Rectangular coordinate drill rod conveying manipulator sensor system

Abstract

The invention relates to the technical field of drill rod transportation, and discloses a rectangular coordinate drill rod conveying manipulator sensor system which comprises a drill rod box arranged at the upper end of a lifting frame, and an opening is formed in the end, away from a frame, of the drill rod box. The clamping unit can move along three coordinate axes in the rectangular coordinate system; and the sensing unit is used for monitoring the transfer displacement of the clamping unit in the rectangular coordinate system. 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 drill rod does not need to be turned over in the process, the conveying route of the clamping unit is greatly simplified, the conveying efficiency of the clamping unit is improved, the sensing unit monitors displacement of the clamping unit in the moving process, and the conveying efficiency of the clamping unit is improved. 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 rectangular coordinate drill rod transportation manipulator sensor system. 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 rectangular coordinate drill rod conveying manipulator sensor system to solve the problems of more 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 rectangular coordinate drill rod conveying manipulator sensor system, comprising a drill rod box, which is arranged at the upper end of a lifting frame, and an opening is opened at one end of the drill rod box away from the frame, and also comprises a clamping unit that can move along three coordinate axes in a rectangular coordinate system and a sensing unit for monitoring the transport displacement of the clamping unit in the rectangular coordinate system.

[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 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, 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 moving 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 manipulator 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] Furthermore, a passage is provided in the middle of one end of the drill rod box close to the clamping unit, through which a transfer robot can pass.

[0014] The beneficial effect is: by opening a channel 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] Furthermore, 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] Furthermore, an 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 facing the channel, a 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, a 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, a 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, a 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, a 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 a 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] Further, the clamping unit moves to the initialization position, the lifting sensor measures the displacement of the lifting inner cylinder as a, the telescopic sensor measures the displacement of the transport clamp as b, the height of the drill rod box is H1, the diameter of the drill rod is d, the height of the rack is c, the distance between the transport clamp and the inner bottom of the drill rod box is H1, and the transport clamp does not interfere with the drill rod box;

[0020] When the transport jaw moves to the top of the drill rod to be grabbed, the transport jaw moves down until the proximity sensor recognizes that there is a drill rod below. At this time, the height of the drill rod is H2=nd, n is the number of drill rods, the change displacement of the lifting inner cylinder is a1, the change displacement of the transport jaw is b1, the displacement of the transport jaw 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 transport jaw as b2=(b+b1);

[0021] Then the transport clamp grips the drill rod and moves to the top of 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);

[0022] Then the transfer claw moves to the notch of the drill pipe box. If the height of the transfer claw is lower than the frame height c at this time, the transfer claw needs to be displaced Δ2 to be aligned with the frame. Suppose the lifting inner cylinder needs to rise a4, and the transfer claw needs to shrink b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement as a5=(a3+a4), and the telescopic sensor measures the displacement as b5=(b3-b4). If the height of the transfer claw is higher than the frame height c at this time, the transfer claw needs to be displaced Δ3 to be aligned with the frame. Suppose the lifting inner cylinder needs to drop a4, and the transfer claw needs to extend b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement as a5=(a3-a4), and the telescopic sensor measures the displacement as b5=(b3+b4).

[0023] The beneficial effects are:

[0024] 1. The height of the transfer gripper under different working conditions is calculated, monitored and controlled through telescopic sensors and lifting sensors, making the system simple and reliable;

[0025] 2. The identification sensor detects whether there is a drill rod in the transport clamp and the proximity sensor detects whether there is a drill rod under the transport clamp, which improves the safety and effectiveness of the system operation.

[0026] Furthermore, 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.

[0027] 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.

[0028] Furthermore, 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.

[0029] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional diagram of a drilling rig according to an embodiment of the present invention;

[0031] Figure 2 A three-dimensional diagram of a drill rod box and a clamping unit according to an embodiment of the present invention;

[0032] Figure 3 It is a structural schematic diagram of a sensing unit according to an embodiment of the present invention;

[0033] Figure 4 is a cross-sectional view of a lifting member according to an embodiment of the present invention;

[0034] Figure 5 This is a height schematic diagram of the drill rod box according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following is further described in detail through specific implementation methods:

[0036] The figure marks in the drawings of the specification include: frame 1, frame 2, lifting frame 3, drill rod box 4, channel 5, transverse guide rail 6, first slider 7, transverse drive member 8, lifting outer cylinder 9, lifting inner cylinder 10, mounting seat 11, guide groove 12, guide slider 13, longitudinal guide rail 14, second slider 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.

[0037] Example

[0038] The embodiment is basically as shown in the attached Figure 1-4 As shown, Figure 1 The rectangular coordinate drill rod conveying manipulator sensor system shown includes a frame 1, a frame 2, a lifting frame 3 and a drill rod box 4. The drill rod box 4 is fixedly installed above the lifting frame 3. The drill rods in the drill rod box 4 are placed axially along the frame 1. A channel 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 frame 1. The 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 for putting the drill rod into or taking out the drill rod box 4 and a sensing unit for controlling the transportation of the clamping unit.

[0039] 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 channel 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 channel 5 of the drill rod box 4.

[0040] 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 2As 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.

[0041] like Figure 2 and Figure 3 As 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 channel 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.

[0042] The use of the rectangular coordinate drill pipe conveying manipulator sensor system is as follows:

[0043] Step 1, initialization: Move the drilling rig to the drilling position, make sure that all components are in the initialization state, and the lowest position of the transport clamp 18 is higher than the top of the channel 5 of the drill rod box 4, that is, the transport clamp 18 does not interfere with the drill rod box 4;

[0044] 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 a position aligned with the drill rod to be taken out, monitor the sliding distance of the first slider 7 through the row selection sensor 21 when the first slider 7 slides, thereby determining the position of the first slider 7, and determine the position of the transport clamp 18 through 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;

[0045] 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;

[0046] 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 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, and finally the drill rod is moved to the top of the drill rod box 4 by the cooperation of the telescopic cylinder 17 and the lifting assembly; specifically, the telescopic cylinder 17 drives the transport clamp 18 to move vertically, and detects the vertical movement distance of the transport clamp 18 through the telescopic sensor 22, and at the same time, the proximity sensor 24 detects whether there is a drill rod under the transport clamp 18. If the proximity sensor 24 still does not detect the drill rod when the telescopic cylinder 17 is extended downward to the maximum value, the lifting assembly drives the longitudinal guide rail 14 to descend, and controls the transport clamp 18 to continue to move downward until the proximity sensor 24 recognizes that there is a drill rod below;

[0047] Step 5, moving 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;

[0048] Step 6, moving to the channel 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 channel 5 of the drill rod box 4;

[0049] 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 drill rod is clamped in the transport clamp 18;

[0050] Step 8, aligning the frame 2: the transport 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;

[0051] 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, and the transport clamp 18 drives the drill rod to move toward the frame 2.

[0052] The rectangular coordinate drill pipe conveying manipulator sensor system includes a control method for the vertical displacement of the transport jaw 18:

[0053] In step 1, the initial values ​​of a and b are determined;

[0054] a: Changed displacement of the lifting cylinder in step 1;

[0055] b: the change in displacement of the telescopic cylinder 17 in step 1;

[0056] In step 4, a2 and b2 satisfy:

[0057] Δ1=H1-H2=a1+b1

[0058] H2 = nd;

[0059] a2=a-a1;

[0060] b2=b+b1;

[0061] Δ: displacement between the transport jaw 18 and the drill rod;

[0062] H1: The height of channel 5; the positions of H1 and H2 are as follows Figure 5 As shown;

[0063] n: the number of remaining drill rods to be grabbed;

[0064] d: diameter of drill pipe;

[0065] a1: the change in displacement of the lifting cylinder in step 4;

[0066] b1: the change in displacement of the telescopic cylinder 17 in step 4;

[0067] a2: the lifting sensor 23 measures the displacement of the lifting inner cylinder 10;

[0068] b2: the telescopic sensor 22 measures the displacement of the transport gripper 18;

[0069] In step 5, a3 and b3 must satisfy: a3 = (a + d), b3 = b or a3 = a, b3 = (bd);

[0070] In step 8, when the drill rod on the transport clamp 18 is lower than a specific position on the frame 2, the transport clamp 18 needs to be moved up by Δ2, and a4 and b4 satisfy:

[0071] Δ2=a4+b4;

[0072] a5=a3+a4;

[0073] b5=b3-b4;

[0074] a4: the change in displacement of the lifting cylinder in step 8;

[0075] b4: the change in displacement of the telescopic cylinder 17 in step 8;

[0076] a5: the lifting sensor 23 measures the displacement of the lifting inner cylinder 10;

[0077] b5: the telescopic sensor 22 measures the displacement of the telescopic cylinder 17;

[0078] When the drill rod on the transport clamp 18 is higher than a specific position on the frame 2, the transport clamp 18 needs to be lowered by a displacement of Δ2, and a4 and b4 satisfy:

[0079] Δ2=a4+b4;

[0080] a5=a3-a4;

[0081] b5=b3+b4;

[0082] a4: the change in displacement of the lifting cylinder in step 8;

[0083] b4: the change in displacement of the telescopic cylinder 17 in step 8;

[0084] a5: the lifting sensor 23 measures the displacement of the lifting inner cylinder 10;

[0085] b5: the telescopic sensor 22 measures the displacement of the telescopic cylinder 17;

[0086] Specifically, the clamping unit moves to the initialization position, 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, the height of the frame 2 is c, the distance between the transport clamp 18 and the inner bottom of the drill rod box 4 is H1, and the transport clamp 18 does not interfere with the drill rod box 4. When the transport clamp 18 moves to the top of the drill rod to be grasped by the moving assembly, the telescopic cylinder 17 drives the transport clamp 18 to move vertically, and detects the vertical movement distance of the transport clamp 18 through the telescopic sensor 22, and at the same time, the proximity sensor 24 detects the downward movement of the transport clamp 18 Whether there is a drill rod, if when the telescopic cylinder 17 is extended downward to the maximum value, the proximity sensor 24 still does not detect the drill rod, then 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 height of the drill rod is H2=nd, n is the number of drill rods, the change displacement of the lifting inner cylinder 10 is a1, the change displacement of the transfer clamp 18 is b1, and the displacement of the transfer 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 transfer clamp The displacement of the claw 18 is b2=(b+b1), and then the transport claw 18 clamps the drill rod and moves to the top of the drill rod box 4, and needs to be raised upward by at least one drill rod diameter. 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 claw 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 claw 18 as b3=(bd). Then the transport claw 18 moves to the notch of the drill rod box 4. If the height of the transport claw 18 is lower than the height c of the frame 2 at this time, the transport claw 18 A displacement of Δ2 is required to align with the frame 2. Suppose the lifting inner cylinder 10 needs to rise a4 and the transfer jaw 18 needs to shrink b4, Δ2=a4+b4. At this time, the lifting sensor 23 measures a displacement of a5=(a3+a4), and the telescopic sensor 22 measures a displacement of b5=(b3-b4). If the height of the transfer jaw 18 is higher than the height c of the frame 2 at this time, a displacement of Δ3 is required to align the transfer jaw 18 with the frame 2. Suppose the lifting inner cylinder 10 needs to descend a4 and the transfer jaw 18 needs to extend b4, Δ2=a4+b4. At this time, the lifting sensor 23 measures a displacement of a5=(a3-a4), and the telescopic sensor 22 measures a displacement of b5=(b3+b4).

[0087] 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. The rectangular coordinate drill pipe conveying manipulator sensor system is characterized by: The utility model comprises a drill rod box which is arranged at the upper end of the lifting frame, an opening is provided at one end of the drill rod box away from the frame, a clamping unit which can move along three coordinate axes in a rectangular coordinate system, and a sensing unit for monitoring the transport displacement of the clamping unit in the rectangular coordinate system.

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

3. The rectangular coordinate drill pipe conveying manipulator sensor 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 rectangular coordinate drill pipe conveying manipulator sensor system according to claim 3 is characterized in that: 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, 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 moving 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 manipulator 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 rectangular coordinate drill pipe conveying manipulator sensor system according to claim 4, characterized in that: A passage 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 rectangular coordinate drill pipe conveying manipulator sensor 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 rectangular coordinate drill pipe conveying manipulator sensor 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 facing the channel. 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 rectangular coordinate drill pipe conveying manipulator sensor system according to claim 7, characterized in that: The clamping unit moves to the initialization position, the lifting sensor measures the displacement of the lifting inner cylinder as a, the telescopic sensor measures the displacement of the transport clamp as b, the height of the drill rod box is H1, the diameter of the drill rod is d, the height of the rack is c, the distance between the transport clamp and the bottom of the drill rod box is H1, and the transport clamp does not interfere with the drill rod box; When the transport jaw moves to the top of the drill rod to be grabbed, the transport jaw moves down until the proximity sensor recognizes that there is a drill rod below. At this time, the height of the drill rod is H2=nd, n is the number of drill rods, the change displacement of the lifting inner cylinder is a1, the change displacement of the transport jaw is b1, the displacement of the transport jaw 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 transport jaw as b2=(b+b1); Then the transport clamp grips the drill rod and moves to the top of 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); Then the transfer claw moves to the notch of the drill pipe box. If the height of the transfer claw is lower than the frame height c at this time, the transfer claw needs to be displaced Δ2 to be aligned with the frame. Suppose the lifting inner cylinder needs to rise a4, and the transfer claw needs to shrink b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement as a5=(a3+a4), and the telescopic sensor measures the displacement as b5=(b3-b4). If the height of the transfer claw is higher than the frame height c at this time, the transfer claw needs to be displaced Δ3 to be aligned with the frame. Suppose the lifting inner cylinder needs to drop a4, and the transfer claw needs to extend b4, Δ2=a4+b4. At this time, the lifting sensor measures the displacement as a5=(a3-a4), and the telescopic sensor measures the displacement as b5=(b3+b4).

9. The rectangular coordinate drill pipe conveying manipulator sensor system according to claim 8, 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.

10. The rectangular coordinate drill pipe conveying manipulator sensor system according to claim 9, 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.

Images