Monitoring system and monitoring method for working state of drill rod

Abstract

The invention relates to a drill rod working state monitoring system and a monitoring method thereof, and belongs to the technical field of drill rod monitoring. The monitoring system is arranged on a clamping head of the drilling machine and comprises a power head displacement monitoring mechanism, a single-point position drill rod thread change monitoring mechanism and a drill rod advancing and retreating stress direction monitoring mechanism. The power head displacement monitoring mechanism is arranged between the power head and the clamping head; the drill rod advancing and retreating stress direction monitoring mechanism comprises a shaft sleeve and a force measuring flange, the force measuring flange is fixed to the clamping head, and the shaft sleeve is fixed to the force measuring flange; the single-point position drill rod thread change monitoring mechanism comprises a rotating sleeve, the rotating sleeve is rotationally arranged on the outer side of the shaft sleeve, an angle measuring assembly is arranged on the rotating sleeve, a connecting cylinder is fixedly arranged on the rotating sleeve, and an acting ball is arranged on the connecting cylinder; the acting ball is clamped in the spiral groove of the drill rod; the problem that errors are prone to occurring in statistics of the driving number of the drill rods during underground drilling at present is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of drill pipe monitoring, and in particular relates to a monitoring system and a monitoring method for the working state of a drill pipe. Background Art

[0002] A large number of boreholes need to be constructed when mining coal seams, especially for protruding mines. Constructing extraction boreholes of qualified quality is an important factor in ensuring safe production in coal mines. The existing drilling construction in coal mines is generally completed by 2-3 drillers using a drilling rig to drive drill rods into the coal and rock layers. The depth of the borehole is obtained by counting the number of drill rods and multiplying it by the length of a single drill rod. This method is severely limited by the operational quality of the on-site drillers. If the on-site drillers make mistakes in counting the drill rods, it is easy to judge the boreholes with insufficient drilling depth as qualified boreholes. For such boreholes with insufficient drilling depth, the effect of gas extraction in the later stage will be seriously affected, thus leaving great safety hazards for coal mine production. Therefore, a monitoring system for the working status of the drill rod is needed to accurately count the number of drill rods driven in, and to detect in time when the working status of the drill rod is abnormal, so as to remind the staff to deal with it. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art and provides a monitoring system and a monitoring method for the working status of a drill rod, thereby solving the problem that the current statistics of the number of drill rods driven into a well during downhole drilling are prone to errors.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions.

[0005] A monitoring system for the working status of a drill rod is arranged on a clamping head of a drilling rig, and comprises a power head displacement monitoring mechanism, a single-point position drill rod thread change monitoring mechanism, and a drill rod advance and retreat force direction monitoring mechanism; the power head displacement monitoring mechanism is arranged between the power head and the clamping head; the drill rod advance and retreat force direction monitoring mechanism comprises a shaft sleeve and a force measuring flange, the force measuring flange is fixedly arranged on the clamping head, and the shaft sleeve is fixedly arranged on the force measuring flange; the single-point position drill rod thread change monitoring mechanism comprises a rotating sleeve, the rotating sleeve is rotatably arranged on the outside of the shaft sleeve, an angle measuring component is arranged on the rotating sleeve, two connecting tubes are fixedly arranged on the rotating sleeve, and an action ball is arranged on the connecting tube; one end of the drill rod is fixed on the power head, the other end of the drill rod passes through the clamping head and the shaft sleeve, and the action ball is clamped in the spiral groove of the drill rod.

[0006] Furthermore, the force measuring flange includes an outer ring, an inner ring, and a sensor body. The sensor body is arranged between the outer ring and the inner ring. The outer ring is fixedly arranged on the end face of the drilling rig's clamping head away from the power head. The sleeve is fixedly arranged on the end face of the inner ring of the force measuring flange away from the clamping head. The sleeve is a cylindrical structure with openings at both ends.

[0007] Furthermore, the angle measurement component includes a Hall sensor and a magnetic sheet. A circle of magnetic sheets arranged in a circular array is fixedly arranged on the outer cylindrical surface of the rotating sleeve; a control box is fixedly arranged on the force measuring flange, and a Hall sensor is fixedly arranged on the control box. The detection direction of the Hall sensor is toward one side of the magnetic sheet.

[0008] Furthermore, two symmetrical connecting rods are fixedly arranged on the outer cylindrical surface of the rotating sleeve, and a connecting tube is fixedly arranged on the end of the two connecting rods away from the rotating sleeve. The connecting tube is a cylindrical structure with openings at both ends. One end of the connecting tube is opened as an action ball mounting hole, and the inner diameter of the action ball mounting hole is equal to the inner diameter of the connecting tube; the other end of the connecting tube is opened as a bolt mounting hole, and the inner diameter of the bolt mounting hole is smaller than the inner diameter of the connecting tube; the action ball mounting holes of the two connecting tubes face each other.

[0009] Furthermore, a ball seat and a spring are respectively provided inside each connecting tube; the ball seat is provided at the action ball mounting hole of the connecting tube, the ball seat comprises a coaxial large diameter section and a small diameter section, the large diameter section is located at the action ball mounting hole of the connecting tube, the small diameter section is located on the inner side of the connecting tube, an action ball is rollingly provided on the end face of the large diameter section away from the small diameter section, and the outer end of the action ball is located on the outer side of the action ball mounting hole; a threaded hole is provided on the end face of the small diameter section away from the large diameter section, and the end of the small diameter section away from the large diameter section extends into the bolt mounting hole of the connecting tube; the spring is sleeved on the outer side of the small diameter section of the ball seat, and the two ends of the spring are respectively in contact with the large diameter section and the inner wall of the connecting tube; the bolt extends from the bolt mounting hole of the connecting tube and is screwed into the threaded hole of the small diameter section of the ball seat, thereby connecting the ball seat with the connecting tube.

[0010] Furthermore, the power head displacement monitoring mechanism is a draw rope encoder, and a control box is fixedly mounted on the force measuring flange. The draw rope box of the draw rope encoder is fixedly mounted on the control box, the draw rope terminal of the draw rope encoder is fixedly mounted on the power head, and the draw rope of the draw rope encoder is extended along the axial direction of the drill rod.

[0011] A monitoring method of a monitoring system for a drill pipe working state comprises the following steps: The S1 power head pushes the drill rod into the borehole: S1.1 Fix the end of the previous drill rod section on the clamping head, fix the new drill rod section on the power head, and connect the new drill rod section with the previous drill rod section; measure the drilling direction of the drill bit, compare the measured value of the drilling direction of the drill bit with the designed value, and the power head controls the drill rod to rotate forward according to the comparison result, adjust the angular direction of the drill rod, and the drill rod drives the drill bit to rotate forward, so that the measured value of the drilling direction of the drill bit corresponds to the designed value; during the forward rotation of the drill rod, measure the angle of this section of the drill rod through the angle measurement component, so as to obtain the angular direction adjustment amount corresponding to this section of the drill rod; S1.2 The power head slides forward on the working platform of the drilling rig, and the power head drives this section of drill pipe forward. After the drill pipe is pushed by the power head to a set displacement, the clamping head clamps the drill pipe, and then the power head releases the drill pipe and retreats to the initial position. The power head that has retreated to the initial position clamps the drill pipe again, and the clamping head releases the drill pipe; the power head continues to push the drill pipe forward to a set displacement, and then the clamping head clamps the drill pipe again, and the power head releases the drill pipe again and retreats to the initial position; after multiple pushes by the power head, a section of drill pipe is completely pushed into the borehole, and then the clamping head clamps the drill pipe again, and the power head releases the drill pipe again and retreats to the initial position; S1.3 Fix the next section of drill pipe on the power head and repeat the above steps S1.1 and S1.2 to push the next section of drill pipe into the borehole and connect it with the previous section of drill pipe. Repeat this process until the drill pipe drives the drill bit to the designed depth. S1.4 The displacement of the power head each time it is pushed forward is measured by the power head displacement monitoring mechanism, and the measured displacement of the power head each time it is pushed forward is counted into the total displacement measured by the power head displacement monitoring mechanism; during the advancement of the drill rod, the power head does not drive the drill rod to rotate, the drill rod only moves forward along its axis with the power head, and the total displacement of the drill rod forward is measured by the single-point position drill rod thread change monitoring mechanism; S1.5 During the process of all the drill rods being pushed into the borehole, if the power head is pushed forward but the force measuring flange does not detect the forward pulling force, it indicates that the drill rod is not moving forward or the drill rod is disconnected from the single-point drill rod thread change monitoring mechanism, and the monitoring system will alarm and the drilling rig needs to be inspected; if the drill rod is not moving forward, it indicates that the power head is disconnected from the drill rod, and the power head and the drill rod need to be re-fixed; if the drill rod is moving forward, it indicates that the drill rod is disconnected from the single-point drill rod thread change monitoring mechanism, and the drill rod needs to be reconnected to the single-point drill rod thread change monitoring mechanism; S1.6 When all the drill rods are pushed into the borehole, a period of time is randomly selected, and the displacement measured by the power head displacement monitoring mechanism during this period of time is compared with the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism. If the difference between the two is within the set error range, it indicates that the displacement of the drill rod measured by the power head displacement monitoring mechanism during this period of time is the actual displacement of the drill rod; if the displacement measured by the power head displacement monitoring mechanism is greater than the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism and exceeds the set error range, it indicates that the power head and the drill rod are not firmly fixed during this period of time, and the actual displacement of the power head is greater than the displacement of the drill rod driven by the power head, and the monitoring system alarms; if the displacement measured by the power head displacement monitoring mechanism is less than the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism and exceeds the set error range, it indicates that the power head displacement monitoring mechanism fails during this period of time and cannot count each forward advancement of the power head, and the monitoring system alarms; S1.7 When all the drill rods are pushed into the borehole, a period of time is randomly selected to check the statistical data of the angular direction adjustment of the drill rods during this period of time, so as to determine which section of the drill rod has undergone angular direction adjustment and the angular direction adjustment amount of this section of the drill rod; The S2 power head pulls the drill rod out of the borehole: S2.1 The clamping head loosens the drill rod, the power head fixes the outermost section of the drill rod, and the power head drives the drill rod to slide backward, thereby driving the drill rod to be pulled out as a whole. After the drill rod is pulled out by the power head for a set displacement, the clamping head clamps the drill rod, and then the power head loosens the drill rod and slides forward to the frontmost position. The power head that slides forward to the frontmost position clamps the drill rod again, and the clamping head loosens the drill rod; the power head continues to pull the drill rod backward for a set displacement, and then the clamping head clamps the drill rod again, and the power head loosens the drill rod again and slides forward to the frontmost position; after the power head is pulled out several times, the outermost section of the drill rod is completely pulled out to the outside of the borehole, the outermost section of the drill rod is removed, and then the clamping head clamps the drill rod again, and the power head loosens the drill rod again and slides forward to the frontmost position; S2.2 Fix the next drill rod section to the power head, and repeat the above step S2.1 to pull out the next drill rod section to the outside of the borehole and remove it. Repeat this process until all the drill rods are pulled out to the outside of the borehole and removed. S2.3 The displacement of the power head each time it slides backward is measured by the power head displacement monitoring mechanism, and the displacement of the power head each time it slides backward is counted into the total displacement measured by the power head displacement monitoring mechanism; during the process of pulling out the drill rod, the power head does not drive the drill rod to rotate, the drill rod is only pulled out along its axis with the power head, and the total displacement of the drill rod pulled out is measured by the single-point position drill rod thread change monitoring mechanism; S2.4 During the process of all the drill rods being pulled out of the borehole, if the power head slides backwards and the force measuring flange does not detect the backward pressure, it indicates that the drill rod has not moved backwards or the drill rod is disconnected from the single-point drill rod thread change monitoring mechanism, and the monitoring system will alarm and the drilling rig needs to be inspected; if the drill rod has not moved backwards, it indicates that the power head is disconnected from the drill rod, and the power head and the drill rod need to be re-fixed; if the drill rod is moving backwards, it indicates that the drill rod is disconnected from the single-point drill rod thread change monitoring mechanism, and the drill rod needs to be reconnected to the single-point drill rod thread change monitoring mechanism; S2.5 When all the drill rods are pulled out of the borehole, a period of time is randomly selected, and the displacement measured by the power head displacement monitoring mechanism during this period of time is compared with the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism. If the difference between the two is within the set error range, it indicates that the displacement of the drill rod measured by the power head displacement monitoring mechanism during this period of time is the actual displacement of the drill rod; if the displacement measured by the power head displacement monitoring mechanism is greater than the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism and exceeds the set error range, it indicates that the power head and the drill rod are not firmly fixed during this period of time, and the actual displacement of the power head is greater than the displacement of the drill rod driven by the power head, and the monitoring system alarms; if the displacement measured by the power head displacement monitoring mechanism is less than the displacement of the drill rod measured by the single-point position drill rod thread change monitoring mechanism and exceeds the set error range, it indicates that the power head displacement monitoring mechanism fails during this period of time and cannot count each backward movement of the power head, and the monitoring system alarms.

[0012] Furthermore, in steps S1.4 and S1.5, when the drill rod is pushed into the borehole, the spiral groove on the outside of the drill rod engages with the acting ball, giving the acting ball on the connecting tube a forward movement tendency. The acting ball transmits this forward movement tendency to the force measuring flange through the connecting tube, the rotating sleeve and the shaft sleeve. The force measuring flange detects that it is being pulled forward by the shaft sleeve at this time, and the force measuring flange is subjected to the forward pulling force, thereby detecting the working state of "the drill rod is pushed into the borehole". Since the shaft sleeve is connected to the force measuring flange, the shaft sleeve cannot move axially relative to the force measuring flange. When the drill rod is pushed forward, the spiral groove on the outside of the drill rod drives the two connecting tubes to rotate in the opposite direction around the axis of the drill rod through the acting ball, and the two connecting tubes drive the rotating sleeve to rotate in the opposite direction through the connecting rod. The angle of the rotating sleeve rotated in the opposite direction is obtained through the angle measuring component, and the displacement value of the drill rod is obtained through the angle of the rotating sleeve rotated in the opposite direction and the pitch of the spiral groove on the outside of the drill rod.

[0013] Furthermore, in steps S2.3 and S2.4, when the drill rod is pulled out of the borehole, the spiral groove on the outside of the drill rod engages with the action ball, giving the action ball on the connecting tube a backward movement tendency. The action ball transmits this backward movement tendency to the force measuring flange through the connecting tube, the rotating sleeve and the shaft sleeve. The force measuring flange detects that it is being pushed backward by the shaft sleeve at this time, and the force measuring flange is subjected to the backward thrust, thereby detecting the working state of "the drill rod is pulled out of the borehole"; since the shaft sleeve is connected to the force measuring flange, the shaft sleeve cannot move axially relative to the force measuring flange. When the drill rod is retreated backward, the spiral groove on the outside of the drill rod drives the two connecting tubes to rotate forward around the axis of the drill rod through the action ball, and the two connecting tubes drive the rotating sleeve to rotate forward through the connecting rod, and the angle of the positive rotation of the rotating sleeve is obtained through the angle measuring component, and the displacement value of the drill rod is obtained through the positive rotation angle of the rotating sleeve and the pitch of the spiral groove on the outside of the drill rod.

[0014] Furthermore, in step S1.1, when the drill rod rotates forward, it does not move along its axial direction, so the drill rod does not give the action ball on the connecting tube a tendency to move forward or backward, and the force measuring flange is not subjected to the forward or backward pulling pressure of the sleeve, indicating that the drill rod does not move along its axial direction; the drill rod drives the two connecting tubes to rotate forward around the axis of the drill rod through the mutual engagement of the spiral groove on its outer side and the action ball, and the two connecting tubes drive the rotating sleeve to rotate forward through the connecting rod, and the angle measuring component is used to detect that the rotating sleeve is rotating forward, thereby detecting the working state of "the drill rod is adjusting the angle direction"; and the angle through which the rotating sleeve has rotated is obtained through the angle measuring component, and the angle through which the rotating sleeve has rotated is the angle through which the drill rod has rotated.

[0015] The beneficial effects of the present invention compared with the prior art are as follows: The present invention provides a monitoring system and a monitoring method for the working state of a drill rod. The system monitors the moving state of the power head through a power head displacement monitoring mechanism, and can also monitor the moving distance of the power head; the system monitors the action state of the drill rod through a drill rod advance and retreat force direction monitoring mechanism, and can obtain in real time whether the drill rod is advancing, retreating or staying still; the system monitors the advance and retreat distances of the drill rod in real time through a single-point position drill rod thread change monitoring mechanism, thereby ensuring that there is no error in the statistical calculation of the number of drill rods driven in; through the mutual cooperation of the power head displacement monitoring mechanism, the single-point position drill rod thread change monitoring mechanism, and the drill rod advance and retreat force direction monitoring mechanism, the working state of the drill rod can be monitored in real time, not only the number of drill rods driven in and the number of drill rods pulled out can be counted, but also the connection state between the drill rod and the power head can be monitored, thereby ensuring full-state monitoring of the drill rod when it is working, and eliminating errors caused by human statistics. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings: Figure 1 It is a three-dimensional schematic diagram of the present invention as a whole Figure 1 ; Figure 2 It is a three-dimensional schematic diagram of the present invention as a whole Figure 2 ; Figure 3 yes Figure 2 A local enlarged schematic diagram of the middle A; Figure 4 is a side view of the present invention as a whole; Figure 5 yes Figure 4 A partial enlarged schematic diagram of point B in the middle; Figure 6 It is a schematic diagram of the section between the drill pipe thread change monitoring mechanism at a single point position, the drill pipe forward and backward force direction monitoring mechanism and the drill pipe; Figure 7 It is a three-dimensional schematic diagram of the rotating sleeve; Among them, 1 is the power head, 2 is the clamping head, 3 is the drill rod forward and backward force direction monitoring mechanism, 4 is the single-point position drill rod thread change monitoring mechanism, 5 is the drill rod, 6 is the power head displacement monitoring mechanism, 7 is the control box, 301 is the sleeve, 302 is the force measuring flange, 401 is the rotating sleeve, 402 is the Hall sensor, 403 is the magnetic sheet, 404 is the connecting rod, 405 is the connecting tube, 406 is the action ball, 407 is the spring, 408 is the bolt, 409 is the ball seat, 501 is the spiral groove, 601 is the pull rope encoder, 602 is the pull rope, and 603 is the pull rope terminal. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail in conjunction with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solutions of the present invention are described in detail below in conjunction with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0018] like Figure 1 As shown in FIG. 7 , the present invention provides a monitoring system for the working status of a drill rod and a monitoring method thereof. The monitoring system is arranged on the clamping head 2 of the drilling rig, and includes a power head displacement monitoring mechanism 6, a single-point position drill rod thread change monitoring mechanism 4, and a drill rod forward and backward force direction monitoring mechanism 3.

[0019] The drill pipe advance and retreat force direction monitoring mechanism 3 includes a sleeve 301 and a force measuring flange 302 .

[0020] The force measuring flange 302 includes an outer ring, an inner ring, and a sensor body. The sensor body is arranged between the outer ring and the inner ring. The outer ring is fixedly arranged on the end surface of the clamping head 2 of the drilling rig away from the power head 1.

[0021] A shaft sleeve 301 is fixedly arranged on the end surface of the inner ring of the force measuring flange 302 away from the clamping head 2 . The shaft sleeve 301 is a cylindrical structure with two ends opened.

[0022] A control box 7 is also fixedly arranged on the drill rod forward and backward force direction monitoring mechanism 3, and the control box 7 is fixedly arranged on the upper end of the outer ring of the force measuring flange 302, and the front end of the control box 7 extends forward to the upper front end of the sleeve 301. The wiring harness of the force measuring flange 302 extends into the control box 7 and is electrically connected to the controller inside the control box 7.

[0023] The force measuring flange 302 is model 1189 of the ARIZON brand.

[0024] The single-point drill pipe thread change monitoring mechanism 4 includes a rotating sleeve 401 , an angle measuring assembly, a connecting rod 404 , a connecting tube 405 , an action ball 406 , a ball seat 409 , a spring 407 , and a bolt 408 .

[0025] A rotating sleeve 401 is rotatably connected to the outer side of the end away from the shaft sleeve 301 via a bearing, and an angle measuring component is arranged on the rotating sleeve 401 .

[0026] The angle measurement assembly includes a Hall sensor 402 and a magnetic sheet 403. A circle of magnetic sheets 403 arranged in a circular array is fixedly arranged on the outer cylindrical surface of the rotating sleeve 401; a Hall sensor 402 is fixedly arranged at the front end of the lower end face of the control box 7. The detection direction of the Hall sensor 402 is vertically downward toward the side of the magnetic sheet 403. The wiring harness of the Hall sensor 402 is electrically connected to the controller inside the control box 7. When the rotating sleeve 401 rotates relative to the shaft sleeve 301, the rotating sleeve 401 drives a circle of magnetic sheets 403 on its outer side to rotate. The Hall sensor 402 detects the number of magnetic sheets 403 passing through, thereby obtaining the angle of rotation of the rotating sleeve 401.

[0027] Two symmetrical connecting rods 404 are fixedly arranged on the outer cylindrical surface of the rotating sleeve 401. The length direction of the connecting rods 404 is arranged along the axial direction of the rotating sleeve 401. The ends of the connecting rods 404 away from the rotating sleeve 401 extend in the direction away from the clamping head 2. A connecting tube 405 is fixedly arranged at the ends of the two connecting rods 404 away from the rotating sleeve 401. The two connecting tubes 405 are symmetrically arranged, and the axes of the two connecting tubes 405 are perpendicular to the axis of the rotating sleeve 401.

[0028] The connecting tube 405 is a cylindrical structure with openings at both ends. One end of the connecting tube 405 is opened as a working ball mounting hole, and the inner diameter of the working ball mounting hole is equal to the inner diameter of the connecting tube 405; the other end of the connecting tube 405 is opened as a bolt mounting hole, and the inner diameter of the bolt mounting hole is smaller than the inner diameter of the connecting tube 405. The working ball mounting holes of the two connecting tubes 405 face each other. A ball seat 409 and a spring 407 are respectively arranged inside each connecting tube 405. The ball seat 409 is arranged at the action ball installation hole of the connecting tube 405. The ball seat 409 includes a coaxial large diameter section and a small diameter section. The large diameter section is located at the action ball installation hole of the connecting tube 405, and the small diameter section is located inside the connecting tube 405. An action ball 406 is rollingly arranged at the end surface of the large diameter section away from the small diameter section, and one end of the outer side of the action ball 406 is located outside the action ball installation hole; a threaded hole is arranged at the end surface of the small diameter section away from the large diameter section, and one end of the small diameter section away from the large diameter section extends into the bolt installation hole of the connecting tube 405. The spring 407 is sleeved on the outer side of the small diameter section of the ball seat 409, and the two ends of the spring 407 are in contact with the large diameter section and the inner wall of the connecting tube 405 respectively. The bolt 408 extends from the bolt installation hole of the connecting tube 405 and is screwed into the threaded hole of the small diameter section of the ball seat 409, thereby connecting the ball seat 409 with the connecting tube 405.

[0029] One end of the drill rod 5 is fixed to the power head 1, and the other end of the drill rod 5 passes through the clamping head 2 and the sleeve 301. The outer ends of the action balls 406 on the two connecting tubes 405 are respectively clamped in the two spiral grooves 501 of the drill rod 5. The two spiral grooves 501 of the drill rod 5 are arranged 180 degrees apart. The spring 407 inside the connecting tube 405 is arranged to ensure that the action ball 406 is pressed tightly in the spiral groove 501 of the drill rod 5.

[0030] When the drill rod 5 is pushed into the borehole, the spiral groove 501 on the outer side of the drill rod 5 engages with the action ball 406, giving the action ball 406 on the connecting tube 405 a forward movement tendency. The action ball 406 transmits this forward movement tendency to the force measuring flange 302 through the connecting tube 405, the rotating sleeve 401 and the shaft sleeve 301. The force measuring flange 302 detects that it is being pulled forward by the shaft sleeve 301 at this time. The force measuring flange 302 is subjected to the forward pulling force, thereby detecting the working state of "the drill rod 5 is pushed into the borehole". Since the sleeve 301 is connected to the force measuring flange 302, the sleeve 301 cannot move axially relative to the force measuring flange 302. When the drill rod 5 is pushed forward, the spiral groove 501 on the outside of the drill rod 5 drives the two connecting tubes 405 to rotate in the opposite direction around the axis of the drill rod 5 through the action ball 406. The two connecting tubes 405 drive the rotating sleeve 401 to rotate in the opposite direction through the connecting rod 404. The angle of the rotating sleeve 401 rotated in the opposite direction is obtained through the angle measuring component. The displacement value of the drill rod 5 is obtained through the angle of the rotating sleeve 401 rotated in the opposite direction and the pitch of the spiral groove 501 on the outside of the drill rod 5. The displacement value in this process is the displacement value of the drill rod 5 pushed into the borehole.

[0031] That is, the force measuring flange 302 detects the forward pulling force, and the angle measuring assembly detects the angle change, which proves that the power head 1 is driving the drill rod 5 to advance into the borehole.

[0032] When the drill rod 5 is pulled out of the borehole, the spiral groove 501 on the outer side of the drill rod 5 engages with the acting ball 406, giving the acting ball 406 on the connecting tube 405 a backward movement tendency. The acting ball 406 transmits this backward movement tendency to the force measuring flange 302 through the connecting tube 405, the rotating sleeve 401 and the shaft sleeve 301. The force measuring flange 302 detects that it is being pushed backward by the shaft sleeve 301 at this time. The force measuring flange 302 is subjected to the backward thrust, thereby detecting the working state of "the drill rod 5 is pulled out of the borehole". Since the sleeve 301 is connected to the force measuring flange 302, the sleeve 301 cannot move axially relative to the force measuring flange 302. When the drill rod 5 retreats backward, the spiral groove 501 on the outside of the drill rod 5 drives the two connecting tubes 405 to rotate forward around the axis of the drill rod 5 through the action ball 406. The two connecting tubes 405 drive the rotating sleeve 401 to rotate forward through the connecting rod 404. The angle of the rotating sleeve 401 rotated forward is obtained through the angle measuring component. The displacement value of the drill rod 5 is obtained through the angle of the rotating sleeve 401 rotated forward and the pitch of the spiral groove 501 on the outside of the drill rod 5. The displacement value in this process is the displacement value of the drill rod 5 pulled out of the borehole.

[0033] That is, the force measuring flange 302 detects the backward pressure, and the angle measuring assembly detects the angle change, which proves that the power head 1 is driving the drill rod 5 to be pulled out of the borehole.

[0034] When the drilling direction of the drill bit needs to be adjusted, the power head 1 needs to drive the drill rod 5 to rotate forward, adjust the angle of the drill rod 5, and the drill rod 5 drives the drill bit to rotate forward, so that the drilling direction of the drill bit meets the design value. When the drill rod 5 rotates forward, the drill rod 5 does not move along its axial direction, so the drill rod 5 does not give the action ball 406 on the connecting tube 405 a forward or backward movement trend, so the force measuring flange 302 is not subjected to the forward or backward pulling pressure of the sleeve 301, indicating that the drill rod 5 does not move along its axial direction. The drill rod 5 drives the two connecting tubes 405 to rotate forwardly around the axis of the drill rod 5 through the mutual engagement of the spiral groove 501 on its outer side and the action ball 406. The two connecting tubes 405 drive the rotating sleeve 401 to rotate forwardly through the connecting rod 404. The angle measuring component is used to detect that the rotating sleeve 401 is rotating forwardly, thereby detecting the working state of "the drill rod 5 is adjusting the angle direction". The angle measured by the angle measuring component is used to obtain the angle of rotation of the rotating sleeve 401, which is the angle of rotation of the drill rod 5. The angle of rotation of the drill rod 5 is the angle of adjustment of the drill bit.

[0035] The drill rod 5 will only be in three states at the part of the clamping head 2 away from the power head 1, namely: forward, backward, and forward rotation (used to adjust the angle direction of the drill rod 5). When the drill rod 5 moves forward, it will drive the rotating sleeve 401 to rotate in the opposite direction; when the drill rod 5 moves backward, it will drive the rotating sleeve 401 to rotate forward; when the drill rod 5 adjusts the angle direction, it will drive the rotating sleeve 401 to rotate forward. In order to determine whether the drill rod 5 is moving backward or adjusting the angle direction when the rotating sleeve 401 is rotating forward, it is necessary to determine based on the force measuring flange 302. When the force measuring flange 302 detects a backward thrust, it indicates that the drill rod 5 is moving backward; when the force measuring flange 302 does not detect a pulling force or a pressure force, it indicates that the drill rod 5 is adjusting the angle direction at this time.

[0036] The power head displacement monitoring mechanism 6 is a draw wire encoder 601, the draw wire box of the draw wire encoder 601 is fixedly arranged at the upper end of the control box 7, the draw wire terminal 603 of the draw wire encoder 601 is fixedly arranged on the power head 1, the draw wire 602 of the draw wire encoder 601 is extended along the axial direction of the drill rod 5, and the wire harness of the draw wire encoder 601 is electrically connected to the controller inside the control box 7. The draw wire encoder 601 adopts the existing technology, namely "CN218724237U-a draw wire encoder suitable for long distances".

[0037] When the power head 1 moves forward or backward, the power head 1 controls the pull rope 602 to be pulled outward or retracted inward, and the movement displacement of the power head 1 is monitored by detecting the movement amount of the pull rope 602.

[0038] The power head displacement monitoring mechanism 6 may also adopt a displacement sensor, which is arranged between the power head 1 and the working platform of the drilling rig to monitor the movement displacement of the power head 1 through the displacement sensor.

[0039] When the power head 1 and the drill rod 5 are fixed, the displacement of the power head 1 when holding the rod measured by the power head displacement monitoring mechanism 6 is the actual displacement of the drill rod 5. When the power head 1 moves, if the force measuring flange 302 detects that it is subjected to tension or pressure, and the single-point position drill rod thread change monitoring mechanism 4 detects that the drill rod 5 has a displacement change, it can be determined that the power head 1 is holding the rod and moving; if the force measuring flange 302 does not detect that it is subjected to tension or pressure, and the single-point position drill rod thread change monitoring mechanism 4 does not detect that the drill rod 5 has a displacement change, it can be determined that the power head 1 is not holding the rod when moving.

[0040] Since the length of a section of drill rod 5 is fixed, when a section of drill rod 5 is pushed into the borehole or pulled out of the borehole by the power head 1, the power head displacement monitoring mechanism 6 detects that the movement displacement of the power head 1 should correspond to the length of the section of drill rod 5. At the same time, the displacement of the drill rod 5 detected by the single-point position drill rod thread change monitoring mechanism 4 also corresponds to the length of the section of drill rod 5. The accuracy of the displacement measured by the power head displacement monitoring mechanism 6 is verified by the displacement of the drill rod 5 detected by the single-point position drill rod thread change monitoring mechanism 4.

[0041] The present invention provides a monitoring method of a drill pipe working status monitoring system, comprising the following steps: S1 The power head 1 pushes the drill rod 5 into the borehole: S1.1 Fix the end of the previous drill rod 5 on the clamping head 2, fix the new drill rod 5 on the power head 1, and connect the new drill rod 5 with the previous drill rod 5; measure the drilling direction of the drill bit, compare the measured value of the drilling direction of the drill bit with the designed value, and the power head 1 controls the drill rod 5 to rotate forward according to the comparison result, adjust the angular direction of the drill rod 5, and the drill rod 5 drives the drill bit to rotate forward, so that the measured value of the drilling direction of the drill bit corresponds to the designed value; in the process of the forward rotation of the drill rod 5, the angle of the forward rotation of this drill rod 5 is measured by the angle measurement component, so as to obtain the angular direction adjustment amount corresponding to this drill rod 5; S1.2 The power head 1 slides forward on the working platform of the drilling rig, and the power head 1 drives this section of drill rod 5 forward. After the drill rod 5 is pushed by the power head 1 to a set displacement, the clamping head 2 clamps the drill rod 5, and then the power head 1 releases the drill rod 5 and retreats to the initial position. The power head 1 that has retreated to the initial position clamps the drill rod 5 again, and the clamping head 2 releases the drill rod 5; the power head 1 continues to push the drill rod 5 forward to a set displacement, and then the clamping head 2 clamps the drill rod 5 again, and the power head 1 releases the drill rod 5 again and retreats to the initial position; after multiple pushes of the power head 1, a section of drill rod 5 is completely pushed into the borehole, and then the clamping head 2 clamps the drill rod 5 again, and the power head 1 releases the drill rod 5 again and retreats to the initial position; S1.3 Fix the next section of drill rod 5 on the power head 1, and repeat the above steps S1.1 and S1.2, push the next section of drill rod 5 into the borehole and connect it with the previous section of drill rod 5, and repeat the steps in sequence until the drill rod 5 drills the drill bit to the designed depth; S1.4 The displacement of the power head 1 each time it is pushed forward is measured by the power head displacement monitoring mechanism 6, and the measured displacement of the power head 1 each time it is pushed forward is counted into the total displacement measured by the power head displacement monitoring mechanism 6; during the advancement of the drill rod 5, the power head 1 does not drive the drill rod 5 to rotate, the drill rod 5 only moves forward along its axis with the power head 1, and the total displacement of the drill rod 5 is measured by the single-point position drill rod thread change monitoring mechanism 4; S1.5 During the process of all the drill rods 5 being pushed into the borehole, if the power head 1 is pushed forward and the force measuring flange 302 does not detect the forward pulling force, it indicates that the drill rod 5 is not moving forward or the drill rod 5 is disconnected from the single-point position drill rod thread change monitoring mechanism 4, and the monitoring system alarms and the drilling rig needs to be checked; if the drill rod 5 is not moving forward, it indicates that the power head 1 is disconnected from the drill rod 5, and the power head 1 and the drill rod 5 need to be re-fixed; if the drill rod 5 is moving forward, it indicates that the drill rod 5 is disconnected from the single-point position drill rod thread change monitoring mechanism 4, and the drill rod 5 needs to be reconnected to the single-point position drill rod thread change monitoring mechanism 4; S1.6 In the process of all the drill rods 5 being pushed into the borehole, a period of time is randomly selected, and the displacement measured by the power head displacement monitoring mechanism 6 during this period of time is compared with the displacement of the drill rod 5 measured by the single-point position drill rod thread change monitoring mechanism 4. If the difference between the two is within the set error range, it indicates that the displacement of the drill rod 5 measured by the power head displacement monitoring mechanism 6 during this period of time is the actual displacement of the drill rod 5; if the displacement measured by the power head displacement monitoring mechanism 6 is greater than the displacement of the drill rod 5 measured by the single-point position drill rod thread change monitoring mechanism 4 and exceeds the set error range, it indicates that the power head 1 and the drill rod 5 are not firmly fixed during this period of time, and the actual displacement of the power head 1 is greater than the displacement of the drill rod 5 driven by the power head 1, and the monitoring system issues an alarm; if the displacement measured by the power head displacement monitoring mechanism 6 is less than the displacement of the drill rod 5 measured by the single-point position drill rod thread change monitoring mechanism 4 and exceeds the set error range, it indicates that the power head displacement monitoring mechanism 6 has a failure problem during this period of time, and it is impossible to count each forward advancement of the power head 1, and the monitoring system issues an alarm; S1.7 When all the drill rods 5 are pushed into the borehole, a period of time is randomly selected to check the statistical data of the angle direction adjustment amount of the drill rod 5 during this period of time, so as to determine which section of the drill rod 5 has undergone angle direction adjustment and the angle direction adjustment amount of this section of the drill rod 5; S2 The power head 1 pulls the drill rod 5 out of the borehole: S2.1 The clamping head 2 loosens the drill rod 5, the power head 1 fixes the outermost section of the drill rod 5, the power head 1 drives the drill rod 5 to slide backward, thereby driving the drill rod 5 to be pulled out as a whole. After the drill rod 5 is pulled out by the power head 1 for a set displacement, the clamping head 2 clamps the drill rod 5, and then the power head 1 loosens the drill rod 5 and slides forward to the frontmost position. The power head 1 that has slid forward to the frontmost position clamps the drill rod 5 again, and the clamping head 2 loosens the drill rod 5; the power head 1 continues to pull the drill rod 5 backward for a set displacement, and then the clamping head clamps the drill rod 5 again, and the power head 1 loosens the drill rod 5 again and slides forward to the frontmost position; after the power head 1 is pulled out multiple times, the outermost section of the drill rod 5 is completely pulled out to the outside of the borehole, the outermost section of the drill rod 5 is removed, and then the clamping head 2 clamps the drill rod 5 again, and the power head 1 loosens the drill rod 5 again and slides forward to the frontmost position; S2.2 Fix the next section of drill rod 5 on the power head 1, and repeat the above step S2.1 to pull out the next section of drill rod 5 to the outside of the borehole and remove it, and repeat this process until all the drill rods 5 are pulled out to the outside of the borehole and removed; S2.3 The displacement of each backward sliding of the power head 1 is measured by the power head displacement monitoring mechanism 6, and the displacement of each backward sliding of the power head 1 is counted into the total displacement measured by the power head displacement monitoring mechanism 6; during the process of extracting the drill rod 5, the power head 1 does not drive the drill rod 5 to rotate, and the drill rod 5 is only extracted outward along its axis along the power head 1, and the total displacement of the drill rod 5 extracted outward is measured by the single-point position drill rod thread change monitoring mechanism 4; S2.4 During the process of all the drill rods 5 being pulled out of the borehole, if the power head 1 slides backwards and the force measuring flange 302 does not detect the backward pressure, it indicates that the drill rod 5 has not moved backwards or the drill rod 5 is disconnected from the single-point drill rod thread change monitoring mechanism 4, and the monitoring system gives an alarm, and the drilling rig needs to be checked; if the drill rod 5 has not moved backwards, it indicates that the power head 1 is disconnected from the drill rod 5, and the power head 1 and the drill rod 5 need to be re-fixed; if the drill rod 5 is moving backwards, it indicates that the drill rod 5 is disconnected from the single-point drill rod thread change monitoring mechanism 4, and the drill rod 5 needs to be reconnected to the single-point drill rod thread change monitoring mechanism 4; S2.5 When all the drill rods 5 are pulled out of the borehole, a period of time is randomly selected, and the displacement measured by the power head displacement monitoring mechanism 6 during this period of time is compared with the displacement of the drill rod 5 measured by the single-point position drill rod thread change monitoring mechanism 4. If the difference between the two is within the set error range, it indicates that the displacement of the drill rod 5 measured by the power head displacement monitoring mechanism 6 during this period of time is the actual displacement of the drill rod 5; if the displacement measured by the power head displacement monitoring mechanism 6 is greater than the displacement of the drill rod 5 measured by the single-point position drill rod thread change monitoring mechanism 4, then the displacement of the drill rod 5 measured by the power head displacement monitoring mechanism 6 during this period of time is the actual displacement of the drill rod 5. If the displacement is greater than the set error range, it indicates that the power head 1 and the drill rod 5 are not firmly fixed during this period of time, and the actual displacement of the power head 1 is greater than the displacement of the drill rod 5 driven by the power head 1, and the monitoring system issues an alarm; if the displacement measured by the power head displacement monitoring mechanism 6 is less than the displacement of the drill rod 5 measured by the single-point drill rod thread change monitoring mechanism 4 and exceeds the set error range, it indicates that the power head displacement monitoring mechanism 6 has failed during this period of time, and it is impossible to count each backward movement of the power head 1, and the monitoring system issues an alarm.

[0042] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A monitoring system for the working status of a drill rod, arranged on a clamping head (2) of a drilling rig, characterized in that: The invention comprises a power head displacement monitoring mechanism (6), a single-point position drill pipe thread change monitoring mechanism (4), and a drill pipe advance and retreat force direction monitoring mechanism (3); the power head displacement monitoring mechanism (6) is arranged between the power head (1) and the clamping head (2); the drill pipe advance and retreat force direction monitoring mechanism (3) comprises a shaft sleeve (301) and a force measuring flange (302); the force measuring flange (302) is fixedly arranged on the clamping head (2), and the shaft sleeve (301) is fixedly arranged on the force measuring flange (302); the single-point position drill pipe thread change monitoring mechanism The structure (4) comprises a rotating sleeve (401), the rotating sleeve (401) is rotatably arranged on the outside of the shaft sleeve (301), an angle measuring assembly is arranged on the rotating sleeve (401), two connecting tubes (405) are fixedly arranged on the rotating sleeve (401), and an action ball (406) is arranged on the connecting tube (405); one end of the drill rod (5) is fixed on the power head (1), the other end of the drill rod (5) passes through the clamping head (2) and the shaft sleeve (301), and the action ball (406) is clamped in the spiral groove (501) of the drill rod (5).

2. A monitoring system for the working status of a drill pipe according to claim 1, characterized in that: The force measuring flange (302) comprises an outer ring, an inner ring, and a sensor body, wherein the sensor body is arranged between the outer ring and the inner ring, and the outer ring is fixedly arranged on the end face of the clamping head (2) of the drilling rig away from the power head (1); the shaft sleeve (301) is fixedly arranged on the end face of the inner ring of the force measuring flange (302) away from the clamping head (2), and the shaft sleeve (301) is a cylindrical structure with openings at both ends.

3. A monitoring system for the working status of a drill pipe according to claim 1, characterized in that: The angle measurement component comprises a Hall sensor (402) and a magnetic sheet (403), wherein a circle of magnetic sheets (403) arranged in a circular array is fixedly arranged on the outer cylindrical surface of the rotating sleeve (401); a control box (7) is fixedly arranged on the force measuring flange (302), and a Hall sensor (402) is fixedly arranged on the control box (7), wherein the detection direction of the Hall sensor (402) faces one side of the magnetic sheet (403).

4. A monitoring system for the working status of a drill pipe according to claim 1, characterized in that: Two symmetrical connecting rods (404) are fixedly arranged on the outer cylindrical surface of the rotating sleeve (401), and a connecting tube (405) is fixedly arranged at one end of the two connecting rods (404) away from the rotating sleeve (401). The connecting tube (405) is a cylindrical structure with two ends open. One end of the connecting tube (405) is opened as a working ball mounting hole, and the inner diameter of the working ball mounting hole is equal to the inner diameter of the connecting tube (405); the other end of the connecting tube (405) is opened as a bolt mounting hole, and the inner diameter of the bolt mounting hole is smaller than the inner diameter of the connecting tube (405); the working ball mounting holes of the two connecting tubes (405) face each other.

5. A drill pipe working status monitoring system according to claim 4, characterized in that: A ball seat (409) and a spring (407) are respectively arranged inside each connecting tube (405); the ball seat (409) is arranged at the action ball mounting hole of the connecting tube (405); the ball seat (409) comprises a coaxial large diameter section and a small diameter section; the large diameter section is located at the action ball mounting hole of the connecting tube (405); the small diameter section is located on the inner side of the connecting tube (405); an action ball (406) is rollingly arranged on the end surface of the large diameter section away from the small diameter section; the outer end of the action ball (406) is located outside the action ball mounting hole. side; a threaded hole is provided at an end surface of the small diameter section away from the large diameter section, and one end of the small diameter section away from the large diameter section extends into the bolt mounting hole of the connecting tube (405); the spring (407) is sleeved on the outside of the small diameter section of the ball seat (409), and the two ends of the spring (407) are respectively in contact with the large diameter section and the inner wall of the connecting tube (405); the bolt (408) extends from the bolt mounting hole of the connecting tube (405) and is screwed into the threaded hole of the small diameter section of the ball seat (409), thereby connecting the ball seat (409) and the connecting tube (405).

6. A monitoring system for the working status of a drill pipe according to claim 1, characterized in that: The power head displacement monitoring mechanism (6) is a drawstring encoder (601), a control box (7) is fixedly arranged on the force measuring flange (302), a drawstring box of the drawstring encoder (601) is fixedly arranged on the control box (7), a drawstring terminal (603) of the drawstring encoder (601) is fixedly arranged on the power head (1), and a drawstring (602) of the drawstring encoder (601) is extended along the axial direction of the drill rod (5).

7. The monitoring method of a drill pipe working status monitoring system according to claim 1, characterized in that: The following steps are included: The S1 power head (1) pushes the drill rod (5) into the borehole: S1.1 Fix the end of the previous drill rod (5) on the clamping head (2), fix the new drill rod (5) on the power head (1), and connect the new drill rod (5) to the previous drill rod (5); measure the drilling direction of the drill bit, compare the measured value of the drilling direction of the drill bit with the design value, and control the drill rod (5) to rotate forward according to the comparison result, adjust the angular direction of the drill rod (5), and the drill rod (5) drives the drill bit to rotate forward, so that the measured value of the drilling direction of the drill bit corresponds to the design value; in the process of the forward rotation of the drill rod (5), measure the angle of the forward rotation of this drill rod (5) through the angle measurement component, so as to obtain the angular direction adjustment amount corresponding to this drill rod (5); S1.2 The power head (1) slides forward on the working platform of the drilling rig, and the power head (1) drives the drill rod (5) to move forward. After the drill rod (5) is pushed by the power head (1) to a set displacement, the clamping head (2) clamps the drill rod (5), and then the power head (1) releases the drill rod (5) and retreats to the initial position. The power head (1) that has returned to the initial position clamps the drill rod (5) again, and the clamping head (2) releases the drill rod (5); the power head (1) continues to push the drill rod (5) forward to a set displacement, and then the clamping head clamps the drill rod (5) again, and the power head (1) releases the drill rod (5) again and retreats to the initial position; after the power head (1) pushes forward multiple times, the drill rod (5) is completely pushed into the borehole, and then the clamping head (2) clamps the drill rod (5) again, and the power head (1) releases the drill rod (5) again and retreats to the initial position; S1.3 Fix the next section of drill rod (5) on the power head (1), and repeat the above steps S1.1 and S1.2, push the next section of drill rod (5) into the borehole and connect it with the previous section of drill rod (5), and repeat the above steps until the drill rod (5) drills the drill bit to the designed depth; S1.4 The displacement of the power head (1) each time it is advanced forward is measured by the power head displacement monitoring mechanism (6), and the displacement of the power head (1) each time it is advanced forward is counted into the total displacement measured by the power head displacement monitoring mechanism (6); during the advancement of the drill rod (5), the power head (1) does not drive the drill rod (5) to rotate, and the drill rod (5) only advances forward along its axis along with the power head (1), and the total displacement of the drill rod (5) advanced forward is measured by the single-point position drill rod thread change monitoring mechanism (4); S1.5 During the process of all the drill rods (5) being pushed into the borehole, if the power head (1) is pushed forward and the force measuring flange (302) does not detect the forward pulling force, it indicates that the drill rod (5) is not moving forward or the drill rod (5) is disconnected from the single-point position drill rod thread change monitoring mechanism (4), and the monitoring system alarms and the drilling rig needs to be inspected; if the drill rod (5) is not moving forward, it indicates that the power head (1) is disconnected from the drill rod (5), and the power head (1) and the drill rod (5) need to be re-fixed; if the drill rod (5) is moving forward, it indicates that the drill rod (5) is disconnected from the single-point position drill rod thread change monitoring mechanism (4), and the drill rod (5) needs to be re-connected to the single-point position drill rod thread change monitoring mechanism (4); S1.6 During the process of all the drill rods (5) being pushed into the borehole, a period of time is randomly selected, and the displacement amount measured by the power head displacement monitoring mechanism (6) during this period of time is compared with the displacement amount of the drill rod (5) measured by the single-point position drill rod thread change monitoring mechanism (4). If the difference between the two is within the set error range, it indicates that the displacement amount of the drill rod (5) measured by the power head displacement monitoring mechanism (6) during this period of time is the actual displacement amount of the drill rod (5); if the displacement amount measured by the power head displacement monitoring mechanism (6) is greater than the displacement amount of the drill rod (5) measured by the single-point position drill rod thread change monitoring mechanism (4), then the displacement amount of the drill rod (5) measured by the power head displacement monitoring mechanism (6) during this period of time is the actual displacement amount of the drill rod (5). If the displacement measured by the power head displacement monitoring mechanism (6) is less than the displacement of the drill rod (5) measured by the single-point drill rod thread change monitoring mechanism (4) and exceeds the set error range, it indicates that the power head displacement monitoring mechanism (6) has failed during this period of time and cannot count each forward movement of the power head (1), and the monitoring system issues an alarm. S1.7 When all the drill rods (5) are pushed into the borehole, a period of time is randomly selected to check the statistical data of the angular direction adjustment amount of the drill rods (5) during this period of time, so as to determine which section of the drill rod (5) has undergone angular direction adjustment and the angular direction adjustment amount of this section of the drill rod (5); The S2 power head (1) pulls the drill rod (5) out of the borehole: S2.1 The clamping head (2) loosens the drill rod (5), the power head (1) fixes the outermost section of the drill rod (5), and the power head (1) drives the drill rod (5) to slide backward, thereby driving the drill rod (5) to be pulled out as a whole. After the drill rod (5) is pulled out by the power head (1) by a set displacement, the clamping head (2) clamps the drill rod (5), and then the power head (1) loosens the drill rod (5) and slides forward to the frontmost position. The power head (1) that has slid forward to the frontmost position clamps the drill rod (5) again, and the clamping head (2) clamps the drill rod (5). The drill rod (5) is loosened; the power head (1) continues to pull the drill rod (5) backward by a set displacement, and then the clamping head clamps the drill rod (5) again, and the power head (1) loosens the drill rod (5) again and slides forward to the frontmost position; after the power head (1) is pulled out multiple times, the outermost section of the drill rod (5) is completely pulled out to the outside of the borehole, the outermost section of the drill rod (5) is removed, and then the clamping head (2) clamps the drill rod (5) again, and the power head (1) loosens the drill rod (5) again and slides forward to the frontmost position; S2.2 Fix the next section of drill rod (5) on the power head (1), and repeat the above step S2.1 to pull out the next section of drill rod (5) to the outside of the borehole and remove it, and repeat this process until all the drill rods (5) are pulled out to the outside of the borehole and removed; S2.3 The displacement of the power head (1) each time it slides backward is measured by the power head displacement monitoring mechanism (6), and the displacement of the power head (1) each time it slides backward is counted into the total displacement measured by the power head displacement monitoring mechanism (6); during the process of withdrawing the drill rod (5), the power head (1) does not drive the drill rod (5) to rotate, and the drill rod (5) is only withdrawn outward along its axis along with the power head (1), and the total displacement of the drill rod (5) withdrawn outward is measured by the single-point position drill rod thread change monitoring mechanism (4); S2.4 During the process of all the drill rods (5) being pulled out of the borehole, if the power head (1) slides backward and the force measuring flange (302) does not detect the backward pressure, it indicates that the drill rod (5) has not moved backward or the drill rod (5) is disconnected from the single-point drill rod thread change monitoring mechanism (4), and the monitoring system alarms, and the drilling rig needs to be inspected; if the drill rod (5) has not moved backward, it indicates that the power head (1) is disconnected from the drill rod (5), and the power head (1) and the drill rod (5) need to be re-fixed; if the drill rod (5) is moving backward, it indicates that the drill rod (5) is disconnected from the single-point drill rod thread change monitoring mechanism (4), and the drill rod (5) needs to be re-connected to the single-point drill rod thread change monitoring mechanism (4); S2.5 When all the drill rods (5) are pulled out of the borehole, a period of time is randomly selected, and the displacement amount measured by the power head displacement monitoring mechanism (6) during this period of time is compared with the displacement amount of the drill rod (5) measured by the single-point position drill rod thread change monitoring mechanism (4). If the difference between the two is within the set error range, it indicates that the displacement amount of the drill rod (5) measured by the power head displacement monitoring mechanism (6) during this period of time is the actual displacement amount of the drill rod (5); if the displacement amount measured by the power head displacement monitoring mechanism (6) is greater than the displacement amount of the drill rod (5) measured by the single-point position drill rod thread change monitoring mechanism (4), then the displacement amount of the drill rod (5) measured by the power head displacement monitoring mechanism (6) during this period of time is the actual displacement amount of the drill rod (5). If the displacement measured by the power head displacement monitoring mechanism (6) is less than the displacement of the drill rod (5) measured by the single-point drill rod thread change monitoring mechanism (4) and exceeds the set error range, it indicates that the power head displacement monitoring mechanism (6) has failed during this period of time and cannot count each backward movement of the power head (1), and the monitoring system issues an alarm.

8. The monitoring method of a monitoring system for a drill pipe working state according to claim 7, characterized in that: In steps S1.4 and S1.5, when the drill rod (5) is pushed into the borehole, the spiral groove (501) on the outer side of the drill rod (5) engages with the action ball (406), giving the action ball (406) on the connecting tube (405) a forward movement tendency. The action ball (406) transmits this forward movement tendency to the force measuring flange (302) through the connecting tube (405), the rotating sleeve (401), and the shaft sleeve (301). The force measuring flange (302) detects that it is being pulled forward by the shaft sleeve (301) at this time. The force measuring flange (302) is subjected to a forward pulling force, thereby detecting the working state of "the drill rod (5) is pushed into the borehole". Since the shaft sleeve (301) 1) is connected to the force measuring flange (302), so the shaft sleeve (301) cannot move axially relative to the force measuring flange (302). When the drill rod (5) is pushed forward, the spiral groove (501) on the outside of the drill rod (5) drives the two connecting tubes (405) to rotate in the opposite direction around the axis of the drill rod (5) through the action ball (406). The two connecting tubes (405) drive the rotating sleeve (401) to rotate in the opposite direction through the connecting rod (404). The angle of the rotating sleeve (401) rotated in the opposite direction is obtained through the angle measuring component. The displacement value of the drill rod (5) is obtained through the angle of the rotating sleeve (401) rotated in the opposite direction and the pitch of the spiral groove (501) on the outside of the drill rod (5).

9. The monitoring method of a monitoring system for a drill pipe working state according to claim 7, characterized in that: In steps S2.3 and S2.4, when the drill rod (5) is pulled out of the borehole, the spiral groove (501) on the outer side of the drill rod (5) engages with the action ball (406), giving the action ball (406) on the connecting tube (405) a backward movement tendency. The action ball (406) transmits this backward movement tendency to the force measuring flange (302) through the connecting tube (405), the rotating sleeve (401), and the shaft sleeve (301). The force measuring flange (302) detects that it is being pushed backward by the shaft sleeve (301) at this time. The force measuring flange (302) is subjected to the backward thrust, thereby detecting the working state of "the drill rod (5) is pulled out of the borehole". Since the shaft sleeve (301) 1) is connected to the force measuring flange (302), so the shaft sleeve (301) cannot move axially relative to the force measuring flange (302). When the drill rod (5) moves backward, the spiral groove (501) on the outside of the drill rod (5) drives the two connecting tubes (405) to rotate forward around the axis of the drill rod (5) through the action ball (406). The two connecting tubes (405) drive the rotating sleeve (401) to rotate forward through the connecting rod (404). The angle of the rotating sleeve (401) rotated forward is obtained through the angle measuring component. The displacement value of the drill rod (5) is obtained through the angle of the rotating sleeve (401) rotated forward and the pitch of the spiral groove (501) on the outside of the drill rod (5).

10. The monitoring method of a drill pipe working status monitoring system according to claim 7, characterized in that: In step S1.1, when the drill rod (5) rotates in the forward direction, the drill rod (5) does not move along its axial direction, so the drill rod (5) does not give the action ball (406) on the connecting tube (405) a tendency to move forward or backward. Then, the force measuring flange (302) is not subjected to the forward or backward pulling pressure of the sleeve (301), indicating that the drill rod (5) does not move along its axial direction. The drill rod (5) drives the two action balls (406) to move forward or backward through the mutual engagement of the spiral groove (501) on its outer side. The connecting tube (405) rotates forwardly around the axis of the drill rod (5), and the two connecting tubes (405) drive the rotating sleeve (401) to rotate forwardly through the connecting rod (404). The angle measuring component detects that the rotating sleeve (401) is rotating forwardly, thereby detecting the working state of "the drill rod (5) is adjusting its angle direction". The angle measured by the angle measuring component is used to obtain the angle of rotation of the rotating sleeve (401), and the angle of rotation of the rotating sleeve (401) is the angle of rotation of the drill rod (5).

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