Drill rod conveying system and control method

Abstract

The invention relates to the technical field of drill rod conveying, and discloses a drill rod conveying system which comprises a drill rod box arranged at the upper end of a lifting frame, and further comprises a clamping unit and an induction unit, the clamping unit comprises a lifting assembly and a transfer manipulator, the transfer manipulator stretches out and draws back to grab a drill rod in the drill rod box, and when the transfer manipulator stretches out and draws back to the limit, the induction unit is started; the lifting assembly further assists the transfer manipulator to lift and clamp the drill rod, and the sensing unit is used for monitoring the vertical transfer displacement between the drill rod taken out of the drill rod box by the clamping unit and the butt joint position of the drill rod and the rack after the position of the rack is changed; according to the scheme, the drill rod is transferred through the clamping unit capable of moving in the three coordinate axis directions, so that the drill rod can be in butt joint with the rack, the conveying route of the clamping unit is greatly simplified, and the sensing unit monitors the displacement of the clamping unit in the moving process; and the height of the clamping unit under different working conditions is calculated, monitored and controlled through the sensing unit, so that the system is simple and reliable.

Description

Technical Field

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

[0002] A drilling rig is a drilling device used in the exploration and mining of coal mines, natural gas, etc. It includes a vehicle frame, a machine frame, and a lifting frame. The lifting frame is rotatably mounted on the upper end of the vehicle frame, and the machine frame is fixedly mounted on the side wall of the lifting frame. The lifting frame is used to lift and rotate the machine frame, and the frame is used to install the drill bit. During operation, the drill rod needs to be drilled into the formation. Due to the limitations of transportation equipment and mine tunnel size, the size of the drill rod is limited. During drilling, after a drill rod has completely entered the formation, a new drill rod needs to be installed and connected to the drill rod that has entered the formation, and the drilling continues into the formation. In this process, the clamping and installation speed of the drill rod is closely related to the drilling speed of the drilling rig.

[0003] There is a coal mine drilling rig and its control method (publication number: CN110952972B). The system adopts a three-stage drill rod conveying method combined with a large-capacity drill rod box arrangement on the drilling rig platform to solve the problem of automatic drill rod conveying. However, the drill rod conveying mechanism in the prior art has many movements and a complicated process, resulting in low drill rod conveying and overall construction efficiency. In addition, the relative position of the main manipulator, the frame, and the transporter causes the manipulator to interfere with the crawler vehicle or the transporter when conveying drill rods under large negative inclination conditions, making it impossible to automatically convey the drill rods. Therefore, we propose a rectangular coordinate drill rod conveying manipulator sensor system to solve the above problems. Summary of the invention

[0004] The present invention aims to provide a drill rod conveying system and a control method to solve the problems of multiple actions of the drill rod transfer mechanism, complex process and low conveying efficiency.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a drill rod conveying system, including a drill rod box, which is arranged at the upper end of a lifting frame, and also includes a clamping unit and a sensing unit. The clamping unit can clamp the drill rod in the drill rod box and move along three coordinate axes in a rectangular coordinate system. The clamping unit includes a lifting assembly and a transfer manipulator. The transfer manipulator first telescopes to grab the drill rod in the drill rod box. When the transfer manipulator is telescoped to the limit, the lifting assembly is used to further assist the transfer manipulator in lifting and clamping the drill rod. The sensing unit is used to monitor the vertical transfer displacement between the clamping unit taking out the drill rod from the drill rod box and the docking position with the frame after the rack position changes.

[0006] The drill rods in the drill rod box are placed axially along the frame.

[0007] The sensing unit includes an identification sensor, a translation sensor, a selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor and a height sensor. The identification sensor is used to determine whether the clamping unit clamps a drill rod. The translation sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The selection sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The telescopic sensor and the lifting sensor are used to determine the displacement of the clamping unit in the vertical direction of the drill rod box. The proximity sensor is used to determine whether there is a drill rod under the clamping unit. The height sensor is used to identify the height of the frame.

[0008] The clamping unit also includes a transverse movement component and a longitudinal movement component. The transverse movement component includes a transverse guide rail, a first slider and a transverse driving component. The transverse guide rail is arranged at one end of the drill rod box close to the frame. The first slider is slidably arranged on the outer wall of the transverse guide rail. The transverse driving component is arranged on the outer wall of the first slider. The transverse driving component is used to drive the first slider to slide. The lifting component includes a lifting component and a lifting cylinder for driving the lifting component. The lifting component is arranged on the outer wall of the first slider. The longitudinal movement component includes a longitudinal guide rail, a second slider and a longitudinal driving component. The longitudinal guide rail is arranged at one end of the lifting component away from the frame. The second slider is slidably arranged on the outer wall of the longitudinal guide rail. The longitudinal driving component is arranged on the outer wall of the second slider. The longitudinal driving component is used to drive the second slider to slide. The transfer robot includes a telescopic cylinder and a transfer clamp. The telescopic cylinder is arranged on the outer wall of the second slider, and the transfer clamp is arranged at the output end of the telescopic cylinder.

[0009] The beneficial effects of this program are:

[0010] 1. This solution places the drill rods stored in the drill rod box in a manner perpendicular to the rack, and then uses a clamping unit that can move along the three coordinate axes of the triangular coordinates to transfer the drill rods, so that the drill rods can be docked with the rack. In this process, there is no need to flip the drill rods, nor is there a transfer trough to transfer the drill rods again. This greatly simplifies the conveying route of the clamping unit, improves the conveying efficiency of the clamping unit, reduces the height requirement during drilling rig operation, and makes the rack suitable for operation in narrow lanes;

[0011] 2. The clamping unit drives the lifting and lowering of the transport clamping claw through the cooperation between the lifting member and the telescopic cylinder. Compared with the use of a lifting mechanism, the lifting speed of the transport clamping claw of this solution is faster. Under the condition of the same lifting height, the vertical stroke of this solution is shorter, the flexibility is higher, and the lifting speed is faster, which improves the conveying efficiency of the clamping unit;

[0012] 3. This solution uses a sensing unit to monitor the displacement of the clamping unit during movement, thereby improving the positioning accuracy of the clamping unit during transportation. The telescopic sensor and the lifting sensor are used to calculate, monitor and control the height of the transfer clamp under different working conditions, making the system simple and reliable, and avoiding interference between the transfer clamp and the frame after the height of the frame changes. The identification sensor detects whether the transfer clamp holds a drill rod and the proximity sensor detects whether there is a drill rod under the transfer clamp, thereby improving the safety and effectiveness of the system operation.

[0013] Preferably, as an improvement, an opening is provided in the middle of one end of the drill rod box close to the clamping unit, through which the transfer robot can pass.

[0014] The beneficial effect is: by opening an opening at one end of the drill rod box close to the clamping unit, when the transfer robot clamps the drill rod and aligns it with the frame, part of the drill rod and the transfer robot can be located in the drill rod box, thereby shortening the distance between the drill rod box and the frame, and then shortening the overall length of the drilling rig.

[0015] Preferably, as an improvement, the lifting member includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder is slidably arranged in the lifting outer cylinder, the lifting cylinder is arranged on the inner wall of the lower end of the lifting outer cylinder, and the output end of the lifting cylinder is connected to the outer wall of the lower end of the lifting inner cylinder.

[0016] The beneficial effect is that when the telescopic member in the present solution slides, the lifting outer cylinder can guide the lifting inner cylinder, thereby avoiding obvious skewness of the transfer robot, so that the transfer robot can clamp the drill rod more accurately.

[0017] Preferably, as an improvement, the identification sensor is arranged on the upper side of one end of the drill rod box away from the clamping unit, and the identification sensor is opposite to the opening, the translation sensor is arranged at one end of the longitudinal guide rail, and the translation sensor can identify the position of the second slider on the longitudinal guide rail, the column selection sensor is arranged at one end of the transverse guide rail, and the column selection sensor can identify the position of the first slider on the transverse guide rail, the telescopic sensor is arranged on the outer wall of the telescopic cylinder, and the telescopic sensor can identify the distance moved by the transfer clamp, the lifting sensor is arranged on the outer wall of the lifting inner cylinder, and the lifting sensor can identify the distance the longitudinal guide rail rises or falls, the proximity sensor is arranged on the outer wall of the transfer clamp, and the proximity sensor can identify whether there is a drill rod under the transfer clamp, and the height sensor is arranged on the outer wall of the lifting frame, and the height sensor can measure the height of the frame as the lifting frame rises and falls.

[0018] The beneficial effects are: the displacement of the clamping unit during movement is monitored by the sensing unit to improve the positioning accuracy of the clamping unit during transportation; the height of the transfer clamp under different working conditions is calculated, monitored and controlled by the telescopic sensor and the lifting sensor, making the system simple and reliable; and the identification sensor is used to detect whether the transfer clamp holds a drill rod and the proximity sensor is used to detect whether there is a drill rod under the transfer clamp, thereby improving the safety and effectiveness of the system operation.

[0019] Preferably, as an improvement, the inner wall of the lifting outer cylinder is symmetrically provided with guide sliders along the axial direction, and the outer wall of the lifting inner cylinder is symmetrically provided with guide grooves, and the guide sliders can slide on the outer walls of the guide grooves.

[0020] The beneficial effect is that the cooperation between the guide groove and the guide slider is conducive to the balance of the movement of the transfer robot and prevents the serious deviation of the lifting inner cylinder, which leads to the shortening of the service life of the transfer robot.

[0021] Preferably, as an improvement, the transverse driving member and the longitudinal driving member are both configured as motors, and the transverse driving member and the longitudinal driving member are respectively arranged on the outer walls of the first slider and the second slider, the output shafts of the transverse driving member and the longitudinal driving member respectively pass through one end of the first slider and the second slider and are both provided with gears, and the ends of the longitudinal guide rail and the transverse guide rail close to the motor are provided with racks meshing with the gears.

[0022] The beneficial effect is: through the cooperation between the gear and the rack, the two motors can respectively drive the first slider and the second slider to slide on the outer wall of the transverse guide rail and the longitudinal guide rail, and the cooperation between the gear and the rack has the characteristics of precise transmission, strong load capacity, and stable operation.

[0023] Preferably, as an improvement, the drill pipe conveying system control method comprises the following steps:

[0024] Step 1, initialization: Move the drilling rig to the drilling position, and the height of the lowest position of the transport clamp is higher than the top of the drill rod box opening. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a, and the telescopic sensor measures the displacement of the transport clamp as b. The height of the drill rod box is H1, and the diameter of the drill rod is d. At this time, the height of the drill rod in the drill rod box is H2=nd, and n is the number of drill rods;

[0025] Step 2, row selection: determine the position of the drill rod to be taken out, slide the transfer clamp along the transverse slide rail until it is aligned with the drill rod to be taken out and then stop moving, and monitor the sliding distance through the row selection sensor when the first slide block slides;

[0026] Step 3, translation: the longitudinal driving member drives the second slide block to move along the longitudinal guide rail, so that the transfer clamp moves to the middle position of the drill rod to be clamped;

[0027] Step 4, grab the drill rod: the transfer claw is moved downward by the telescopic cylinder and the lifting assembly, until the proximity sensor detects that there is a drill rod under the transfer claw, and then the transfer claw clamps the drill rod below; at this time, the change displacement of the lifting inner cylinder is a1, the change displacement of the transfer claw is b1, the displacement of the transfer claw to the drill rod is Δ1=H1-H2=a1+b1, the lifting sensor measures the displacement of the lifting inner cylinder as a2=(a-a1), and the telescopic sensor measures the displacement of the transfer claw as b2=(b+b1);

[0028] Step 5, move out the drill rod box: after the transport clamp grips the drill rod, the transport clamp is moved upward by the cooperation of the telescopic cylinder and the lifting assembly until the transport clamp is located above the drill rod box, and needs to be raised upward by at least one drill rod diameter. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3=(a+d), and the telescopic sensor measures the displacement of the transport clamp as b3=b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3=a, and the telescopic sensor measures the displacement of the transport clamp as b3=(bd);

[0029] Step 6, moving to the opening: the transverse driving member drives the first slide block to move on the outer wall of the transverse guide rail until the transport clamp is located above the opening of the drill rod box;

[0030] Step 7, sinking detection, the telescopic cylinder or the lifting assembly drives the transport clamp to descend, so that the identification sensor detects that the drill rod is clamped in the transport clamp;

[0031] Step 8, aligning the frame: the transfer clamp is raised or lowered by the telescopic cylinder and the lifting assembly until the axis of the drill pipe is aligned with a specific position on the frame. If the height of the transfer clamp is lower than the frame height c at this time, the transfer clamp needs to be displaced Δ2 to align with the frame. Suppose the lifting inner cylinder needs to rise a4, and the transfer clamp needs to shrink b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement of a5=(a3+a4), and the telescopic sensor measures the displacement of b5=(b3-b4). If the height of the transfer clamp is higher than the frame height c at this time, the transfer clamp needs to be displaced Δ3 to align with the frame. Suppose the lifting inner cylinder needs to drop a4, and the transfer clamp needs to extend b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement of a5=(a3-a4), and the telescopic sensor measures the displacement of b5=(b3+b4);

[0032] Step 9, translational transport: the longitudinal drive member drives the second slide block to move on the outer wall of the longitudinal guide rail, so that the transfer clamp drives the drill rod to move toward the rack.

[0033] The beneficial effects are: the displacement of the clamping unit during movement is monitored by the sensing unit to improve the positioning accuracy of the clamping unit during transportation; the height of the transfer clamp under different working conditions is calculated, monitored and controlled by the telescopic sensor and the lifting sensor, making the system simple and reliable; and the identification sensor is used to detect whether the transfer clamp holds a drill rod and the proximity sensor is used to detect whether there is a drill rod under the transfer clamp, thereby improving the safety and effectiveness of the system operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional diagram of a drilling rig according to an embodiment of the present invention;

[0035] Figure 2 A three-dimensional diagram of a drill rod box and a clamping unit according to an embodiment of the present invention;

[0036] Figure 3 It is a structural schematic diagram of a sensing unit according to an embodiment of the present invention;

[0037] Figure 4 is a cross-sectional view of a lifting member according to an embodiment of the present invention;

[0038] Figure 5 This is a height schematic diagram of the drill rod box according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following is further described in detail through specific implementation methods:

[0040] The figure marks in the drawings of the specification include: frame 1, frame 2, lifting frame 3, drill rod box 4, opening 5, transverse guide rail 6, first slide block 7, transverse drive member 8, lifting outer cylinder 9, lifting inner cylinder 10, mounting seat 11, guide groove 12, guide slide block 13, longitudinal guide rail 14, second slide block 15, longitudinal drive member 16, telescopic cylinder 17, transport clamp 18, identification sensor 19, translation sensor 20, column selection sensor 21, telescopic sensor 22, lifting sensor 23, proximity sensor 24.

[0041] Example

[0042] The embodiment is basically as shown in the attached Figure 1-4 As shown, Figure 1 The drill rod conveying system shown includes a vehicle frame 1, a machine frame 2, a lifting frame 3 and a drill rod box 4. The drill rod box 4 is fixedly installed on the upper end of the lifting frame 3. The drill rods in the drill rod box 4 are placed axially along the vehicle frame 1. An opening 5 is opened in the middle of the right end of the drill rod box 4. The lifting frame 3 is rotatably installed on the right side of the upper end of the vehicle frame 1. The machine frame 2 is fixedly installed on the right end of the lifting frame 3. The lifting frame 3 is used to lift the frame 2 and keep the drill rod box 4 and the frame 2 rotating synchronously. It also includes a clamping unit that can move along three coordinate axes in a rectangular coordinate system and a sensing unit for monitoring the transfer displacement of the clamping unit in the rectangular coordinate system.

[0043] like Figure 2 As shown, the clamping unit includes a transverse moving component, a lifting component, a longitudinal moving component and a transfer manipulator. The transverse moving component includes a transverse guide rail 6, a first slider 7 and a transverse driving component 8. The transverse guide rail 6 is fixedly installed on the lower side of the right end of the drill rod box 4, and the opening 5 of the drill rod box 4 is located above the transverse guide rail 6. The first slider 7 is slidably installed on the outer wall of the right end of the transverse guide rail 6. The transverse driving component 8 is used to drive the first slider 7 to slide. The lifting component includes a lifting component and a lifting cylinder for driving the lifting component. The lifting component is arranged at the right end of the first slider 7. The lifting component includes a lifting outer cylinder 9 and a lifting inner cylinder 10. The lifting outer cylinder 9 is fixedly installed on the right end of the first slider 7. The lifting inner cylinder 10 is slidably installed in the lifting outer cylinder 9. The lifting cylinder is fixedly installed on the inner wall of the lower end of the lifting outer cylinder 9, and the output end of the lifting cylinder is fixedly connected to the outer wall of the lower end of the lifting inner cylinder 10, as shown in FIG. Figure 3 The upper end of the lifting inner cylinder 10 is fixedly mounted with a mounting seat 11, which is in the shape of a U-shaped mounting seat, and the unclosed side of the mounting seat 11 faces the left end, as shown in FIG. Figure 4 The inner wall of the lifting outer cylinder 9 shown in the figure is symmetrically fixed with a guide slider 13 along the axial direction, and the outer wall of the lifting inner cylinder 10 is symmetrically provided with a guide groove 12, and the guide slider 13 can slide on the outer wall of the guide groove 12. Figure 2 The longitudinal moving assembly shown includes a longitudinal guide rail 14, a second slider 15 and a longitudinal driving member 16. The longitudinal guide rail 14 is fixedly installed in the mounting seat 11 at the upper end of the lifting inner cylinder 10 by bolts. The second slider 15 is slidably installed on the outer wall of the front end of the longitudinal guide rail 14. The longitudinal driving member 16 is used to drive the second slider 15 to slide. The transfer manipulator includes a telescopic cylinder 17 and a transfer clamp 18. The telescopic cylinder 17 is fixedly installed at the front end of the second slider 15, and the transfer clamp 18 is fixedly installed at the output end of the telescopic cylinder 17, and the transfer manipulator can pass through the opening 5 of the drill rod box 4.

[0044] The transverse driving member 8 and the longitudinal driving member 16 are both configured as motors, and the two motors are fixedly mounted on the outer walls of the first slider 7 and the second slider 15, respectively. Figure 2 As shown, the transverse driving member 8 is fixedly installed on the right end of the first slider 7, the longitudinal driving member 16 is fixedly installed on the front end of the second slider 15, and the output shafts of the transverse driving member 8 and the longitudinal driving member 16 respectively penetrate one end of the first slider 7 and the second slider 15, and gears are fixedly installed on both ends, and the inner walls of the upper ends of the longitudinal guide rail 14 and the transverse guide rail 6 are fixedly installed with racks meshing with each gear, and each rack is respectively arranged along the axial direction of the longitudinal guide rail 14 and the transverse guide rail 6.

[0045] like Figure 2 and Figure 3As shown, the sensing unit includes an identification sensor 19, a translation sensor 20, a column selection sensor 21, a telescopic sensor 22, a lifting sensor 23, a proximity sensor 24 and a height sensor. The identification sensor 19 is fixedly installed on the upper side of the left end of the drill rod box 4, and the identification sensor 19 is flush with the upper end position of the opening 5. The translation sensor 20 is fixedly installed on the left end of the longitudinal guide rail 14. The translation sensor 20 can identify the position of the second slider 15 on the longitudinal guide rail 14. The column selection sensor 21 is fixedly installed on the front lower wall of the transverse guide rail 6. The column selection sensor 21 can identify the position of the first slider 7 on the transverse guide rail 6. The telescopic sensor 22 is fixedly installed on the telescopic cylinder 17. On the upper right end, a lifting sensor 23 is fixedly mounted on the outer wall of the mounting seat 11, and the lifting sensor 23 can identify the distance that the longitudinal guide rail 14 rises or falls. A proximity sensor 24 is fixedly mounted on the outer wall of the left end of the transport clamp 18, and the proximity sensor 24 can identify whether there is a drill rod under the transport clamp 18. A height sensor is fixedly mounted on the outer wall of the lifting frame 3, and the height sensor can measure the height of the frame 2 as the lifting frame 3 rises and falls. The translation sensor 20, the column selection sensor 21, the telescopic sensor 22, the lifting sensor 23 and the height sensor can select wire sensors, magneto-induced displacement sensors, etc., and the identification sensor 19 and the proximity sensor 24 can select proximity switch sensors.

[0046] The drill pipe conveying system control method comprises the following steps:

[0047] Step 1, initialization: Move the drilling rig to the drilling position, make sure that all components are in the initialization state, and the height of the lowest position of the transport clamp 18 is higher than the top of the opening 5 of the drill rod box 4, that is, the transport clamp 18 does not interfere with the drill rod box 4, at this time, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a, the telescopic sensor 22 measures the displacement of the transport clamp 18 as b, the height of the drill rod box 4 is H1, the diameter of the drill rod is d, and the height of the drill rod in the drill rod box 4 is H2=nd, and n is the number of drill rods;

[0048] Step 2, row selection: determine the position of the drill rod to be taken out, slide the transport clamp 18 along the transverse slide rail to the position aligned with the drill rod to be taken out, and monitor the sliding distance of the first slider 7 through the row selection sensor 21 when the first slider 7 slides, so as to determine the position of the first slider 7, improve the accuracy of the transverse movement positioning of the transport clamp 18, determine the position of the transport clamp 18 by the position of the first slider 7, and move the transport clamp 18 upward to the top of the drill rod box 4 and then stop moving;

[0049] Step 3, translation: The longitudinal driving member 16 drives the second slider 15 to move along the longitudinal guide rail 14, so that the transport clamp 18 moves to the upper part of the middle of the drill rod to be clamped. When the second slider 15 slides, the translation sensor 20 detects the sliding distance, thereby determining the position of the second slider 15, and improving the accuracy of the longitudinal movement positioning of the transport clamp 18;

[0050] Step 4, grab the drill rod: the transport clamp 18 is moved downward by the cooperation of the telescopic cylinder 17 and the lifting assembly. The telescopic cylinder 17 and the lifting assembly cooperate with each other to adjust the height of the transport clamp 18. Compared with only one lifting drive member, this scheme increases the number of drive members and the lifting speed is faster. Under the condition of lifting the same height, the stroke of a single drive member in this scheme is shorter and more flexible, until the proximity sensor 24 detects that there is a drill rod under the transport clamp 18, and then the transport clamp 18 clamps the drill rod below. Through the cooperation of the telescopic sensor 22 and the lifting sensor 23, the height of the transport clamp 18 under various working conditions is met. The system is simple and reliable. Specifically, the telescopic cylinder 17 drives the transfer clamp 18 to move vertically, and detects the vertical movement distance of the transfer clamp 18 through the telescopic sensor 22. At the same time, the proximity sensor 24 detects whether there is a drill rod under the transfer clamp 18. If the proximity sensor 24 still does not detect the drill rod when the telescopic cylinder 17 extends downward to the maximum value, the lifting assembly drives the longitudinal guide rail 14 to descend, and controls the transfer clamp 18 to continue to move downward until the proximity sensor 24 recognizes that there is a drill rod below. At this time, the change displacement of the lifting inner cylinder 10 is a1, and the change displacement of the transfer clamp 18 is b1. Figure 5 As shown, the displacement of the transport clamp 18 to the drill rod is Δ1=H1-H2=a1+b1, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a2=(a-a1), and the telescopic sensor 22 measures the displacement of the transport clamp 18 as b2=(b+b1);

[0051] Step 5, move out the drill rod box 4: after the transport clamp 18 clamps the drill rod, the transport clamp 18 is moved upward by the cooperation of the telescopic cylinder 17 and the lifting assembly until the transport clamp 18 is located above the drill rod box 4, and it is necessary to raise the height of at least one drill rod diameter upward to avoid the drill rod clamped by the transport clamp 18 from interfering with other components in the subsequent process. At this time, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a3=(a+d), and the telescopic sensor 22 measures the displacement of the transport clamp 18 as b3=b, or the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a3=a, and the telescopic sensor 22 measures the displacement of the transport clamp 18 as b3=(bd);

[0052] Step 6, moving to the opening 5: the transverse driving member 8 drives the first slide block 7 to move on the outer wall of the transverse guide rail 6, and the column selection sensor 21 detects the position of the first slide block 7 outside the transverse guide rail 6 in real time until the transport clamp 18 is located above the opening 5 of the drill rod box 4;

[0053] Step 7, sinking detection, the telescopic cylinder 17 or the lifting assembly drives the transport clamp 18 to descend, so that the identification sensor 19 detects that the transport clamp 18 holds the drill rod, thereby improving the safety and effectiveness of the system operation;

[0054] Step 8, aligning the frame 2: The frame 2 changes in height under the action of the lifting frame 3. To avoid interference between the transfer clamp 18 and the frame 2 during the transfer process, the transfer clamp 18 is raised or lowered by the telescopic cylinder 17 and the lifting assembly until the axis of the drill pipe is aligned with a specific position on the frame 2. If the height of the transfer clamp 18 is lower than the height c of the frame 2 at this time, the transfer clamp 18 needs to be aligned with the frame 2 by a displacement of Δ2. Assuming that the lifting inner cylinder 10 needs to rise by a4, the transfer clamp 18 needs to shrink by b4, Δ2=a4 +b4, at this time, the displacement measured by the lifting sensor 23 is a5=(a3+a4), and the displacement measured by the telescopic sensor 22 is b5=(b3-b4). If the height of the transport clamp 18 is higher than the height c of the frame 2 at this time, the transport clamp 18 needs to be aligned with the frame 2 by a displacement of Δ3. Suppose the lifting inner cylinder 10 needs to be lowered by a4, and the transport clamp 18 needs to be extended by b4, Δ2=a4+b4. At this time, the displacement measured by the lifting sensor 23 is a5=(a3-a4), and the displacement measured by the telescopic sensor 22 is b5=(b3+b4);

[0055] Step 9, translational transport: the longitudinal drive member 16 drives the second slide block 15 to move on the outer wall of the longitudinal guide rail 14, so that the transport clamp 18 drives the drill rod to move toward the frame 2 until the drill rod is docked with the frame.

[0056] 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. A drill rod conveying system, comprising a drill rod box, which is arranged at the upper end of a lifting frame, and is characterized in that: It also includes a clamping unit and a sensing unit. The clamping unit can clamp the drill rod in the drill rod box and move along three coordinate axes in a rectangular coordinate system. The clamping unit includes a lifting component and a transfer manipulator. The transfer manipulator first extends and retracts to grab the drill rod in the drill rod box. When the transfer manipulator is extended and retracted to the limit, the lifting component is used to further assist the transfer manipulator in lifting and clamping the drill rod. The sensing unit is used to monitor the vertical transfer displacement between the clamping unit taking out the drill rod from the drill rod box and the docking position with the frame after the rack position changes.

2. The drill pipe conveying system according to claim 1, characterized in that: The drill rods in the drill rod box are placed axially along the frame.

3. The drill pipe conveying system according to claim 2, characterized in that: The sensing unit includes an identification sensor, a translation sensor, a selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor and a height sensor. The identification sensor is used to determine whether the clamping unit clamps a drill rod. The translation sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The selection sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The telescopic sensor and the lifting sensor are used to determine the displacement of the clamping unit in the vertical direction of the drill rod box. The proximity sensor is used to determine whether there is a drill rod under the clamping unit. The height sensor is used to identify the height of the frame.

4. The drill pipe conveying system according to claim 3, characterized in that: The clamping unit also includes a transverse movement component and a longitudinal movement component. The transverse movement component includes a transverse guide rail, a first slider and a transverse driving component. The transverse guide rail is arranged at one end of the drill rod box close to the frame. The first slider is slidably arranged on the outer wall of the transverse guide rail. The transverse driving component is arranged on the outer wall of the first slider. The transverse driving component is used to drive the first slider to slide. The lifting component includes a lifting component and a lifting cylinder for driving the lifting component. The lifting component is arranged on the outer wall of the first slider. The longitudinal movement component includes a longitudinal guide rail, a second slider and a longitudinal driving component. The longitudinal guide rail is arranged at one end of the lifting component away from the frame. The second slider is slidably arranged on the outer wall of the longitudinal guide rail. The longitudinal driving component is arranged on the outer wall of the second slider. The longitudinal driving component is used to drive the second slider to slide. The transfer robot includes a telescopic cylinder and a transfer clamp. The telescopic cylinder is arranged on the outer wall of the second slider, and the transfer clamp is arranged at the output end of the telescopic cylinder.

5. The drill pipe conveying system according to claim 4, characterized in that: An opening is provided in the middle of one end of the drill rod box close to the clamping unit, through which a transfer manipulator can pass.

6. The drill pipe conveying system according to claim 5, characterized in that: The lifting member comprises a lifting outer cylinder and a lifting inner cylinder. The lifting inner cylinder is slidably arranged in the lifting outer cylinder. The lifting oil cylinder is arranged on the inner wall of the lower end of the lifting outer cylinder, and the output end of the lifting oil cylinder is connected to the outer wall of the lower end of the lifting inner cylinder.

7. The drill pipe conveying system according to claim 6, characterized in that: The identification sensor is arranged on the upper side of one end of the drill rod box away from the clamping unit, and the identification sensor is opposite to the opening. The translation sensor is arranged at one end of the longitudinal guide rail, and the translation sensor can identify the position of the second slider on the longitudinal guide rail. The column selection sensor is arranged at one end of the transverse guide rail, and the column selection sensor can identify the position of the first slider on the transverse guide rail. The telescopic sensor is arranged on the outer wall of the telescopic cylinder, and the telescopic sensor can identify the distance moved by the transfer clamp. The lifting sensor is arranged on the outer wall of the lifting inner cylinder, and the lifting sensor can identify the distance the longitudinal guide rail rises or falls. The proximity sensor is arranged on the outer wall of the transfer clamp, and the proximity sensor can identify whether there is a drill rod under the transfer clamp. The height sensor is arranged on the outer wall of the lifting frame, and the height sensor can measure the height of the frame as the lifting frame rises and falls.

8. The drill pipe conveying system according to claim 7, characterized in that: The inner wall of the lifting outer cylinder is symmetrically provided with guide slide blocks along the axial direction, and the outer wall of the lifting inner cylinder is symmetrically provided with guide grooves, and the guide slide blocks can slide on the outer wall of the guide groove.

9. The drill pipe conveying system according to claim 8, characterized in that: The transverse driving member and the longitudinal driving member are both configured as motors, and the transverse driving member and the longitudinal driving member are respectively arranged on the outer walls of the first slider and the second slider, the output shafts of the transverse driving member and the longitudinal driving member respectively penetrate through one end of the first slider and the second slider, and gears are arranged on both ends, and the ends of the longitudinal guide rail and the transverse guide rail close to the motor are provided with racks meshing with the gears.

10. A control method for a drill pipe conveying system, characterized in that: The following steps are involved: Step 1, initialization: Move the drilling rig to the drilling position, and the height of the lowest position of the transport clamp is higher than the top of the drill rod box opening. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a, and the telescopic sensor measures the displacement of the transport clamp as b. The height of the drill rod box is H1, and the diameter of the drill rod is d. At this time, the height of the drill rod in the drill rod box is H2=nd, and n is the number of drill rods; Step 2, row selection: determine the position of the drill rod to be taken out, slide the transfer clamp along the transverse slide rail until it is aligned with the drill rod to be taken out and then stop moving, and monitor the sliding distance through the row selection sensor when the first slide block slides; Step 3, translation: the longitudinal driving member drives the second slide block to move along the longitudinal guide rail, so that the transfer clamp moves to the middle position of the drill rod to be clamped; Step 4, grab the drill rod: the transfer claw is moved downward by the telescopic cylinder and the lifting assembly, until the proximity sensor detects that there is a drill rod under the transfer claw, and then the transfer claw clamps the drill rod below; at this time, the change displacement of the lifting inner cylinder is a1, the change displacement of the transfer claw is b1, the displacement of the transfer claw to the drill rod is Δ1=H1-H2=a1+b1, the lifting sensor measures the displacement of the lifting inner cylinder as a2=(a-a1), and the telescopic sensor measures the displacement of the transfer claw as b2=(b+b1); Step 5, move out the drill rod box: after the transport clamp grips the drill rod, the transport clamp is moved upward by the cooperation of the telescopic cylinder and the lifting assembly until the transport clamp is located above the drill rod box, and needs to be raised upward by at least one drill rod diameter. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3=(a+d), and the telescopic sensor measures the displacement of the transport clamp as b3=b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3=a, and the telescopic sensor measures the displacement of the transport clamp as b3=(bd); Step 6, moving to the opening: the transverse driving member drives the first slide block to move on the outer wall of the transverse guide rail until the transport clamp is located above the opening of the drill rod box; Step 7, sinking detection, the telescopic cylinder or the lifting assembly drives the transport clamp to descend, so that the identification sensor detects that the drill rod is clamped in the transport clamp; Step 8, aligning the frame: the transfer clamp is raised or lowered by the telescopic cylinder and the lifting assembly until the axis of the drill pipe is aligned with a specific position on the frame. If the height of the transfer clamp is lower than the frame height c at this time, the transfer clamp needs to be displaced Δ2 to align with the frame. Suppose the lifting inner cylinder needs to rise a4, and the transfer clamp needs to shrink b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement of a5=(a3+a4), and the telescopic sensor measures the displacement of b5=(b3-b4). If the height of the transfer clamp is higher than the frame height c at this time, the transfer clamp needs to be displaced Δ3 to align with the frame. Suppose the lifting inner cylinder needs to drop a4, and the transfer clamp needs to extend b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement of a5=(a3-a4), and the telescopic sensor measures the displacement of b5=(b3+b4); Step 9, translational transport: the longitudinal drive member drives the second slide block to move on the outer wall of the longitudinal guide rail, so that the transfer clamp drives the drill rod to move toward the rack.

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