to gravity, but can move under the torque and push of the power head; control the power head to continue to rotate forward and descend, and at the same time collect the signal of the power head speed sensor to connect the head of the first drill rod with the tail of the second drill rod.

[0121] This embodiment can determine whether the head of the first drill pipe is connected to the tail of the second drill pipe based on the change in the rotational speed of the power head.

[0122] Step B5: The robotic arm returns to its original position;

[0123] This step involves simultaneously controlling the retraction of the gripper cylinders of the upper / lower manipulators via the upper / lower gripper release solenoid valve, causing the grippers to release (after the grippers are released, the gripper proximity switch has no output signal); then, simultaneously controlling the retraction of the upper / lower manipulator swing cylinders via the upper / lower manipulator swing extension solenoid valve, causing the upper and lower manipulators to swing back to their original positions (at this time, the controller will receive a signal from the drill pipe magazine proximity switch); finally, controlling the lower clamp release solenoid valve via the lower clamping cylinder to release the tail of the second drill pipe that has already been drilled, completing one rod connection.

[0124] This step involves depth measurement as follows: Each time the drill pipe magazine completes a connection operation, the number of drill pipes (n) increases by 1, and the depth increases by the drill pipe length (Ld). The controller collects the drilling depth (L1) as the power head descends, and calculates the actual drilling depth as L1 + n * Ld - L0. L0 is the reference depth, i.e., the depth of penetration when the drill bit contacts the ground.

[0125] The controller receives sensor signals and determines that the drill bit has reached the designed depth before unloading the drill rod, including the following steps:

[0126] Step C1: Drill pipe detachment.

[0127] The controller outputs a control signal to lift the power head via the solenoid valve, simultaneously acquiring a signal from the power head drilling depth sensor to raise it to the predetermined unloading height. If the depth sensor malfunctions, lifting stops when the height reaches the rod replacement detection proximity switch position. The lower clamping solenoid valve controls the lower clamping cylinder to clamp the tail of the second drill rod, while the upper clamping solenoid valve controls the upper clamping cylinder to clamp the head of the first drill rod. The rod unloading cylinder extension solenoid valve extends the rod unloading cylinder, causing the first drill rod to rotate and loosen from the second drill rod. The upper clamping release solenoid valve releases the first drill rod, and the rod unloading cylinder retracts the rod unloading cylinder, returning the upper clamping device to its original position.

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

[0129] This step involves simultaneously controlling the upper / lower manipulator swing cylinders to extend to their maximum length via the upper / lower manipulator swing solenoid valves, while simultaneously collecting signals from the manipulator swing pressure sensor. Based on changes in the swing pressure, the manipulator is swung to the drill rod position along the center axis of the power head. At this point, the manipulator limit switch outputs no signal. Next, the upper / lower gripper clamping solenoid valves simultaneously control the extension of the gripper cylinders of the upper / lower manipulators, clamping the first drill rod. During clamping, the controller receives a signal from the gripper proximity switch. Then, the power head reversal solenoid valve controls the power head to reverse direction, and simultaneously, the power head lifting solenoid valve controls the power head to lift, disengaging the power head from the first drill rod. If the power head reversal torque is insufficient to loosen the power head connector from the first drill rod, two drill rod sections can be loosened, and the upper clamping device can be used to hold the power head connector to loosen it from the first drill rod.

[0130] Step C3: Drill pipe is stored in the warehouse;

[0131] In this step, the upper / lower manipulator swing solenoid valve is simultaneously controlled to shorten the upper / lower manipulator swing cylinder synchronously, stopping the first drill pipe at the entrance / exit position in the drill pipe magazine. At this time, the controller will receive a signal output from the manipulator limit proximity switch. The upper / lower gripper release solenoid valve is simultaneously controlled to shorten the gripper cylinder synchronously, causing the gripper to release. After the gripper is released, the gripper proximity switch has no output signal. The controller then controls the drill pipe magazine to rotate around the central axis by one position through the drill pipe magazine reversal solenoid valve. After receiving a signal output from the drill pipe magazine proximity switch, the controller determines that the first drill pipe has entered the magazine.

[0132] Step C4: Connect the power head connector to the drill pipe;

[0133] The controller controls the descent of the power head via the power head push-down solenoid valve, and simultaneously collects the power head drilling depth sensor signal. After determining that the power head has descended and is close to the tail of the second drill pipe, it controls the power head to rotate forward via the power head forward solenoid valve, and simultaneously controls the descent of the power head via the power head push-down solenoid valve. At the same time, it collects the power head speed sensor signal and the power head drilling depth sensor signal, so that the power head is connected to the tail of the second drill pipe.

[0134] Repeat steps C1-C4 above to continue unloading and storing the second drill pipe. Continue this process until the last drill pipe is lifted and the power head is at the top.

[0135] The automatic drilling control system for open-pit drilling rigs provided in this embodiment can also be equipped with a rod replacement detection proximity switch. When unloading the rod, the power head needs to be raised to the 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 replacement detection proximity switch position, the lifting will stop, thus achieving dual protection.

[0136] The above embodiments can improve the automation level of drilling operations, are simple to operate, reliable in performance, easy to maintain, reduce labor intensity, effectively reduce the auxiliary operation time of down-the-hole drilling rigs, and improve work efficiency.

[0137] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating the control principle of an automatic rod unloading control method provided in this application embodiment. The controller can control the upper manipulator to swing out and in based on solenoid valves, proximity switches, and pressure sensors; the controller can control the gripper of the upper manipulator to clamp, float, and release based on solenoid valves and proximity switches; the controller can control the rotation of the drill pipe magazine (including forward and reverse rotation) based on solenoid valves and proximity switches; the controller can control the lower manipulator to swing out and in based on solenoid valves, proximity switches, and pressure sensors; the controller can control the gripper of the lower manipulator to clamp, float, and release based on solenoid valves and proximity switches; the controller can control the propulsion of the power head (including pushing down and lifting up) based on solenoid valves and depth sensors; the controller can control the rotation of the power head (including forward and reverse rotation) based on solenoid valves and speed sensors; the controller can control the clamping and releasing of the lower gripper based on solenoid valves; the controller can control the clamping and releasing of the upper gripper based on solenoid valves; and the controller can control the extension and retraction of the rod unloading cylinder based on solenoid valves.

[0138] This application provides a control system for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of a drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with inlets and outlets at the same positions to allow drill pipes to pass through. The control system for the drill pipe magazine mechanism includes:

[0139] The rotation control module is used to control the rotary cylinder to drive the central rod to rotate around the central axis if an outbound command is received, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet and outlet.

[0140] The rod-taking control module is used to control the robotic arm to swing from the initial position to the first preset position and clamp the alternative drill rod;

[0141] The rod release control module is used to control 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 in which the central axis of the alternative drill rod coincides with the central axis of the power head;

[0142] The first reset module is used to control the robotic arm to release the alternative drill rod and swing it to the initial position.

[0143] Upon receiving the outgoing command, this embodiment controls the rotary cylinder to drive the central rod to rotate, moving the candidate drill rod to the inlet / outlet. The robotic arm then swings from its initial position to a first preset position and clamps the candidate drill rod. Subsequently, the robotic arm continues to swing to a second preset position, ensuring that the central axis of the candidate drill rod coincides with the central axis of the power head, facilitating rapid connection between the power head and the drill rod's tail. After the power head and candidate drill rod are connected, the robotic arm releases the candidate drill rod and returns to its initial position. This process enables automated rod changing, improves the drilling rig's working efficiency, and meets the requirements of high-efficiency drilling operations.

[0144] Furthermore, it also includes:

[0145] The lifting control module is used to control the power head to lift the drill rod to be stored to the third preset position and disconnect the drill rod to be stored from other drill rods if a storage instruction is received.

[0146] The clamping control module is used to control the robotic arm to swing to the second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage;

[0147] The storage module is used to determine whether there is an empty drill rod holder at the position corresponding to the entrance / exit; if so, it controls the robot arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder; if not, it controls the rotary cylinder to drive the central rod to rotate around the central axis so that the empty drill rod is holdered at the position corresponding to the entrance / exit.

[0148] The second reset module is used to control the robotic arm to release the drill rod to be stored and swing it back to the initial position after the drill rod to be stored is placed in the empty drill rod holder.

[0149] Furthermore, the process of the rotation control module controlling the rotary cylinder to drive the central rod to rotate around the central axis includes: during the outgoing process, controlling the rotary cylinder to drive the central rod to rotate forward around the central axis by a preset angle; wherein, the preset angle is the angular interval between adjacent drill rod clamping positions; and during the ingoing process, after placing the drill rod to be put into the empty drill rod clamping position, controlling the rotary cylinder to drive the central rod to rotate in the opposite direction around the central axis by the preset angle.

[0150] Furthermore, the positioning disc includes N drill rod holders, and the N drill rod holders are evenly distributed at preset angle intervals, where N≥2; the support plate is equipped with N proximity switch triggering devices, and the N proximity switch triggering devices are evenly distributed at the preset angle intervals; the lower support is equipped with a drill rod magazine 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 pipe magazine proximity switch triggering device; if so, it determines that the drill pipe clamp has rotated to the position corresponding to the inlet / outlet.

[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 to the tail of the alternative drill rod; if so, it controls the robot arm 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 robotic arm includes a gripper, a gripper cylinder, and a swing cylinder; the gripper cylinder is used to control the gripper to clamp or release the drill rod, and the swing cylinder is used to control the gripper to swing.

[0156] This embodiment also provides a control system for a drill pipe magazine mechanism. The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a manipulator. The upper support, the lower support, and the manipulator are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper support and the lower support. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots. The positioning disc is used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper support and the lower support are provided with entrances and exits at the same positions to allow drill pipes to pass through. The control system for the drill pipe magazine mechanism includes:

[0157] The lifting control module is used to control the power head of the drilling rig to lift the drill rod to be stored to the third preset position if a storage instruction is received, and to disconnect the drill rod to be stored from other drill rods.

[0158] The clamping control module is used to control the robotic arm to swing to a second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage;

[0159] The warehousing module is used to determine whether there is an empty drill rod holder at the location corresponding to the entrance / exit; it is also used to control the robot arm to swing to a first preset position and place the drill rod to be stored in the empty drill rod holder if there is an empty drill rod holder; if there is no empty drill rod holder, it controls the rotary cylinder to drive the central rod to rotate around the central axis so that the empty drill rod is placed at the location corresponding to the entrance / exit.

[0160] The second reset module is used to control the robotic arm to release the drill rod to be stored and swing it back to the initial position after the drill rod to be stored is placed in the empty drill rod holder.

[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, and they will not be repeated here.

[0162] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0163] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0164] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0165] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for a drill pipe magazine mechanism, characterized in that, The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a robotic arm. The upper support, the lower support, and the robotic arm are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper and lower supports. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots, which are used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper and lower supports have entrances and exits at the same positions to allow drill pipes to pass through. The control method of the drill pipe magazine mechanism includes: If an outbound command is received, the rotary cylinder is controlled to drive the central rod to rotate around the central axis, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet / outlet; Control the robotic arm to swing from the initial position to the first preset position and clamp the alternative drill rod; The robotic arm is controlled 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 in which the central axis of the alternative drill rod coincides with the central axis of the power head; Control the robotic arm to release the alternative drill rod and swing it to the initial position.

2. The control method for the drill pipe magazine mechanism according to claim 1, characterized in that, Also includes: If an entry command is received, the power head is controlled to lift the drill rod to be entered to the third preset position and disconnect the drill rod to be entered from other drill rods. Control the robotic arm to swing to the second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage; Determine whether there is an available drill rod holder at the location corresponding to the entrance / exit; If so, control the robotic arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder; If not, control the rotary cylinder to drive the central rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the inlet and outlet; After placing the drill rod to be stored in the empty drill rod holder, the robot arm is controlled to release the drill rod to be stored and swing back to the initial position.

3. The control method for the drill pipe magazine mechanism according to claim 2, characterized in that, During the outbound process, controlling the rotary cylinder to drive the central rod to rotate around the central axis includes: The rotary cylinder is controlled to drive the central rod to rotate positively around the central axis by a preset angle; wherein, the preset angle is the angular interval between adjacent drill rod positions; Accordingly, during the warehousing process, after the drill rod to be warehoused is placed in the empty drill rod holder, the process also includes: The rotary cylinder is controlled to drive the central rod to rotate in the opposite direction around the central axis by the preset angle.

4. The control method for the drill pipe magazine mechanism according to claim 1, characterized in that, The positioning disc includes N drill rod holders, and the N drill rod holders are evenly distributed at preset angle intervals, where N≥2; the support plate is equipped with N proximity switch triggering devices, and the N proximity switch triggering devices are evenly distributed at the preset angle intervals; the lower support is equipped with a drill rod magazine proximity switch. Correspondingly, it also includes: Determine whether the proximity switch is triggered by the drill pipe magazine proximity switch triggering device; If so, it is determined that the drill rod clamp has rotated to the position corresponding to the inlet / outlet.

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

6. The control method for the drill pipe magazine mechanism according to claim 1, characterized in that, The robotic arm includes a gripper, a gripper cylinder, and a swing cylinder; the gripper cylinder is used to control the gripper to clamp or release the drill rod, and the swing cylinder is used to control the gripper to swing.

7. A control method for a drill pipe magazine mechanism, characterized in that, The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a robotic arm. The upper support, the lower support, and the robotic arm are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper and lower supports. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots, which are used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper and lower supports have entrances and exits at the same positions to allow drill pipes to pass through. The control method of the drill pipe magazine mechanism includes: If a storage instruction is received, the power head of the drilling rig is controlled to lift the drill rod to be stored to the third preset position and disconnect the drill rod to be stored from other drill rods. The robotic arm is controlled to swing to a second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage; Determine whether there is an available drill rod holder at the location corresponding to the entrance / exit; If so, control the robotic arm to swing to the first preset position and place the drill rod to be stored in the empty drill rod holder; If not, control the rotary cylinder to drive the central rod to rotate around the central axis so that the idle drill rod is positioned at the position corresponding to the inlet and outlet; After placing the drill rod to be stored in the empty drill rod holder, the robot arm is controlled to release the drill rod to be stored and swing back to the initial position.

8. A control system for a drill pipe magazine mechanism, characterized in that, The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a robotic arm. The upper support, the lower support, and the robotic arm are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper and lower supports. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots, which are used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper and lower supports have entrances and exits at the same positions to allow drill pipes to pass through. The control system of the drill pipe magazine mechanism includes: The rotation control module is used to control the rotary cylinder to drive the central rod to rotate around the central axis if an outbound command is received, so that the alternative drill rod in the drill rod holder rotates to the position corresponding to the inlet and outlet. The rod-taking control module is used to control the robotic arm to swing from the initial position to the first preset position and clamp the alternative drill rod; The rod release control module is used to control 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 in which the central axis of the alternative drill rod coincides with the central axis of the power head; The first reset module is used to control the robotic arm to release the alternative drill rod and swing it to the initial position.

9. A control system for a drill pipe magazine mechanism, characterized in that, The drill pipe magazine mechanism includes an upper support, a lower support, a central rod, a rotary cylinder, a positioning disc, a support plate, and a robotic arm. The upper support, the lower support, and the robotic arm are mounted on the mast of the drilling rig. The central rod is rotatably mounted between the upper and lower supports. The rotary cylinder is connected to the central rod. The positioning disc and the support plate are fixedly mounted on the central rod. The positioning disc includes multiple drill pipe slots, which are used to limit the alternative drill pipes carried by the support plate to the corresponding drill pipe slots. The upper and lower supports have entrances and exits at the same positions to allow drill pipes to pass through. The control system of the drill pipe magazine mechanism includes: The lifting control module is used to control the power head of the drilling rig to lift the drill rod to be stored to the third preset position if a storage instruction is received, and to disconnect the drill rod to be stored from other drill rods. The clamping control module is used to control the robotic arm to swing to a second preset position and clamp the drill rod to be put into storage, so as to disconnect the power head from the drill rod to be put into storage; The warehousing module is used to determine whether there is an empty drill rod holder at the location corresponding to the entrance / exit; it is also used to control the robot arm to swing to a first preset position and place the drill rod to be stored in the empty drill rod holder if there is an empty drill rod holder; if there is no empty drill rod holder, it controls the rotary cylinder to drive the central rod to rotate around the central axis so that the empty drill rod is placed at the location corresponding to the entrance / exit. The second reset module is used to control the robotic arm to release the drill rod to be stored and swing it back to the initial position after the drill rod to be stored is placed in the empty drill rod holder.

10. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the drill pipe magazine mechanism as described in any one of claims 1 to 7.

11. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the control method for the drill pipe magazine mechanism as described in any one of claims 1 to 7.

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