Drill rod transfer system and control method

Abstract

The invention relates to the field of engineering machinery, and discloses a drill rod transfer system and a control method.The drill rod transfer system comprises a drill rod box, a lifting frame and an electric control system, the drill rod box and a rack are both installed on the lifting frame, the lifting frame is installed on a crawler, a first opening is formed in the lifting frame, and a drill rod in the drill rod box is perpendicular to the rack; a transfer manipulator is arranged on one side of the drill rod box close to the rack; the transfer manipulator comprises a transverse moving unit, a vertical moving unit, a longitudinal moving unit, a telescopic unit and a clamping jaw which are connected in sequence, the electric control system comprises a telescopic sensor and a lifting sensor, the telescopic sensor is used for measuring the length change of the telescopic unit, and the lifting sensor is used for measuring the length change of the vertical moving unit. And the sensor is simple and reliable.

Description

Technical Field

[0001] The invention relates to the field of engineering machinery, and in particular to a drill rod transfer system and a control method. Background Art

[0002] Automatic mining drills are mainly used for underground drilling operations. The drill rods in the drill rod box need to be transported to the frame by a manipulator. However, in the prior art, the drill rods in the drill rod box need to be transferred to a designated transfer device first, and then the drill rods are placed on the frame by a manipulator. The manipulator has many movements and the process is complicated, resulting in low efficiency in drill rod transportation and overall construction. The manipulator, frame, and crawler vehicle are limited by the environment in the tunnel. When transporting drill rods under large negative inclination conditions, the manipulator will interfere with the crawler vehicle or the frame, and the drill rod cannot be automatically transported.

[0003] In addition, the existing drill pipe conveying manipulator sensor systems are all aimed at rotation-translation compound articulated manipulators, and are mainly used to judge and measure the rotation angle of the manipulator, such as CN111042752A and CN116877007A. The existing technology mainly judges the specific positions of the two actions of the manipulator's tilt adjustment and flipping based on the manipulator's movement principle, and does not have a process measurement function.

[0004] Therefore, a drill rod transfer system is needed, which is suitable for drill rod transfer in narrow space and has simple and reliable sensors. Summary of the invention

[0005] The present invention aims to provide a drill rod transportation system which is suitable for drilling rod transportation in a narrow space and has simple and reliable sensors.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a drill rod transfer system and control method, including a drill rod box, a lifting frame and an electric control system, the drill rod box and a frame are both installed on the lifting frame, the lifting frame is installed on a crawler vehicle, a first opening is provided on the lifting frame, the drill rod in the drill rod box and the frame are perpendicular, and a transfer manipulator is provided on the side of the drill rod box close to the frame; the transfer manipulator includes a lateral moving unit, a vertical moving unit, a longitudinal moving unit, a telescopic unit and a clamp connected in sequence, the electric control system includes a telescopic sensor and a lifting sensor, the telescopic sensor is used to measure the length change of the telescopic unit, and the lifting sensor is used to measure the length change of the vertical moving unit.

[0007] The beneficial effects of this program are:

[0008] 1. This solution simplifies the movement trajectory of the drill rod during transportation. The transportation can be completed by moving along the three coordinate axes of the rectangular coordinates. There is no need to perform arc movements such as upward flipping, which saves the height requirement during drill rod transportation and is suitable for drill rod transportation in narrow spaces.

[0009] 2. The transfer robot adopts a combination of a vertical moving unit and a telescopic unit to adjust the height of the gripper. Compared with using only one lifting drive component, this solution increases the number of drives, and the lifting speed is faster. For the same lifting height, the stroke of a single drive component is shorter and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height that the beam needs to reach will also be smaller, thereby reducing the movement height of the transfer robot, which is more suitable for drill rod transportation in narrow spaces.

[0010] 3. According to the working characteristics of the rectangular coordinate manipulator, the telescopic sensor and the lifting sensor can use displacement sensors to detect process displacement and improve the accuracy of motion positioning; the combination of the telescopic sensor and the lifting sensor can meet the height calculation, monitoring and control requirements of the gripper under various working conditions, and the system is simple and reliable.

[0011] Furthermore, the drill rod box includes a bottom plate, a standard vertical plate and an open vertical plate, the bottom plate, the standard vertical plate and the open vertical plate form a box body with a U-shaped cross-section opened at the top, the open vertical plate is arranged on the side of the drill rod box facing the frame, and the open vertical plate is provided with a second opening with a width greater than the diameter of the drill rod; partitions are evenly spaced vertically on the inner sides of the standard vertical plate and the open vertical plate;

[0012] The electric control system includes an identification sensor, which is arranged on the upper part of the partitions on both sides of the second opening or on the upper part of the partition corresponding to the second opening position on the standard vertical plate. The identification sensor is used to identify whether a drill rod passes by.

[0013] Furthermore, the lateral moving unit is connected to the lower part of the open vertical plate, and the lateral moving unit includes a slide, a rack and a slide rail, the slide rail and the rack are arranged parallel to each other, the outer sides of the slide rail and the rack form a first guide rail for the slide to slide, the slide is sleeved on the first guide rail formed by the rack and the slide rail, the slide is provided with a lateral motor, the output shaft of the lateral motor is provided with a lateral gear, and the lateral gear is meshed with the rack; the vertical moving unit is installed on the slide;

[0014] The electric control system comprises a column selection sensor, which is arranged at the lower part of the side of the opening vertical plate facing the frame, and is used to measure the displacement of the slide or the vertical moving unit.

[0015] Furthermore, the longitudinal moving unit comprises a crossbeam and a moving seat, the crossbeam is connected to the top of the lifting inner cylinder, a second guide rail is arranged on the crossbeam, the second guide rail has the same structure as the first guide rail, a longitudinal motor is arranged on the moving seat, a longitudinal gear is arranged on the output shaft of the longitudinal motor, and the longitudinal gear is meshed with the rack of the second guide rail; the moving seat moves along the length direction of the drill rod in the drill rod box on the second guide rail, the telescopic unit is installed on the moving seat, the clamp is arranged at the lower end of the telescopic unit, and the clamp is used to clamp the drill rod;

[0016] The electric control system includes a translation sensor and a proximity sensor. The translation sensor is arranged on the crossbeam and is used to measure the displacement of the moving seat or the telescopic unit; the proximity sensor is arranged on the clamp and is used to identify whether there is a drill rod under the clamp.

[0017] Furthermore, the vertical moving unit includes a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder, the lifting outer cylinder is connected to a slide seat, the lifting inner cylinder is slidably arranged in the lifting outer cylinder, two inner slide rails are symmetrically arranged in the lifting outer cylinder, the inner slide rails are used for guiding the movement of the lifting inner cylinder, the lifting cylinder is connected to the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting cylinder is connected to the lifting inner cylinder or the longitudinal moving unit;

[0018] The lifting sensor is arranged outside the lifting outer cylinder or inside the lifting inner cylinder.

[0019] The present invention aims to provide a control method for a drill rod transfer system, which is suitable for transfer of drill rods in narrow spaces and has a simple and reliable sensor.

[0020] The control method of the drill pipe transfer system comprises the following steps:

[0021] Step 1: Select the row: prepare the drill pipe transfer system, the transverse motor drives the transfer manipulator to select the row, when the slide reaches the specified position, the row selection sensor sends a signal to the transverse motor, and the transverse motor stops working;

[0022] Step 2: Translation: The longitudinal motor drives the telescopic unit and the clamp to move. When the clamp moves to the middle position of the drill pipe box, the translation sensor sends a signal to the longitudinal motor, and the longitudinal motor stops working.

[0023] Step 3: Extend the gripper: The telescopic unit extends downward until the proximity sensor senses that there is a drill rod under the gripper, and the telescopic sensor measures the extension amount; if the telescopic unit extends downward to the maximum value and the proximity sensor still cannot sense the drill rod, the lifting cylinder is driven to lift the crossbeam until the proximity sensor senses that there is a drill rod under the gripper, and the lifting sensor measures the lifting amount;

[0024] Step 4: Grab the drill rod: drive the clamp to clamp the drill rod;

[0025] Step 5: Move to the second opening: The telescopic unit and the lifting cylinder jointly drive the gripper to lift until the gripper and the clamped drill rod are above the top of the drill rod box, and the transverse motor drives the transfer manipulator to move to the second opening of the drill rod box as a whole, and the selected sensor monitors the position in real time;

[0026] Step 6: Sinking detection: The telescopic unit or lifting cylinder drives the clamping claw to descend, so that the identification sensor senses the drill rod.

[0027] Step 7: Align the rack: The telescopic unit and the lifting cylinder jointly drive the clamping jaws to descend, so that the axis of the drill rod is aligned with a specific position on the rack;

[0028] Step 8: Translational conveying: The longitudinal motor drives the clamping claw to move along the crossbeam toward the frame.

[0029] Further, the lifting sensor measures the displacement as a, and the telescopic sensor measures the displacement as b;

[0030] In step 1, the initial values ​​of a and b are determined;

[0031] In step 3, a and b satisfy:

[0032] H1-H2=a1+b1;

[0033] H2 = nd;

[0034] a=a-a1;

[0035] b=b+b1;

[0036] H1-height of the opening riser;

[0037] n-the number of remaining drill rods in the column to be grabbed;

[0038] d-drill pipe diameter;

[0039] a1-the displacement of the lifting cylinder in step 3;

[0040] b1-Change displacement of the telescopic unit in step 3.

[0041] Furthermore, in step five, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d.

[0042] Further, in step 7, when the specific position on the frame is higher than the drill rod on the clamp, the clamp is required to rise by a displacement Δ, and a and b satisfy:

[0043] Δ=a2+b2;

[0044] a=a+a2;

[0045] b = b - b2;

[0046] a2-Change in displacement of the lifting cylinder in step seven;

[0047] b2-The displacement of the telescopic unit in step seven.

[0048] Furthermore, in step 7, when the specific position on the frame is lower than the drill rod on the clamp, the clamp is required to be lowered by a displacement Δ, and a and b satisfy:

[0049] Δ=a2+b2;

[0050] a=a-a2;

[0051] b=b+b2;

[0052] a2-Change in displacement of the lifting cylinder in step seven;

[0053] b2-The displacement of the telescopic unit in step seven.

[0054] This solution also has the following effects:

[0055] 1. By setting two proximity sensors (identification sensor and proximity sensor) at the jaw and the second opening position, it is possible to detect whether there is a drill rod in or below the jaw, thereby improving the safety and effectiveness of system operation.

[0056] 2. Use displacement sensors to detect the displacement of the transfer robot during its movement process to improve the accuracy of movement positioning; use a combination of two displacement sensors in the telescopic and lifting cylinders to meet the height calculation, monitoring and control requirements of the gripper under various working conditions. The system is simple and reliable.

[0057] 3. The transfer robot adopts a combination of a vertical moving unit and a telescopic unit to adjust the height of the gripper. Compared with using only one lifting drive component, this solution increases the number of drives, and the lifting speed is faster. For the same lifting height, the stroke of a single drive component is shorter and the flexibility is higher. When the telescopic unit crosses the open vertical plate, the minimum height that the beam needs to reach will also be smaller, thereby reducing the movement height of the transfer robot, which is more suitable for drill rod transportation in narrow spaces.

[0058] 4. During the transportation process, the drill rod can be lowered in the second opening of the drill rod box, without having to completely move the drill rod out of the drill rod box before lowering it. This can shorten the distance between the drill rod box and the frame, thereby reducing the size of the entire drilling rig to adapt to the free space restrictions in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 The overall three-dimensional diagram of the drilling rig applicable to Example 1;

[0060] Figure 2 A three-dimensional axonometric view of the drill rod box of Example 1;

[0061] Figure 3 It is a cross-sectional view of the lifting outer cylinder of Example 1;

[0062] Figure 4 It is a top view of the lifting outer cylinder of Example 1;

[0063] Figure 5 This is a three-dimensional axonometric view of the lifting frame of Example 1;

[0064] Figure 6 It is a rear three-dimensional axonometric view of the lifting frame of Example 1;

[0065] Figure 7 is a three-dimensional schematic diagram of the electric control system of Example 1;

[0066] Figure 8 It is a right side schematic diagram of the electric control system of Example 1;

[0067] Fig. 9 This is a schematic diagram of the height of the drill rod box of Example 2. DETAILED DESCRIPTION

[0068] The following is further described in detail through specific implementation methods:

[0069] The reference numerals in the drawings of the specification include: crawler 1, frame 2, frame 3, power head 4, drill rod 5, flip manipulator 6, gripper 7, lifting frame 8, transfer manipulator 9, drill rod box 10, anchoring system 11, hydraulic system 12, main control box 13,

[0070] Bottom plate 1001, side plate 1002, standard vertical plate 1003, partition plate 1004, open vertical plate 1005, rack 1006, slide rail 1007, slide seat 1008, horizontal motor 1009,

[0071] Turntable 801, first rotator 802, column 803, lifting sleeve 804, lifting cylinder 805, second rotator 806, connecting plate 807,

[0072] Lifting cylinder 901, lifting outer cylinder 902, outer tube 90201, connecting block 90202, inner slide rail 90203, clamping claw 903, clamping drive 904, telescopic cylinder 905, telescopic cylinder 906, crossbeam 907, moving seat 908, motor 909, rack 910, slide rail 911, lifting inner cylinder 912,

[0073] Identification sensor 1301a, translation sensor 1301b, column selection sensor 1301c, telescopic sensor 1301d, lifting sensor 1301e and proximity sensor 1301f.

[0074] Example 1

[0075] Drill pipe transfer system, suitable for Figure 1 The drilling rig shown in the figure includes a crawler vehicle 1, on which is a frame 2, on which are provided an anchoring system 11, a hydraulic system 12, an electric control system and a lifting frame 8, on which are provided a drill rod box and a frame 3, on which are provided a transfer manipulator 9, on which are provided a power head 4, a clamp 7 and a flipping manipulator 6, the transfer manipulator 9 passes the drill rod 5 in the drill rod box 10 through and inserts it into the frame 3, and the flipping manipulator 6 flips the drill rod 5 90° to align the centers of the drill rod 5 and the clamp 7 for easy connection of the drill rod 5.

[0076] This embodiment 1 is a lifting frame 8, a transfer manipulator 9 and an electric control system of a drilling rig. Figure 2 As shown: the drill rod transfer system includes a drill rod box 10, a transfer manipulator 9, a lifting frame 8 and an electric control system.

[0077] The electronic control system includes a main control box 13 and several sensors. The positions of the several sensors are as follows: Figure 7 and Figure 8 As shown, several sensors include an identification sensor 1301a, a translation sensor 1301b, a column selection sensor 1301c, a telescopic sensor 1301d, a lifting sensor 1301e and a proximity sensor 1301f, and a controller, a power supply and a data cable are installed in the main control box 13.

[0078] like Figure 2 As shown, the drill rod box 10 includes a bottom plate 1001, a side plate 1002, a standard vertical plate 1003 and an open vertical plate 1005. The bottom plate 1001, the side plate 1002, the vertical plate and the open vertical plate 1005 are bolted together to form a box body with an upper opening, which serves as a space for storing the drill rods 5. The inner sides of the standard vertical plates 1003 and the open vertical plates 1005 are vertically provided with partitions 1004 at equal intervals. The partitions 1004 are arranged at intervals matching the sizes of the drill rods 5. A row of drill rods 5 is placed between two adjacent partitions 1004, so that the transfer manipulator 9 can grab the drill rods 5.

[0079] The open vertical plate 1005 is arranged on the side of the drill rod box 10 facing the frame 3, and a transfer robot 9 is provided on the side of the open vertical plate 1005 close to the frame 3. The transfer robot 9 includes a lateral moving unit, a vertical moving unit, a longitudinal moving unit, a telescopic unit and a clamp connected in sequence.

[0080] A second opening having a width greater than the size of the drill rod 5 and the transfer robot 9 is opened in the middle of the open vertical plate 1005, and the drill rod 5 and the clamping jaws 903 can pass through the second opening smoothly, thereby forming a space for the drill rod 5 to be raised and lowered and the transfer robot 9 to move when the drill rod 5 is transported. Figure 7 and Figure 8 As shown, the identification sensor 1301a is installed on the upper end of the partition 1004 on both sides of the second opening or on the standard vertical plate 1003 and the upper end of the partition 1004 corresponding to the second opening position. The identification sensor 1301a is used to identify whether a drill rod 5 passes by.

[0081] The lateral moving unit is bolted to the lower part of the opening vertical plate 1005. The lateral moving unit includes a slide 1008, a rack 1006 and a slide rail 1007. The slide rail 1007 and the rack 1006 are arranged parallel to each other. The outer sides of the slide rail 1007 and the rack 1006 form a first guide rail for the slide 1008 to slide. The slide 1008 is mounted on the first guide rail formed by the rack 1006 and the slide rail 1007 and can move horizontally along the guide rail to select drill rods 5 in different columns for grabbing. The slide 1008 is provided with a lateral motor 1009. The output shaft of the lateral motor 1009 is provided with a lateral gear. The lateral gear is meshed with the rack 1006 to form a gear-rack kinematic pair. Figure 7 and Figure 8 As shown, the column selection sensor 1301c is arranged at the lower part of the side of the open vertical plate 1005 facing the frame 3, and the column selection sensor 1301c is used to measure the displacement of the slide 1008 or the vertical moving unit.

[0082] The second opening of the open vertical plate 1005, the partitions 1004 on both sides thereof, and the open vertical plates 1005 at corresponding positions and the partitions 1004 on the standard vertical plates 1003 form a space for the telescopic unit and the clamping claws of the transfer robot 9 and the clamped drill rod 5 to move up and down and forward and backward (along the axial direction of the drill rod 5) in the drill rod box 10.

[0083] The vertical moving unit includes a lifting cylinder 901, a lifting outer cylinder 902 and a lifting inner cylinder 912. Figure 3 , Figure 4 As shown, the lifting outer cylinder 902 includes an outer tube 90201 and a connecting block 90202, the connecting block 90202 is welded to the outer side of the lower part of the outer tube 90201, the connecting block 90202 is bolted to the slide seat 1008, the lifting inner cylinder 912 is slidably arranged in the outer tube 90201, and two inner slide rails 90203 are symmetrically, vertically, and bolted in the outer tube 90201, and the inner slide rails 90203 are used to guide the movement of the lifting inner cylinder 912; the lifting cylinder 901 is connected to the bottom of the lifting outer cylinder 902, and the upper end of the output shaft of the lifting cylinder 901 is connected to the lifting inner cylinder 912 or the longitudinal moving unit. Figure 8 As shown, the lifting sensor is installed outside the lifting outer cylinder 902 or inside the lifting inner cylinder 912, and the lifting sensor is used to measure the displacement of the crossbeam 907.

[0084] The longitudinal moving unit includes a crossbeam 907 and a moving seat 908. The crossbeam 907 is connected to the top of the lifting inner cylinder 912 by bolts. A second guide rail is provided on the crossbeam 907. The second guide rail has the same structure as the first guide rail. The moving seat 908 has the same structure as the sliding seat 1008. A longitudinal motor is provided on the moving seat 908. A longitudinal gear is provided on the output shaft of the longitudinal motor. The longitudinal gear is meshed with the rack of the second guide rail. The moving seat 908 moves along the length direction of the drill rod 5 in the drill rod box 10 on the second guide rail. The telescopic unit is installed on the moving seat 908. The clamping jaws under the telescopic unit are used to clamp the drill rod 5. The clamping jaws 903 can be various forms of clamping mechanisms. The clamping mechanism includes a clamping drive 904. The clamping drive 904 can be various linear or rotating elements (such as oil cylinders, transverse motors 1009, etc.). The clamping drive 904 drives the clamping jaws 903 to clamp and release, thereby clamping and releasing the drill rod 5. In this embodiment 1, the clamping drive 904 is a linear oil cylinder.

[0085] The telescopic unit can adopt an inner and outer sleeve structure similar to the vertical moving unit. In this embodiment 1, the telescopic unit includes a telescopic oil cylinder 906 and an inner sleeve. The lower end of the output shaft of the telescopic oil cylinder 906 is bolted to the clamping claw 903. Figure 7 As shown, the translation sensor 1301b is installed on the crossbeam 907, and the translation sensor 1301b is used to measure the displacement of the moving seat 908 or the telescopic unit; the proximity sensor is installed on the clamping jaw, and the proximity sensor is used to identify whether there is a drill rod 5 under the clamping jaw.

[0086] like Figure 5 , Figure 6 As shown, the lifting frame 8 is L-shaped, including a turntable 801 and a connecting unit which are perpendicular to each other. The turntable 801 is horizontally arranged. The turntable 801 is a connecting piece between the drill rod box 10 and the crawler vehicle 1. The drill rod box 10 is bolted to the turntable 801. A first rotator 802 is bolted to the lower middle part of the turntable 801. The first rotator 802 is bolted to the frame 2 of the crawler vehicle 1. The first rotator 802 is used to drive the drill rod box 10 and the frame 3 on the turntable 801 to rotate horizontally.

[0087] The connection unit includes a lifting assembly, a second rotator 806 and a connecting plate 807. The lifting assembly includes a lifting sleeve 804 and two columns 803. The lower ends of the two columns 803 are welded with bases, which are bolted to the side of the turntable 801 close to the frame 3. The two columns 803 pass through the lifting sleeve 804. The two sides of the lifting sleeve 804 are slidably arranged on the columns 803. The middle part of the lifting sleeve 804 is provided with a first opening, and the top of the first opening is open to provide a part of the space for the drill rod 5 to move up and down under the drive of the transfer manipulator 9. The lifting sleeve 804 is provided with two installation cavities, which are arranged between the first opening and the column 803. A lifting cylinder 805 is respectively arranged in the two installation cavities. The lifting cylinder 805 is bolted to the base of the column 803. The upper end of the output shaft of the lifting cylinder 805 is connected to the side wall of the installation cavity by a pin shaft, so as to realize the adjustment of the frame height.

[0088] The second rotator 806 is bolted to the side of the lifting sleeve 804 close to the frame 3, the connecting plate 807 is bolted to the side of the second rotator 806 close to the frame 3, the connecting plate 807 and the frame 3 are bolted, and the second rotator 806 is used to drive the frame 3 to rotate vertically. A rectangular hole is horizontally arranged on the connecting plate 807 to meet the movement space when the subsequent flip manipulator 6 flips the rotating rod 90°. The internal gap of the frame 3, the rectangular hole, the inner hole of the second rotator 806 and the first opening are aligned and used for the drill rod 5 to pass through.

[0089] The use of the drill pipe transfer system is as follows:

[0090] 1. A certain number of drill rods 5 are installed in the drill rod box 10, and the clamping jaws 903 are in any position that does not interfere with the drill rod box 10 and the drill rods 5 inside, and the lowest position height of the clamping jaws 903 is higher than the top of the opening vertical plate 1005;

[0091] 2. The transverse motor 1009 drives the transfer robot 9 to move along the first guide rail and select a designated column;

[0092] 3. The longitudinal motor drives the clamping jaw 903 to move along the crossbeam 907 to a position above the middle of the drill rod 5 in the drill rod box 10;

[0093] 4. The clamping jaws 903 are loosened, and the vertical moving unit and the telescopic unit are combined to adjust the height of the clamping jaws 903 to a height suitable for gripping the drill rod 5;

[0094] 5. The clamping jaws 903 clamp the drill rod 5, and the vertical moving unit and the telescopic unit are combined to adjust the clamping jaws 903 back to a height higher than the top of the opening vertical plate 1005;

[0095] 6. The transverse motor 1009 drives the transfer robot 9 to move along the first guide rail to above the second opening of the opening vertical plate 1005;

[0096] 7. The vertical moving unit and the telescopic unit are combined to adjust the height of the clamping jaw 903, so that the clamping jaw 903 and the drill rod 5 clamped by the clamping jaw 903 are lowered to a height suitable for the transportation of the drill rod 5;

[0097] 8. The longitudinal motor drives the clamping jaw 903 to move along the crossbeam 907 away from the drill rod box 10, so that the drill rod 5 passes through the inner hole of the second rotator 806, the rectangular hole and the internal gap of the frame 3 in sequence, and the drill rod 5 is transported into the range of the frame 3.

[0098] Example 2

[0099] The control method of the drill pipe 5 transfer system comprises the following steps:

[0100] Step 1, row selection: prepare the drill pipe transfer system, the transverse motor 1009 drives the transfer manipulator 9 to select the row, when the slide 1008 reaches the specified position, the row selection sensor 1301c sends a signal to the transverse motor 1009, and the transverse motor 1009 stops working;

[0101] Step 2: Translation: The longitudinal motor 909 drives the telescopic unit and the clamping jaw 903 to move. When the clamping jaw 903 moves to the middle position of the drill pipe box 10, the translation sensor 1301b sends a signal to the longitudinal motor 909, and the longitudinal motor 909 stops working.

[0102] Step 3, extending the clamping jaw 903: the telescopic unit extends downward until the proximity sensor senses that there is a drill rod 5 under the clamping jaw 903, and the telescopic sensor 1301d measures the extension amount; if the telescopic unit extends downward to the maximum value and the proximity sensor still cannot sense the drill rod 5, the lifting cylinder 901 is driven to drive the crossbeam 907 to move up and down until the proximity sensor senses that there is a drill rod 5 under the clamping jaw 903, and the lifting sensor measures the lifting amount;

[0103] Step 4: grab the drill rod 5: drive the clamping claw 903 to clamp the drill rod 5;

[0104] Step 5: Move to the second opening: The telescopic unit and the lifting cylinder 901 jointly drive the clamping claw 903 to rise until the clamping claw 903 and the clamped drill rod 5 are above the top of the drill rod box 10, and the transverse motor 1009 drives the transfer manipulator 9 to move to the second opening of the drill rod box 10 as a whole, and the selection sensor 1301c monitors the position in real time;

[0105] Step 6: Sinking detection: the telescopic unit or lifting cylinder 901 drives the clamping claw 903 to descend, so that the identification sensor 1301a senses the drill rod 5.

[0106] Step 7: Align the rack 3: The telescopic unit and the lifting cylinder 901 jointly drive the clamping claw 903 to descend, so that the axis of the drill rod 5 is aligned with a specific position on the rack 3;

[0107] Step 8: Translational transport: the longitudinal motor 909 drives the clamping claw 903 to move along the crossbeam 907 toward the frame 3 .

[0108] The control method of the drilling rod 5 transfer system includes a vertical displacement control method of the transfer manipulator 9:

[0109] In step 1, the initial values ​​of a and b are determined;

[0110] In step 3, a and b satisfy:

[0111] H1-H2=a1+b1;

[0112] H2 = nd;

[0113] a=a-a1;

[0114] b=b+b1;

[0115] H1-the height of the opening vertical plate 1005; the positions of H1 and H2 are as follows Fig. 9 As shown;

[0116] n-the number of remaining drill rods 5 in the column to be grabbed;

[0117] d-drill pipe 5 diameter;

[0118] a1-change in displacement of the lifting cylinder 901 in step 3;

[0119] b1-change in displacement of the telescopic cylinder 905 in step 3;

[0120] In step 5, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d;

[0121] In step 7, when the specific position on the frame 3 is higher than the drill rod 5 on the clamp 903, the clamp 903 needs to be lifted by a displacement Δ, and a and b satisfy:

[0122] Δ=a2+b2;

[0123] a=a+a2;

[0124] b = b - b2;

[0125] a2-Change in displacement of lifting cylinder 901 in step seven;

[0126] b2-change in displacement of the telescopic cylinder 905 in step seven;

[0127] When the specific position on the frame 3 is lower than the drill rod 5 on the clamp 903, the clamp 903 needs to be lowered by a displacement Δ, and a and b satisfy:

[0128] Δ=a2+b2;

[0129] a=a-a2;

[0130] b=b+b2;

[0131] a2-Change in displacement of lifting cylinder 901 in step seven;

[0132] b2-The telescopic cylinder 905 in step seven changes its displacement.

[0133] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Drill pipe transfer system, characterized by: It includes a drill rod box, a lifting frame and an electric control system. The drill rod box and the frame are both installed on the lifting frame, and the lifting frame is installed on a crawler vehicle. The lifting frame is provided with a first opening. The drill rod in the drill rod box and the frame are perpendicular. A transfer manipulator is provided on the side of the drill rod box close to the frame; the transfer manipulator includes a lateral moving unit, a vertical moving unit, a longitudinal moving unit, a telescopic unit and a clamp connected in sequence, and the electric control system includes a telescopic sensor and a lifting sensor. The telescopic sensor is used to measure the length change of the telescopic unit, and the lifting sensor is used to measure the length change of the vertical moving unit.

2. The drill pipe transfer system according to claim 1, characterized in that: The drill rod box includes a bottom plate, a standard vertical plate and an open vertical plate, which form a box body with a U-shaped cross-section that is open at the top. The open vertical plate is arranged on the side of the drill rod box facing the frame, and a second opening with a width greater than the diameter of the drill rod is provided on the open vertical plate; partitions are vertically arranged at equal intervals on the inner sides of the standard vertical plate and the open vertical plate; The electric control system includes an identification sensor, which is arranged on the upper part of the partitions on both sides of the second opening or on the upper part of the partition corresponding to the second opening position on the standard vertical plate. The identification sensor is used to identify whether a drill rod passes by.

3. The drill pipe transfer system according to claim 2, characterized in that: The lateral moving unit is connected to the lower part of the opening vertical plate, and comprises a slide, a rack and a slide rail. The slide rail and the rack are arranged parallel to each other, and the outer sides of the slide rail and the rack form a first guide rail for the slide to slide. The slide is sleeved on the first guide rail formed by the rack and the slide rail. The slide is provided with a lateral motor, and the output shaft of the lateral motor is provided with a lateral gear, and the lateral gear is meshed with the rack. The vertical moving unit is installed on the slide. The electric control system comprises a column selection sensor, which is arranged at the lower part of the side of the opening vertical plate facing the frame, and is used to measure the displacement of the slide or the vertical moving unit.

4. The drill pipe transfer system according to claim 3, characterized in that: The longitudinal moving unit includes a crossbeam and a moving seat. The crossbeam is connected to the top of the lifting inner cylinder. A second guide rail is arranged on the crossbeam. The second guide rail has the same structure as the first guide rail. A longitudinal motor is arranged on the moving seat. A longitudinal gear is arranged on the output shaft of the longitudinal motor. The longitudinal gear is meshed with the rack of the second guide rail. The moving seat moves along the length direction of the drill rod in the drill rod box on the second guide rail. The telescopic unit is installed on the moving seat. The clamp is arranged at the lower end of the telescopic unit. The clamp is used to clamp the drill rod. The electric control system includes a translation sensor and a proximity sensor. The translation sensor is arranged on the crossbeam and is used to measure the displacement of the moving seat or the telescopic unit; the proximity sensor is arranged on the clamp and is used to identify whether there is a drill rod under the clamp.

5. The drill pipe transfer system according to claim 4, characterized in that: The vertical moving unit includes a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is connected to a slide seat. The lifting inner cylinder is slidably arranged in the lifting outer cylinder. Two inner slide rails are symmetrically arranged in the lifting outer cylinder. The inner slide rails are used to guide the movement of the lifting inner cylinder. The lifting cylinder is connected to the bottom of the lifting outer cylinder. The upper end of the output shaft of the lifting cylinder is connected to the lifting inner cylinder or the longitudinal moving unit. The lifting sensor is arranged outside the lifting outer cylinder or inside the lifting inner cylinder.

6. A drill pipe transfer system control method, characterized in that: The following steps are involved: Step 1: Select the row: prepare the drill pipe transfer system, the transverse motor drives the transfer manipulator to select the row, when the slide reaches the specified position, the row selection sensor sends a signal to the transverse motor, and the transverse motor stops working; Step 2: Translation: The longitudinal motor drives the telescopic unit and the clamp to move. When the clamp moves to the middle position of the drill pipe box, the translation sensor sends a signal to the longitudinal motor, and the longitudinal motor stops working. Step 3: Extend the gripper: The telescopic unit extends downward until the proximity sensor senses that there is a drill rod under the gripper, and the telescopic sensor measures the extension amount; if the telescopic unit extends downward to the maximum value and the proximity sensor still cannot sense the drill rod, the lifting cylinder is driven to lift the crossbeam until the proximity sensor senses that there is a drill rod under the gripper, and the lifting sensor measures the lifting amount; Step 4: Grab the drill rod: drive the clamp to clamp the drill rod; Step 5: Move to the second opening: The telescopic unit and the lifting cylinder jointly drive the gripper to lift until the gripper and the clamped drill rod are above the top of the drill rod box, and the transverse motor drives the transfer manipulator to move to the second opening of the drill rod box as a whole, and the selected sensor monitors the position in real time; Step 6: Sinking detection: The telescopic unit or lifting cylinder drives the clamping claw to descend, so that the identification sensor senses the drill rod. Step 7: Align the rack: The telescopic unit and the lifting cylinder jointly drive the clamping jaws to rise or fall, so that the axis of the drill pipe is aligned with a specific position on the rack; Step 8: Translational conveying: The longitudinal motor drives the clamping claw to move along the crossbeam toward the frame.

7. The drill pipe transfer system control method according to claim 6, characterized in that: The displacement measured by the lifting sensor is a, and the displacement measured by the telescopic sensor is b; In step 1, the initial values ​​of a and b are determined; In step 3, a and b satisfy: H1-H2=a1+b1; H2 = nd; a=a-a1; b=b+b1; H1-height of the opening riser; n-the number of remaining drill rods in the column to be grabbed; d-drill pipe diameter; a1-the displacement of the lifting cylinder in step 3; b1-Change displacement of the telescopic unit in step 3.

8. The drill pipe transfer system control method according to claim 7, characterized in that: In step 5, a and b satisfy: a=a+a1+d; b=b-b1 or a=a+a1; b=b-b1-d.

9. The drill pipe transfer system control method according to claim 8, characterized in that: In step 7, when the specific position on the frame is higher than the drill rod on the clamp, the clamp needs to be lifted by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a+a2; b = b - b2; a2-Change in displacement of the lifting cylinder in step seven; b2-The displacement of the telescopic unit in step seven.

10. The drill pipe transfer system control method according to claim 8, characterized in that: In step 7, when the specific position on the frame is lower than the drill rod on the clamp, the clamp needs to be lowered by a displacement Δ, and a and b satisfy: Δ=a2+b2; a=a-a2; b=b+b2; a2-Change in displacement of the lifting cylinder in step seven; b2-The displacement of the telescopic unit in step seven.

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