Direct rotation type drill rod conveying system and control method

Abstract

The invention relates to the field of automatic racks, and discloses a direct rotation type drill rod conveying system and a control method. The direct rotation type drill rod conveying system comprises a drill rod box used for storing drill rods and a transfer manipulator used for converting the axes of the drill rods to be perpendicular to the rotating plane of the rack; the drilling manipulator is arranged on the side face of the drill rod box in a sliding mode and provided with a drill rod positioning sensor, a lifting positioning sensor and a telescopic positioning sensor, through the special arrangement of the transfer manipulator, the drill rod positioning sensor is used for detecting the existence of a drill rod and measuring the height of a pile castellated position of the drill rod; the position of the clamping jaw is comprehensively judged through the lifting positioning sensor and the telescopic positioning sensor, the processor can conveniently judge the displacement of the clamping jaw needing to extend, the clamping process is more accurate, and the probability of drill rod sending collision is reduced.

Description

Technical Field

[0001] The invention relates to the field of automatic drilling rigs, and in particular to a direct-rotation drill rod conveying system and a control method. Background Art

[0002] Existing automatic mining drill rigs mostly use a drill rod conveying system (CN110952972B) that combines a double manipulator with a drill rod box. This system increases the onboard drill rod storage capacity and can meet the continuous operation of the drill rig for a long time. However, the drill rod transfer mechanism in the prior art has many movements and a complicated process, resulting in low drill rod transfer and overall construction efficiency; 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 transporting drill rods under large negative inclination conditions, making it impossible to automatically transport drill rods.

[0003] To solve the above problems, CN219299240U discloses a drill rod loading and unloading device, in which the drill rod loading and unloading mechanism and the drill rod conveying mechanism are respectively connected to the two sides of the mounting seat. The conveying mechanism transfers the drill rod perpendicular to the axis of the drill rod of the frame to the loading and unloading mechanism through the through hole on the mounting seat. The loading and unloading mechanism clamps the drill rod and rotates until the drill rod coincides with the axis of the frame, thereby completing the drill rod conveying.

[0004] However, the above technical solution still has the problem of connecting the drill rod from the storage box to the conveying mechanism. Summary of the invention

[0005] The present invention is intended to provide a direct-rotation drill rod conveying system and a control method, so as to convey the drill rod in a direction perpendicular to the rotation plane of the frame, thereby solving the connection problem of the drill rod from the storage box to the conveying mechanism.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a direct-rotation drill rod conveying system, including a drill rod box for storing drill rods, a transfer manipulator for transforming the axis of the drill rod to be perpendicular to the rotation plane of the frame and transporting it out of the drill rod box, and a drill rod transmission positioning assembly for controlling the transfer manipulator.

[0007] The beneficial effects of this program are:

[0008] This solution transports the drill rod out of the drill rod box in a manner perpendicular to the frame, so that the drill rod and the frame are docked. During this process, there is no need to flip the drill rod, nor is there a transfer trough to transfer the drill rod 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 frame suitable for operations in narrow lanes.

[0009] Furthermore, the transfer manipulator includes a control member, a sliding assembly, a lifting joint and a telescopic joint. The sliding assembly, the lifting joint, the telescopic joint and the rotating joint are all controlled by the control member. The lifting joint is slidably arranged on the frame through the sliding assembly. The telescopic joint is fixedly connected to the lifting joint and slidably arranged on the plane where the rotating axis of the frame is located. The free end of the telescopic joint is rotatably arranged with a rotating clamping assembly that can rotate the clamped drill rod 90°. The sliding assembly, the telescopic assembly, the lifting joint and the rotating joint are controlled by the control member, so that each component forms a unified whole, which is conducive to reducing the control difficulty.

[0010] Furthermore, the drill rod transmission positioning assembly includes a telescopic positioning sensor for detecting the displacement information of the telescopic joint, a lifting positioning sensor for detecting the displacement information of the lifting joint, a drill rod positioning sensor for detecting the existence information of the drill rod, and a processor for receiving the measurement information of the telescopic positioning sensor, the lifting positioning sensor and the drill rod positioning sensor and processing the received information, the telescopic positioning sensor is fixed on the telescopic joint and can measure the displacement information and displacement change information of the telescopic joint, the lifting positioning sensor is fixed on the lifting joint and can measure the displacement information and displacement change information of the lifting joint, and the drill rod positioning sensor is fixed on the lifting joint or the clamp and can detect the existence information of the drill rod; the processor is electrically connected to the lifting positioning sensor, the drill rod positioning sensor, the telescopic joint and the rotating clamp assembly and can control the sliding assembly, the lifting joint, the telescopic joint and the rotating clamp assembly according to the measurement information of the lifting positioning sensor and the drill rod positioning sensor received. The use of sensors to detect the displacement of each component makes the control more accurate, simplifies the control process, and improves the control accuracy.

[0011] Furthermore, the telescopic joint includes a telescopic outer cylinder, a telescopic inner cylinder and a telescopic drive member. The telescopic inner cylinder is slidably arranged on the plane where the frame rotation axis is located through a sliding assembly. The telescopic inner cylinder is slidably arranged in the telescopic outer cylinder and fixedly connected to one end of the rotation joint. One end of the telescopic drive member is fixedly connected to the telescopic outer cylinder, and the other end is fixedly connected to the telescopic inner cylinder. The drill rod transmission positioning assembly also includes a valve seat. The telescopic drive member is electrically connected to the processor through a control member. The telescopic positioning sensor is fixed on the side wall of the telescopic inner cylinder or the telescopic outer cylinder. A connecting member is fixed between the lifting inner cylinder and the telescopic outer cylinder. One end of the connecting member is fixedly connected to the lifting inner cylinder, and the other end is fixedly connected to the telescopic outer cylinder. The lifting positioning sensor includes a lifting positioning sensor transmitting and receiving end. The lifting positioning sensor is fixedly arranged on the connecting member or the lifting inner cylinder for detecting displacement information and displacement change information between the connecting member and the lifting outer cylinder.

[0012] Furthermore, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is slidably arranged on the side wall of the drill rod box through a sliding assembly and can reciprocate on the side wall of the drill rod box under the action of the sliding assembly. The lifting inner cylinder is slidably arranged in the lifting inner cylinder and is fixedly connected to the telescopic inner cylinder through a free end. A lifting drive component electrically connected to the processor through a control component is arranged between the lifting outer cylinder and the lifting inner cylinder. One end of the lifting drive component is fixedly connected to the lifting outer cylinder, and the other end is fixedly connected to the lifting inner cylinder. The transmitting and receiving ends of the lifting positioning sensor are fixed on the side wall of the lifting inner cylinder or the lifting outer cylinder.

[0013] Furthermore, the sliding assembly includes a sliding rail and a sliding seat. The sliding rail is fixedly connected to the side wall of the drill rod box. The sliding seat is slidably set on the sliding rail. A rack is fixedly set on the slide rail. A driving gear is rotatably set on the sliding seat. The driving gear is meshed with the rack. A sliding driving member is fixed on the fixed seat. The sliding driving member is electrically connected to the processor through a control member. The sliding driving member is fixedly set on the sliding seat and fixedly connected to the driving gear through an output shaft.

[0014] Furthermore, the drill rod transmission positioning assembly also includes a column selection sensor, which is electrically connected to the processor through a control component. The column selection sensor is fixedly arranged on the sliding seat and can measure the sliding displacement information of the sliding seat; the processor has built-in sliding displacement value interval information and controls the sliding of the sliding seat based on the sliding displacement value interval information, so that the sliding displacement information measured by the column selection sensor is within the value interval.

[0015] Furthermore, the rotating clamping assembly includes a rotating joint and a clamping jaw, and the rotating joint and the clamping jaw are electrically connected to the processor through a controller via a control component. One end of the rotating joint is fixedly connected to the telescopic joint, and the other end is fixedly connected to the clamping jaw and can drive the clamping jaw to rotate and switch between clamping conditions and transportation conditions under the control of the processor.

[0016] The control method of the straight-rotation drill pipe conveying system comprises the following steps: S1 positioning: the height of the clamp is determined by the displacement combination of the telescopic positioning sensor and the lifting positioning sensor, and the processor obtains the displacement information a of the initial condition of the lifting positioning sensor, the displacement information b of the initial condition of the telescopic positioning sensor, the height information H1 of the clamp from the bottom of the drill pipe box, and the drill pipe height information H2, and the height information H1 of the clamp from the bottom of the drill pipe box is measured by the drill pipe clamping center line; S2 clamping, the clamp moves downward until the drill pipe sensor is triggered and obtains the change displacement information a1 of the lifting positioning sensor and the change displacement information b1 of the telescopic positioning sensor during the clamp moving downward; S2 obtains the clamp displacement information, and the clamp displacement information includes the descending displacement information δ1-2 and the upward displacement δ2-1, and the descending displacement information δ1-2 and the upward displacement δ2-1 are both obtained by the change displacement information a of the lifting positioning sensor 1 and the displacement information b1 of the lifting and positioning sensor, wherein δ1-2=H1-H2=a1+b1, δ2-1=H-H2+d=a1+b1+d; S3 clamping, the S3 clamping rotation step includes descending clamping and clamping lifting, the descending clamping is: under the monitoring of the lifting and positioning sensor and the telescopic positioning sensor, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move downward by a displacement of δ1-2, and then clamps the drill rod through the clamping claw; the clamping lifting is: while the clamping claw keeps clamping the drill rod and under the monitoring of the lifting and positioning sensor and the telescopic positioning sensor, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move upward by a displacement of δ2-1; S4 transportation, after the lifting is completed, the rotating joint rotates 90° to enter the transportation condition, and then the sliding assembly drives the clamping claw to translate to transport the drill rod clamped by the clamping claw in a direction perpendicular to the rotation plane of the frame.

[0017] Furthermore, it also includes S0 selection, S0 selection: S0 selection includes S01 reset, S02 translation detection and S03 drill rod detection, wherein S01 reset includes the following steps: the clamp is released, the rotating joint is rotated to the clamping condition, the telescopic joint is fully retracted, the lifting joint is raised to an appropriate height, so that the lower end of the clamp does not interfere with the drill rod storage space of the drill rod box, the processor receives the change displacement information h1 and h2 measured by the drill rod positioning sensor, and records the difference h between the change displacement information h1 and h2; S02 translation detection, the clamp translates under the action of the sliding component, and when the clamp reaches the specified position, the selection sensor sends a signal to the control component through the processor, and the control component controls the sliding drive component to stop working.

[0018] In combination with the above technical features, the present invention also includes the following technical effects:

[0019] 1. The drill rod is directly transported out of the drill rod box in a direction perpendicular to the rotation plane of the frame, avoiding the need to flip or re-transport the drill rod in the traditional way, thereby greatly simplifying the transportation route of the clamping unit;

[0020] 2. The simplified conveying path reduces unnecessary operation steps and improves the speed and efficiency of the entire conveying process;

[0021] 3. Since no additional space is required for the flipping action, the overall height requirement of the drilling rig is reduced, making the system more suitable for use in environments with limited space (such as narrow lanes);

[0022] 4. All components of the transfer robot (sliding assembly, lifting joint, telescopic joint and rotating clamping assembly) are managed by a single control unit, which not only reduces the control difficulty, but also improves the response speed and positioning accuracy of the system. At the same time, the drill pipe transmission positioning assembly uses a variety of sensors (such as telescopic positioning sensors, lifting positioning sensors, drill pipe positioning sensors, etc.) to monitor the position information of each component in real time, and performs data processing and feedback control through the processor to ensure that each action can be executed accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the assembly relationship between the embodiment of the present invention and the rack;

[0024] Figure 2 A three-dimensional diagram of an embodiment of the present invention after removing the positioning control mechanism;

[0025] Figure 3 A three-dimensional diagram of an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the detection state of the positioning control mechanism of the present invention;

[0027] Figure 5 Schematic diagram of the height of the transfer robot's gripper. DETAILED DESCRIPTION

[0028] The following is further described in detail through specific implementation methods:

[0029] The figure marks in the drawings of the specification include: drill rod box 1, bottom plate 11, partition 12, vertical plate 13, slide rail 21, sliding seat 22, lifting outer cylinder 231, lifting inner cylinder 232, connecting piece 233, telescopic outer cylinder 24, rotating clamping assembly 25, lifting positioning sensor 261, baffle 262, telescopic positioning sensor 263, drill rod positioning sensor 264, and column selection sensor 265.

[0030] Example

[0031] The embodiment is basically as shown in the attached Figure 1-5 As shown, Figure 1-5 The straight-rotation drill rod conveying system shown comprises a drill rod box 1 and a transfer manipulator.

[0032] The drill rod box 1 includes a bottom plate 11, side plates and vertical plates 13. The side plates and vertical plates 13 are connected to the bottom plate 11 by bolts to form a box body with an open top. A plurality of partitions 12 are welded or bolted on opposite sides of the vertical plates 13. Drill rod storage space is formed between adjacent partitions 12. The width of the drill rod storage space is adapted to the drill rods. When arranged, the drill rod box 1 is fixed horizontally to the body on the side of the frame so that the length direction of the drill rod storage space is parallel to the rotation plane of the frame.

[0033] The transfer robot comprises a sliding assembly, a lifting joint, a telescopic joint, a rotating clamping assembly 25 and a drill pipe transmission positioning control assembly.

[0034] The sliding assembly includes a sliding rail 21 and a sliding seat 22. The sliding rail 21 is fixedly connected to the vertical plate 13 by bolts. The sliding seat 22 is slidably set on the sliding rail 21. A rack is set on the sliding rail 21. A sliding driving member is fixed on the sliding seat 22. A driving gear is keyed on the output shaft of the sliding driving member. The driving gear is meshed with the rack. In this embodiment, the sliding driving member is a hydraulic motor. When in use, the driving gear is driven to rotate by the rotation of the hydraulic motor, thereby driving the sliding seat 22 to slide on the sliding rail 21.

[0035] The lifting joint includes a lifting outer cylinder 231 and a lifting inner cylinder 232. Figure 2 As shown, the lifting outer cylinder 231 is fixedly connected to the sliding seat 22 by bolts, the lifting inner cylinder 232 is slidably arranged in the lifting outer cylinder 231, the top end of the lifting inner cylinder 232 is bolted with a connecting piece 233, and a lifting driving piece is arranged inside the lifting outer cylinder 231. In this embodiment, the lifting driving piece is a cylinder, one end of the cylinder is fixedly connected to the lifting outer cylinder 231, and the other end is fixedly connected to the lifting inner cylinder 232, so that the lifting inner cylinder 232 is driven to slide in the lifting outer cylinder 231 through the extension and retraction of the lifting driving piece, thereby driving the connecting piece 233 to move up and down.

[0036] The telescopic joint includes a telescopic outer cylinder 24 and a telescopic inner cylinder. The telescopic outer cylinder 24 is bolted to the connecting member 233. The telescopic inner cylinder is slidably arranged in the telescopic outer cylinder 24. The rotating clamping assembly 25 is flange-connected to the lower end of the telescopic inner cylinder. A telescopic driving member is arranged between the telescopic outer cylinder 24 and the telescopic inner cylinder. One end of the telescopic driving member is fixedly connected to the telescopic outer cylinder 24, and the other end is fixedly connected to the telescopic inner cylinder. Thus, the telescopic inner cylinder is driven to slide in the telescopic outer cylinder 24 through the extension and contraction of the telescopic driving member, thereby driving the rotating clamping assembly 25 to extend and retract up and down.

[0037] The rotating clamping assembly 25 includes a clamping jaw and a rotating joint. The fixed rotating joint includes a first rotating body, a second rotating body and a rotating driving member. The first rotating body is connected to the lower end flange of the telescopic inner cylinder. The second rotating body is rotatably arranged at the lower end of the first rotating body. The rotating driving member is fixed inside the first rotating body and is connected to the second rotating body through a gear set. The clamping jaw includes a fixed jaw, a movable jaw and a clamping driving member. The fixed jaw is connected to the lower end flange of the second rotating body. The movable jaw is hinged on the fixed jaw. One end of the clamping driving member is hinged to the fixed jaw and the other end is hinged to the movable jaw, so that the clamping jaw is driven to rotate by the rotating driving member. At the same time, the movable jaw is driven to rotate by the clamping driving member to complete the clamping work. The rotating joint is arranged between the fixed jaw and the telescopic inner cylinder and is used to control the rotation of the clamping assembly 25. In this embodiment, the rotating joint is a hydraulic motor.

[0038] The drill rod transmission positioning control component includes a controller and a drill rod transmission positioning component. The control component is used to control the working conditions of the sliding drive component, the telescopic drive component, the lifting drive component, the telescopic drive component and the rotating joint. In this embodiment, the control component is a valve seat. During control, the valve seat is used to control the hydraulic pressure of the sliding drive component, the telescopic drive component, the lifting drive component, the telescopic drive component and the rotating joint to complete the corresponding control action.

[0039] The drill rod transmission positioning component includes a processor, a lifting positioning sensor 261, a telescopic positioning sensor 263, a drill rod positioning sensor 264 and a sliding positioning unit. The processor and the lifting positioning sensor 261, the telescopic positioning sensor 263, the drill rod positioning sensor 264, the column selection sensor 265 and the control component are electrically connected and have built-in partition 12 height information H1 and column selection sensor 265 displacement interval information. The lifting positioning sensor 261, the telescopic positioning sensor 263, the drill rod positioning sensor 264 and the column selection sensor 265 can be a combination of one or more displacement sensors such as a pull-wire displacement sensor and a magnetostrictive displacement sensor. In this embodiment, the lifting positioning sensor 261, the telescopic positioning sensor 263, the drill rod positioning sensor 264 and the column selection sensor 265 are all pull-wire displacement sensors, such as Figure 3 As shown, the lifting positioning sensor 261 is pasted on the side wall of the lifting outer cylinder 231 and connected to the top of the telescopic inner cylinder through a pull wire. When in use, the displacement between the telescopic inner cylinder and the telescopic outer cylinder is determined by the extended length of the pull wire.

[0040] The telescopic positioning sensor is pasted on the side wall of the telescopic outer cylinder 24 and fixed to the side wall of the telescopic inner cylinder through wire measurement, so that the relative displacement between the telescopic outer cylinder 24 and the telescopic inner cylinder is determined by the change of the wire length.

[0041] The drill rod positioning sensor 264 is a proximity switch, which is bonded to the clamping claw. Figure 5As shown, the sensing height of the drill rod positioning sensor 264 is h. When the clamp moves down to the height h between the drill rod positioning sensor 264 and the drill rod, the drill rod positioning sensor 264 sends a signal to the processor.

[0042] The sliding positioning unit includes a baffle 262 and a column selection sensor 265. Figure 3 As shown, the baffle 262 is fixed to one end of the slide rail 21 by bolts, and a protective part is arranged on the upper end of the baffle 262. The bottom height of the protective part is higher than the upper edge of the column selection sensor 265 and the length of the protective part is greater than the column selection sensor 265. The column selection sensor 265 is fixedly arranged on the slide and can measure the displacement information of the slide. In this embodiment, the column selection sensor 265 is also a pull-wire displacement sensor, and the column selection sensor 265 is fixedly connected to the baffle by a pull wire to determine the position of the slide by changing the length of the pull wire.

[0043] The control method of the direct-rotation drill pipe conveying system comprises the following steps:

[0044] S0 selection: S0 selection includes S01 reset, S02 translation detection and S03 drill rod detection, wherein S01 reset includes the following steps: the clamp is released, the rotary joint rotates to the clamping condition, the telescopic joint is fully retracted, and the lifting joint is raised to an appropriate height so that the lower end of the clamp does not interfere with the drill rod storage space of the drill rod box 1; S02 translation detection, the clamp translates under the action of the sliding component, when the clamp reaches the specified position, the selection sensor sends a signal to the control component through the processor, and the control component controls the sliding drive component to stop working, at which time the S0 selection ends and enters the S1 positioning;

[0045] S1 positioning: the height of the clamp is determined by the displacement combination of the telescopic positioning sensor 263 and the lifting positioning sensor 261. The processor obtains the displacement information a of the initial condition of the lifting positioning sensor 261, the displacement information b of the initial condition of the telescopic positioning sensor 263, the height information H1 of the clamp from the bottom of the drill rod box 1, and the drill rod height information H2. The height information H1 of the clamp from the bottom of the drill rod box 1 is measured by the drill rod clamping center line; S2 clamping, the clamp moves down until the drill rod sensor is triggered and obtains the displacement information a1 of the lifting positioning sensor and the displacement information b1 of the telescopic positioning sensor during the clamp moving down stage;

[0046] S2 obtains the displacement information of the clamping jaws, which includes the descending displacement information δ1-2 and the ascending displacement δ2-1, and the descending displacement information δ1-2 and the ascending displacement δ2-1 are both obtained through the change displacement information a1 of the lifting and positioning sensor 261 and the change displacement information b1 of the lifting and positioning sensor 261, wherein δ1-2=H1-H2=a1+b1, δ2-1=H-H2+d=a1+b1+d;

[0047] S3 clamping, S3 clamping rotation step includes descending clamping and clamping lifting, descending clamping is: under the monitoring of the lifting positioning sensor and the telescopic positioning sensor 263, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move downward by a displacement of δ1-2, and then clamps the drill rod through the clamping claw; clamping lifting is: under the monitoring of the lifting positioning sensor and the telescopic positioning sensor 263, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move upward by a displacement of δ2-1 while the clamping claw keeps clamping the drill rod;

[0048] S4 transportation, after lifting is completed, the rotary joint rotates 90° to enter the transportation condition, and then the sliding assembly drives the clamping jaw to translate to transport the drill rod clamped by the clamping jaw in a direction perpendicular to the rotation plane of the frame.

[0049] The above is only an embodiment of the present invention, and 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 the technical means for solving the problems in the above-mentioned embodiments of the present invention can be used in combination to solve multiple technical problems at the same time. For those skilled in the art, several modifications and improvements can be made without departing from the technical solution of the present invention, which should also be regarded as the scope of protection 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. Direct-rotation drill pipe conveying system, characterized by: It comprises a drill rod box for storing drill rods, a transfer manipulator for converting the axis of the drill rods to be perpendicular to the rotation plane of the frame and transporting the drill rods out of the drill rod box, and a drill rod transmission and positioning component for controlling the transfer manipulator.

2. The direct-rotation drill pipe conveying system according to claim 1, characterized in that: The transfer robot includes a control part, a sliding assembly, a lifting joint and a telescopic joint. The sliding assembly, the lifting joint and the telescopic joint are all controlled by the control part. The lifting joint is slidably set on the frame through the sliding assembly. The telescopic joint is fixedly connected to the lifting joint and is slidably set on the plane where the rotation axis of the frame is located. The free end of the telescopic joint is rotatably provided with a rotating clamping assembly that can rotate the clamped drill rod 90°.

3. The direct-rotation drill pipe conveying system according to claim 2, characterized in that: The drill rod transmission positioning assembly includes a telescopic positioning sensor for detecting the displacement information of the telescopic joint, a lifting positioning sensor for detecting the displacement information of the lifting joint, a drill rod positioning sensor for detecting the existence information of the drill rod, and a processor for receiving the measurement information of the telescopic positioning sensor, the lifting positioning sensor and the drill rod positioning sensor and processing the received information. The telescopic positioning sensor is fixed on the telescopic joint and can measure the displacement information and displacement change information of the telescopic joint. The lifting positioning sensor is fixed on the lifting joint and can measure the displacement information and displacement change information of the lifting joint. The drill rod positioning sensor is fixed on the lifting joint or the clamp and can detect the existence information of the drill rod. The processor is electrically connected to the lifting positioning sensor, the drill rod positioning sensor, the telescopic joint and the rotating clamping assembly and can control the sliding assembly, the lifting joint, the telescopic joint and the rotating clamping assembly according to the measurement information received from the lifting positioning sensor and the drill rod positioning sensor.

4. The direct-rotation drill pipe conveying system and control method according to claim 3 is characterized in that: The telescopic joint includes a telescopic outer cylinder, a telescopic inner cylinder and a telescopic driving member. The telescopic inner cylinder is slidably arranged on the plane where the frame rotation axis is located through a sliding assembly. The telescopic inner cylinder is slidably arranged in the telescopic outer cylinder and fixedly connected to one end of the rotation joint. One end of the telescopic driving member is fixedly connected to the telescopic outer cylinder, and the other end is fixedly connected to the telescopic inner cylinder. The drill rod transmission positioning assembly also includes a valve seat. The telescopic driving member is electrically connected to the processor through a control member. The telescopic positioning sensor is fixed on the side wall of the telescopic inner cylinder or the telescopic outer cylinder. A connecting member is fixed between the lifting inner cylinder and the telescopic outer cylinder. One end of the connecting member is fixedly connected to the lifting inner cylinder, and the other end is fixedly connected to the telescopic outer cylinder. The lifting positioning sensor includes a lifting positioning sensor transmitting and receiving end. The lifting positioning sensor is fixedly arranged on the connecting member or the lifting inner cylinder for detecting displacement information and displacement change information between the connecting member and the lifting outer cylinder.

5. The straight-rotation drill pipe conveying system according to claim 4 is characterized in that: The lifting joint includes a lifting outer cylinder and a lifting inner cylinder. The lifting outer cylinder is slidably arranged on the side wall of the drill rod box through a sliding assembly and can reciprocate on the side wall of the drill rod box under the action of the sliding assembly. The lifting inner cylinder is slidably arranged in the lifting inner cylinder and is fixedly connected to the telescopic inner cylinder through a free end. A lifting drive component electrically connected to the processor through a control component is arranged between the lifting outer cylinder and the lifting inner cylinder. One end of the lifting drive component is fixedly connected to the lifting outer cylinder, and the other end is fixedly connected to the lifting inner cylinder. The transmitting and receiving ends of the lifting positioning sensor are fixed on the side wall of the lifting inner cylinder or the lifting outer cylinder.

6. The direct-rotation drill pipe conveying system according to claim 5, characterized in that: The sliding assembly includes a sliding rail and a sliding seat. The sliding rail is fixedly connected to the side wall of the drill rod box. The sliding seat is slidably set on the sliding rail. A rack is fixedly set on the sliding rail. A driving gear is rotatably set on the sliding seat. The driving gear is meshed with the rack. A sliding driving member is fixed on the fixed seat. The sliding driving member is electrically connected to the processor through a control member. The sliding driving member is fixedly set on the sliding seat and fixedly connected to the driving gear through an output shaft.

7. The direct-rotation drill pipe conveying system and control method according to claim 6, characterized in that: The drill pipe transmission and positioning assembly also includes a column selection sensor, which is electrically connected to the processor through a control component, and the column selection sensor is fixedly arranged on the sliding seat and can measure the sliding displacement information of the sliding seat; The processor has built-in sliding displacement value interval information and controls the sliding of the sliding seat according to the sliding displacement value interval information, so that the sliding displacement information measured by the selected column sensor is within the value interval.

8. The direct-rotation drill pipe conveying system according to claim 7, characterized in that: The rotating clamping assembly includes a rotating joint and a clamping claw, both of which are electrically connected to the processor through a control component. One end of the rotating joint is fixedly connected to the telescopic joint, and the other end is fixedly connected to the clamping claw and can drive the clamping claw to rotate and switch between clamping conditions and transportation conditions under the control of the processor.

9. A control method for a direct-rotation drill pipe conveying system, characterized in that: The method comprises the following steps: S1 positioning: the height of the clamping jaw is judged by the displacement combination of the telescopic positioning sensor and the lifting positioning sensor, and the processor obtains the displacement information a of the initial condition of the lifting positioning sensor, the displacement information b of the initial condition of the telescopic positioning sensor, the height information H1 of the clamping jaw from the bottom of the drill pipe box, and the height information H2 of the drill pipe, and the height information H1 of the clamping jaw from the bottom of the drill pipe box is measured by the clamping center line of the drill pipe; S2 clamping, the clamping jaw moves downward until the drill pipe sensor is triggered and obtains the change displacement information a1 of the lifting positioning sensor and the change displacement information b1 of the telescopic positioning sensor during the clamping jaw moving downward; S2 obtains the displacement information of the clamping jaw, and the displacement information of the clamping jaw includes the descending displacement information δ1-2 and the upward displacement δ2-1, and the descending displacement information δ1-2 and the upward displacement δ2-1 are both determined by the change displacement information a1 of the lifting positioning sensor and the lifting positioning sensor. The change displacement information b1 of the device is obtained, wherein, δ1-2=H1-H2=a1+b1, δ2-1=H-H2+d=a1+b1+d; S3 clamping, the S3 clamping rotation step includes descending clamping and clamping lifting, the descending clamping is: under the monitoring of the lifting positioning sensor and the telescopic positioning sensor, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move downward by a displacement of δ1-2, and then the drill rod is clamped by the clamping claw; the clamping lifting is: while the clamping claw keeps clamping the drill rod and under the monitoring of the lifting positioning sensor and the telescopic positioning sensor, the processor controls the telescopic assembly and the lifting assembly to drive the clamping claw to move upward by a displacement of δ2-1; S4 transportation, after the lifting is completed, the rotating joint rotates 90° to enter the transportation condition, and then the sliding assembly drives the clamping claw to translate to transport the drill rod clamped by the clamping claw in a direction perpendicular to the rotation plane of the frame.

10. The control method of the direct-rotation drill pipe conveying system according to claim 9, characterized in that: It also includes S0 selection, S0 selection: S0 selection includes S01 reset, S02 translation detection and S03 drill rod detection, wherein S01 reset includes the following steps: the clamp is released, the rotating joint is rotated to the clamping condition, the telescopic joint is fully retracted, the lifting joint is raised to an appropriate height, so that the lower end of the clamp does not interfere with the drill rod storage space of the drill rod box, the processor receives the change displacement information h1 and h2 measured by the drill rod positioning sensor, and records the difference h between the change displacement information h1 and h2; S02 translation detection, the clamp translates under the action of the sliding component, and when the clamp reaches the specified position, the selection sensor sends a signal to the control component through the processor, and the control component controls the sliding drive component to stop working.

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