Drill rod loading and unloading system and control method

Abstract

The invention relates to the field of coal mine drilling, and discloses a drilling rod box for storing drilling rods, the drilling rod box comprises a bottom plate and vertical plates arranged at the two ends of the bottom plate, partition plates for separating the drilling rods are arrayed on the opposite surfaces of the vertical plates, and a transfer manipulator for transferring the drilling rods is arranged on the outer side of the vertical plate close to the rack; the transfer manipulator comprises a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part, a longitudinal opening allowing the clamping unit and a drill rod to penetrate through is formed in the middle of the vertical plate, the lifting part is installed on the first sliding part and can transversely slide relative to the vertical plate, and a penetrating hole opposite to the longitudinal opening and allowing the drill rod to penetrate through is formed in the rack; an overturning manipulator for overturning the drill rod is arranged on one side of the through hole. According to the drill rod loading and unloading system and the control method, the conveying path is simple, and drill rod loading and unloading are fast.

Description

Technical Field

[0001] The present invention relates to the field of coal mine drilling, and particularly to a drill pipe loading and unloading system and a control method therefor. Background Art

[0002] Automatic drills are often used in coal mine exploitation and the development of other mineral resources. The automatic drill box is used to drive multiple drill pipes into the formation in sequence. Therefore, an equipment for supplying drill pipes to the drill is usually provided beside the drill. The existing equipment for automatically transporting drill pipes and docking them to the drill generally has a complex structure and requires multiple manipulators or components to cooperate during the process. Usually, it includes the stage of grasping the drill pipe, transferring the drill pipe to the docking location and then using a manipulator for docking and installation. After that, the drill pipe and the active drill pipe are coaxial. After the active drill pipe rotates, the drill pipe is threadedly connected to the active drill pipe and then the drill pipe is advanced. The process is completed in multiple steps and sequences, resulting in a long working time. Moreover, the working space at the operation surface in the mine is relatively narrow, with a large number of connecting parts used, and on-site personnel are required for operation. The equipment failure rate is relatively high during the operation process, and the requirements for the on-site operation space are relatively high, which is not conducive to the development of on-site construction. For example, in the patent document with the patent publication number CN110952972B, a transfer manipulator arranged along the arrangement direction of the drill pipe box is used to grasp the drill pipe and then place it in the transfer device for subsequent grasping by the conveying device. Generally, the placement direction of the drill pipes in the drill pipe box needs to be parallel to the frame to simplify the conveying process. However, this method leads to problems such as a complex conveying system, an increase in the length and height of the drill, etc. Therefore, this solution must be equipped with a transfer device parallel to the axial direction of the drill pipe. Together with subsequent manipulator devices, at least three conveying devices are required to complete the drill pipe conveying. Secondly, the increase in the transfer device will inevitably increase the length of the drill. Then, when the transfer manipulator conveys the drill pipe to the transfer device, the drill pipe needs to be continuously switched between high and low positions, requiring a large working height space and being difficult to adapt to the working conditions of small-section roadways. Another example is the patent document with the patent publication number CN219299240U, where the direction of the drill pipe box is rotated and the drill pipe is conveyed in a direction perpendicular to the frame, eliminating the transfer device. However, its conveying mechanism has too single a function, resulting in the drill pipe being unable to be conveyed into the frame, and a relatively complex loading and unloading mechanism must be added to complete the final conveying of the drill pipe. In addition, the single function of its transfer mechanism also causes it unable to directly take out the drill pipe from the drill pipe box and requires additional auxiliary devices. Therefore, a drill pipe loading and unloading system and a control method with a relatively simple conveying path and fast drill pipe loading and unloading are needed. Summary of the Invention

[0003] The present invention aims to provide a drill pipe loading and unloading system and a control method therefor, so as to provide a drill pipe loading and unloading system and a control method with a relatively simple conveying path and fast drill pipe loading and unloading.

[0004] To achieve the above object, the present invention adopts the following technical solution: a drill pipe handling system, including a frame, a sensor system, and a drill pipe box for storing drill pipes. The drill pipe box includes a bottom plate and vertical plates provided at both ends of the bottom plate. Partition plates for separating drill pipes are arrayed on the opposite surfaces of the vertical plates. A transfer manipulator for transferring drill pipes is provided outside the vertical plate close to the frame. The transfer manipulator includes a first sliding part, a lifting part, and a clamping unit capable of sliding relative to the lifting part. A longitudinal opening for the clamping unit and the drill pipe to pass through is formed in the middle of the vertical plate. The lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate. A perforation for the drill pipe to pass through, which is opposite to the longitudinal opening, is formed in the frame. A flipping manipulator for flipping the drill pipe is provided on one side of the perforation.

[0005] The beneficial effects of this solution are as follows:

[0006] In this technical solution, a longitudinal opening for the clamping unit and the drill pipe to pass through is formed in the middle of the vertical plate, enabling the drill pipe and the gripper to smoothly pass through this opening. A perforation for the drill pipe to pass through, which is opposite to the longitudinal opening, is formed in the frame. A flipping manipulator for adjusting the angle of the drill pipe is provided on one side of the perforation. The drill pipes are arranged in an array on both sides of the drill pipe box, and the middle part of the drill pipe box aligned with the longitudinal opening is left empty. When clamping the drill pipe through the above settings, the clamping unit slides into the drill pipe box to lift and clamp the drill pipe. After the clamping unit clamps the drill pipe, it starts to slide while aligning with the longitudinal opening in the middle of the vertical plate, passes one end of the drill pipe through the longitudinal opening until it passes through the perforation, and then drives the drill pipe to flip by the flipping manipulator and be parallel to the frame for docking and installing the drill pipe. In this technical solution, by opening a longitudinal opening on the vertical plate for the clamping unit and the drill pipe to pass through, and cooperating with the perforation opened on the frame, compared with other existing technologies, the drill pipe does not need to go around the clamping unit from the drill pipe box and approach the frame from above for docking. If flipping is required, a higher operating height and more complex docking equipment are necessary. On the other hand, directly inserting into the perforation through the longitudinal opening and then flipping can ensure the identity of the insertion position of the drill pipe each time, and on the other hand, shorten the size of the drill pipe handling system in the length direction, without reserving a space for docking and inserting a drill pipe of the drill pipe length. Through the above settings, the handling system of this solution can reduce the size in the length direction and height direction, can enter the drilling space with a lower height and a smaller operating space for operation, and can adapt to more types of operating environments in complex working conditions such as small-section roadways. Partition plates are provided on both sides of the drill pipe box and arranged in an array, which can effectively prevent the drill pipes from shifting during storage and handling, ensuring the stable array placement of the drill pipes.

[0007] Compared with traditional drill pipe conveying devices, by opening a longitudinal opening in the middle of the vertical plate, the drill pipe and the clamping unit can directly pass through this opening. This enables the drill pipe to pass through the system smoothly and linearly, without the need for complex multiple transfers or bypasses, avoiding the process where the drill pipe needs to pass through multiple manipulators or transfer devices in traditional technologies. The operation process is greatly simplified, reducing the coordination of multiple steps and manipulators, and improving the loading and unloading efficiency. In addition, the drill pipe passes directly through the perforation through the longitudinal opening for flipping, making the entire process smoother, avoiding the situation of multiple adjustments and complex operations in traditional devices, and ensuring the accuracy of the docking between the drill pipe and the frame. This device is more flexible and adaptable in the limited underground operation space, reducing the occupation of underground space resources, facilitating the reasonable layout of underground equipment and the smooth progress of the overall operation process. At the same time, this technical solution can eliminate the transfer device and greatly simplify the transfer system and the conveying route.

[0008] Preferably, as an improvement, the first sliding part includes a first slide rail and a first slide seat slidably arranged on the first slide rail. The lifting part includes a lifting outer cylinder, a lifting cylinder, and a lifting inner cylinder slidably arranged in the lifting outer cylinder. The lifting cylinder is installed at the bottom of the lifting inner cylinder, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder.

[0009] The beneficial effects are as follows: Through the above settings, the lifting part is installed on the first slide seat, and the first slide seat can drive the lifting part to slide horizontally along the vertical plate to achieve the horizontal displacement of the clamping unit, enabling the clamping unit to move horizontally along the vertical plate and adjust its horizontal position relative to the drill pipe box. The lifting inner cylinder slides relative to the lifting outer cylinder to achieve the height adjustment of the clamping unit to adapt to the drill pipe loading and unloading operations at different height positions, avoiding the clamping difficulties caused by height differences.

[0010] Preferably, as an improvement, it further includes a second sliding part. The second sliding part includes a cross beam, a second slide rail, and a second slide seat slidably arranged on the second slide rail. The cross beam is fixedly arranged at the top end of the lifting inner cylinder, the second slide rail is fixed on the side of the cross beam, and the clamping unit is fixed on the second slide seat.

[0011] The beneficial effects are as follows: By fixing the clamping unit on the second slide seat and sliding along the cross beam through the second sliding part, the longitudinal movement of the clamping unit between the drill pipe box and the frame can be achieved, enabling the clamping unit to not only be vertically adjusted (through the lifting cylinder of the lifting part) but also move horizontally closer to or away from the frame, thereby realizing the precise position adjustment of the drill pipe.

[0012] Preferably, as an improvement, the clamping unit includes a telescopic oil cylinder, a telescopic joint, and a claw. The telescopic joint includes an inner sleeve and an outer sleeve. The outer sleeve is fixed on the second slide seat, the telescopic oil cylinder is installed at the top of the outer sleeve, the output end of the telescopic oil cylinder is fixedly connected to the inner cylinder, and it further includes a clamping driving part. The claw is installed on the inner sleeve through the clamping driving part.

[0013] The beneficial effects are as follows: The clamping driving member controls the opening and closing of the gripper, enabling the clamping unit to precisely clamp and release the drill pipe; the combination of the flexibility of the clamping unit and the clamping driving member makes the clamping action of the drill pipe more accurate, capable of precisely clamping drill pipes at different heights, making the loading and unloading process smoother, shortening the operation time, and improving the operation efficiency.

[0014] Preferably, as an improvement, the flipping manipulator includes a jaw part, a fixed seat, and a flipping oil cylinder. The fixed seat is fixed on the frame. The jaw part includes jaws, a swinging cylinder, and a jaw oil cylinder. The jaws are all hinged to one side of the swinging cylinder. The jaw oil cylinder is arranged inside the swinging cylinder. One end of each jaw is connected to the output end of the jaw oil cylinder to achieve clamping. The other side of the swinging cylinder is hinged to one end of the fixed seat. Both ends of the flipping oil cylinder are respectively hinged to the swinging cylinder and the other end of the fixed seat. The telescopic movement of the flipping oil cylinder drives the swinging cylinder to swing around the hinge point.

[0015] The beneficial effects are as follows: The flipping oil cylinder drives the jaws to perform a flipping motion. When the drill pipe is inserted perpendicular to the direction of the frame, first, the jaws drive the jaw oil cylinder to clamp one end of the drill pipe. The flipping oil cylinder shortens its stroke, and the swinging cylinder swings 90 degrees around the fixed seat, driving the drill pipe to flip 90 degrees and then be basically aligned with the drilling axis of the frame for butt joint installation. Then, the jaw oil cylinder releases the drill pipe. After that, the flipping oil cylinder extends its stroke to reset. Through the above settings, the route is optimized, combining the flipping function and the translation function, reducing the telescopic joints. The combination of the flipping and moving functions avoids the situation where multiple complex components need to work together in the traditional system. The traditional system may require a separate flipping device and multiple manipulators to complete the transfer, flipping, and docking of the drill pipe. However, this design simplifies the mechanical structure by directly driving the swinging cylinder to flip using the flipping oil cylinder, reduces the telescopic joints and related connecting components, and at the same time makes the loading and unloading process of the drill pipe smoother. The telescopic movement of the flipping oil cylinder can precisely control the flipping angle of the jaws, ensuring that the drill pipe can accurately flip from the vertical position to a position parallel to the axis of the drilling rig, avoiding docking failures or drill pipe misalignments caused by inaccurate control.

[0016] Preferably, as an improvement, the opposite surfaces of the first slide rail and the second slide rail are provided with racks. A first gear and a second gear are respectively engaged with the racks on the first slide rail and the second slide rail. A first motor is installed on the first slide seat to drive the first gear to rotate, and a second motor is installed on the second slide seat to drive the second gear to rotate.

[0017] The beneficial effects are as follows: Through the engagement of the rack and the gear, the accuracy of the movement of the slide seat on the slide rail can be ensured, reducing the movement error caused by friction or clearance. At the same time, the rack and gear structure can provide stronger bearing capacity and transmission efficiency, and is not prone to displacement, which helps to improve the stability and reliability of the entire lifting system.

[0018] Preferably, as an improvement, the sensor system includes an identification sensor, a translation sensor, a column selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor, and a height sensor. The identification sensor is used to determine whether the clamping unit holds a drill pipe. The translation sensor is used to determine the upward displacement of the clamping unit. The column selection sensor is used to determine the displacement of the clamping unit along the vertical plate direction. The telescopic sensor and the lifting sensor are used to determine the displacement of the clamping unit in the vertical direction of the drill pipe box. The proximity sensor is used to determine whether there is a drill pipe below the clamping unit. The height sensor is used to identify the height of the frame.

[0019] Preferably, as an improvement, Step 1, Initialization: Ensure that all components are in the initialization state, and the height of the lowest position of the gripper is higher than the top of the longitudinal opening of the drill pipe box. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a, the telescopic sensor measures the displacement of the gripper as b, the height of the drill pipe box is H1, the diameter of the drill pipe is d, and the height of the drill pipe in the drill pipe box at this time is H2 = nd, where n is the number of drill pipes.

[0020] Step 2, Column Selection: Slide the gripper along the first slide rail to the position aligned with the drill pipe to be taken. When the first slide seat slides, the sliding distance is monitored by the column selection sensor to determine the position of the first slide seat, and the position of the gripper is determined by the position of the first slide seat. After moving the gripper above the drill pipe box, stop moving.

[0021] Step 3, Translation: Drive the second slide seat to move along the longitudinal guide rail through the second motor to move the gripper above the middle of the drill pipe to be clamped. When the second slide seat slides, the sliding distance is detected by the translation sensor.

[0022] Step 4, Grasp the Drill Pipe: Cooperate the telescopic oil cylinder and the lifting part to move the gripper downward until the proximity sensor detects that there is a drill pipe below the gripper, and then the gripper clamps the drill pipe below. Specifically, the telescopic oil cylinder drives the gripper to move vertically, and the telescopic sensor detects the vertical movement distance of the gripper. At the same time, the proximity sensor detects whether there is a drill pipe below the gripper. If when the telescopic oil cylinder extends downward to the maximum value, the proximity sensor still does not detect the drill pipe, at this time, the lifting part drives the longitudinal guide rail to descend to control the gripper to continue moving downward until the proximity sensor identifies that there is a drill pipe below. At this time, the changed displacement of the lifting inner cylinder is a1, the changed displacement of the gripper is b1, the displacement from the gripper to the drill pipe is Δ1 = H1 - H2 = a1 + b1, the lifting sensor measures the displacement of the lifting inner cylinder as a2 = (a - a1), and the telescopic sensor measures the displacement of the gripper as b2 = (b + b1).

[0023] Step 5, Remove the drill pipe box: After the gripper holds the drill pipe, the gripper is moved upward through the combined action of the telescopic oil cylinder and the lifting part until the gripper is above the drill pipe box, and it needs to be raised upward by at least the height of one drill pipe diameter. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3 = (a + d), and the telescopic sensor measures the displacement of the gripper as b3 = b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3 = a, and the telescopic sensor measures the displacement of the gripper as b3 = (b - d);

[0024] Step 6, Move to the longitudinal opening: The first motor drives the first slide to move on the outer wall of the transverse guide rail, and the column selection sensor real-time detects the position of the first slide outside the transverse guide rail until the gripper is above the longitudinal opening of the drill pipe box;

[0025] Step 7, Sinking detection, the telescopic oil cylinder or the lifting part drives the gripper to descend, so that the identification sensor detects that the gripper holds a drill pipe;

[0026] Step 8, Align with the rack: The gripper is raised or lowered through the combined action of the telescopic oil cylinder and the lifting part until the axis of the drill pipe is aligned with a specific position on the rack. If the height of the gripper is lower than the height c of the rack at this time, the displacement required for the gripper to align with the rack is Δ2. Let the lifting inner cylinder need to rise a4 and the gripper need to contract b4, Δ2 = a4 + b4. At this time, the lifting sensor measures the displacement as a5 = (a3 + a4), and the telescopic sensor measures the displacement as b5 = (b3 - b4). If the height of the gripper is higher than the height c of the rack at this time, the displacement required for the gripper to align with the rack is Δ3. Let the lifting inner cylinder need to descend a4 and the gripper need to extend b4, Δ2 = a4 + b4. At this time, the lifting sensor measures the displacement as a5 = (a3 - a4), and the telescopic sensor measures the displacement as b5 = (b3 + b4);

[0027] Step 9, Translational conveying: The second motor drives the second slide to move on the outer wall of the longitudinal guide rail, so that the gripper drives the drill pipe to move towards the rack. Description of the drawings

[0028] Figure 1 It is a schematic diagram of the installation structure of the embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the drill pipe box and the transfer manipulator structure of the embodiment of the present invention;

[0030] Figure 3 It is a cross-sectional view of the lifting outer cylinder of the embodiment of the present invention;

[0031] Figure 4 It is a top view of the lifting outer cylinder of the embodiment of the present invention;

[0032] Figure 5 It is a bottom view of the flipping manipulator of the embodiment of the present invention;

[0033] Figure 6 Schematic structural diagram of the flipping manipulator according to an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the sensor setting from one perspective according to an embodiment of the present invention;

[0035] Figure 8 Schematic diagram of the sensor setting from another perspective according to an embodiment of the present invention. Detailed implementation manners

[0036] The following is a further detailed description through specific implementation manners:

[0037] The reference numerals in the accompanying drawings of the specification include: frame 1, bottom plate 2, vertical plate 3, partition plate 4, side plate 5, observation hole 6, longitudinal opening 7, flipping manipulator 8, first slide rail 9, first slide block 10, lifting outer cylinder 11, lifting inner cylinder 12, cross beam 13, second slide rail 14, second slide block 15, telescopic oil cylinder 16, telescopic joint 17, hand claw 18, clamping jaw 19, fixed seat 20, flipping oil cylinder 21, swinging cylinder 22, connecting block 23, inner slide rail 24, rack 25, first motor 26, second motor 27, clamping plate 28, drill pipe 29, identification sensor 30, translation sensor 31, column selection sensor 32, telescopic sensor 33, lifting sensor 34, proximity sensor 35.

[0038] Embodiment

[0039] The embodiment is basically as Figures 1 - 8 shown, as Figure 1 shown, the embodiment shown is basically as Figures 1 - 7 shown, as Figure 1 and Figure 2 shown, the drill pipe loading and unloading system includes a frame 1 and a drill pipe box for storing drill pipes 29. The drill pipe box includes a bottom plate 2 and vertical plates 3 arranged at both ends of the bottom plate 2. Partition plates 4 for separating drill pipes 29 are arrayed on the opposite surfaces of the vertical plates 3. Side plates 5 are fixedly arranged on both sides of the bottom plate 2. A plurality of observation holes 6 are also opened on the vertical plates 3 for observing the number of remaining drill pipes 29 between each partition plate 4; a transfer manipulator for transferring drill pipes 29 is arranged outside the vertical plate 3 close to the frame 1. The transfer manipulator includes a first sliding part, a lifting part and a clamping unit capable of sliding relative to the lifting part. A longitudinal opening 7 for the clamping unit and the drill pipe 29 to pass through is opened in the middle of the vertical plate 3. The lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate 3. A through hole for the drill pipe 29 to pass through and opposite to the longitudinal opening 7 is opened on the frame 1. A flipping manipulator 8 for flipping the drill pipe 29 to make it coaxial with the driving drill pipe is arranged on one side of the through hole.

[0040] In this technical solution, a longitudinal opening 7 for the clamping unit and the drill pipe 29 to pass through is provided in the middle of the vertical plate 3, so that both the drill pipe 29 and the gripper 18 can smoothly pass through this opening. A perforation for the drill pipe 29 to pass through is provided on the frame 1 opposite to the longitudinal opening 7. A flipping manipulator 8 for adjusting the angle of the drill pipe 29 is provided on one side of the perforation. The drill pipes 29 are arranged in an array on both sides of the drill pipe box, and the middle of the drill pipe box aligned with the longitudinal opening 7 is left empty. Through the above settings, when clamping the drill pipe 29, the clamping unit slides into the drill pipe box to lift and clamp the drill pipe 29. After the clamping unit clamps the drill pipe 29, it starts to slide while aligning with the longitudinal opening 7 in the middle of the vertical plate 3, and one end of the drill pipe 29 is passed through the longitudinal opening 7 until it passes through the perforation. Then, the flipping manipulator 8 drives the drill pipe 29 to flip and be parallel to the frame 1 for the docking and installation of the drill pipe 29. In this technical solution, by providing the longitudinal opening 7 on the vertical plate 3 for the clamping unit and the drill pipe 29 to pass through, and cooperating with the perforation provided on the frame 1, compared with other existing technologies, the drill pipe 29 does not need to go around the drill pipe box from above near the frame 1 after passing through the clamping unit. If flipping is required, a higher operating height and more complex docking equipment are needed. On the other hand, by directly inserting into the perforation through the longitudinal opening 7 and then flipping, on the one hand, it can ensure the identity of the insertion position of the drill pipe 29 each time, and on the other hand, it shortens the size of the drill pipe 29 loading and unloading system in the length direction, and there is no need to reserve a space for the docking and insertion of the length of the drill pipe 29. Through the above settings, the loading and unloading system of this solution can reduce the size in the length direction and the height direction, and can enter the drilling space with a lower height and a smaller operating space for operation, and can adapt to more types of operating environments under complex working conditions such as small-section roadways. Partition plates 4 are provided on both sides of the drill pipe box and arranged in an array, which can effectively prevent the drill pipe 29 from shifting during storage and handling, and ensure the stable array placement of the drill pipe 29.

[0041] Compared with the traditional drill pipe 29 conveying device, by providing a longitudinal opening 7 in the middle of the vertical plate 3, the drill pipe 29 and the clamping unit can directly pass through this opening. This enables the drill pipe 29 to pass through the system smoothly and linearly, and does not require complex multiple transfers or bypasses, avoiding the process in which the drill pipe 29 needs to pass through multiple manipulators or transfer devices in the traditional technology. The operation process is greatly simplified, reducing the coordination of multiple steps and manipulators, and improving the loading and unloading efficiency. In addition, the drill pipe 29 is directly passed through the perforation through the longitudinal opening 7 for flipping, making the whole process smoother, avoiding the situation of multiple adjustments and complex operations in the traditional device, and ensuring the accuracy of the docking of the drill pipe 29 with the frame 1. This device is more flexible and adaptable in the limited underground operation space, reduces the occupation of underground space resources, is conducive to the reasonable layout of underground equipment and the smooth progress of the overall operation process. At the same time, this technical solution can eliminate the transfer device and greatly simplify the transfer system and the conveying route.

[0042] The first sliding part includes a first slide rail 9 and a first slide block 10 slidably arranged on the first slide rail 9. The lifting part includes a lifting outer cylinder 11, a lifting cylinder, and a lifting inner cylinder 12 slidably arranged in the lifting outer cylinder 11. The lifting cylinder is installed at the bottom of the lifting inner cylinder 12, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder 12. The lifting part is installed on the first slide block 10. The first slide block 10 can drive the lifting part to slide horizontally along the vertical plate 3 to realize the horizontal displacement of the clamping unit, so that the clamping unit can move horizontally on the vertical plate 3 to adjust its horizontal position relative to the drill pipe box. The lifting inner cylinder 12 slides relative to the lifting outer cylinder 11 to realize the height adjustment of the clamping unit to adapt to the loading and unloading operations of drill pipes 29 at different height positions and avoid the clamping difficulty caused by height differences. It further includes a second sliding part. The second sliding part includes a cross beam 13, a second slide rail 14, and a second slide block 15 slidably arranged on the second slide rail 14. The cross beam 13 is fixedly arranged at the top end of the lifting inner cylinder 12, the second slide rail 14 is fixed on the side of the cross beam 13, and the clamping unit is fixed on the second slide block 15. By fixing the clamping unit on the second slide block 15 and sliding along the cross beam 13 through the second sliding part, the longitudinal movement of the clamping unit between the drill pipe box and the frame 1 can be realized, so that the clamping unit can not only be vertically adjusted (by the lifting cylinder of the lifting part), but also can move horizontally closer to or away from the frame 1, thereby realizing the precise position adjustment of the drill pipe 29.

[0043] As Figure 3 and Figure 4 shown, connection holes are arrayed on the inner slide rail 24. The inner slide rail 24 is detachably connected to the lifting outer cylinder 11 by bolts. The detachable connection of the inner slide rail 24 to the lifting outer cylinder 11 by bolts enables maintenance personnel to conveniently disassemble and replace the slide rail when the inner slide rail 24 is worn or damaged; connecting the inner slide rail 24 to the lifting outer cylinder 11 by bolts ensures the firm fixation between the two. The number of both the inner slide rail 24 and the slider is two. The inner slide rail 24 is symmetrically arranged on both sides of the lifting outer cylinder 11, and the sliders are also symmetrically fixed on the outer side of the lifting inner cylinder 12. By symmetrically arranging the inner slide rail 24 and the sliders, the force on the lifting system can be made more uniform. During the lifting process, the connection force between the lifting inner cylinder 12 and the lifting outer cylinder 11 is balanced, effectively preventing the system from shifting or deforming due to eccentric loading or unbalanced forces; the symmetric configuration of the slide rails and sliders avoids the possible skewing or offset during the lifting process, ensuring that the lifting components always move smoothly within the predetermined track. On the other hand, it is beneficial to the balance of the clamping unit, preventing the serious offset of the lifting inner cylinder 12 from shortening the service life of the manipulator, facilitating the downward movement of the drill pipe 29 within the opening of the drill pipe box. At the same time, in the present technical solution, the clamping unit can be telescopic and cooperate with the lifting part for two-stage lifting, which can simultaneously reduce the length of the drilling rig and the height requirement during operation.

[0044] The clamping unit in this embodiment includes a telescopic oil cylinder 16, a telescopic joint 17 and a gripper 18. The telescopic joint 17 includes an inner sleeve and an outer sleeve. The outer sleeve is fixed on the second sliding seat 15. The telescopic oil cylinder 16 is installed on the top of the outer sleeve. The output end of the telescopic oil cylinder 16 is fixedly connected to the inner cylinder. It also includes a clamping driving member. The gripper 18 is fixedly installed on the inner sleeve through the clamping driving member. The clamping driving member controls the opening and closing of the gripper 18, so that the clamping unit can precisely clamp and release the drill pipe 29. The combination of the telescopic property of the clamping unit and the clamping driving member makes the clamping action of the drill pipe 29 more precise, can precisely clamp the drill pipe 29 at different heights, makes the loading and unloading process smoother, shortens the operation time, and improves the operation efficiency.

[0045] As Figure 5 and Figure 6 shown, the flipping manipulator 8 in this embodiment includes a jaw 19 part, a fixed seat 20 and a flipping oil cylinder 21. The fixed seat 20 is fixed on the frame 1. The jaw 19 part includes jaws 19, a swing cylinder 22 and jaw oil cylinders. The jaws 19 are all hinged on one side of the swing cylinder 22. The jaw oil cylinders are arranged in the swing cylinder 22. One end of each jaw 19 is connected to the output end of the jaw oil cylinder to achieve clamping. The other side of the swing cylinder 22 is hinged to one end of the fixed seat 20. The two ends of the flipping oil cylinder 21 are respectively hinged to the swing cylinder 22 and the other end of the fixed seat 20. The telescopic movement of the flipping oil cylinder 21 drives the swing cylinder 22 to swing around the hinge point. When the flipping oil cylinder 21 extends to the limit length, the length direction of the swing cylinder 22 is parallel to the frame 1. When the flipping oil cylinder 21 shortens to the limit length, the length direction of the swing cylinder 22 is perpendicular to the frame 1. The flipping oil cylinder 21 drives the jaws 19 to perform a flipping movement. When the drill pipe 29 is inserted perpendicular to the direction of the frame 1, first the jaws 19 drive the jaw oil cylinders to clamp one end of the drill pipe 29. The flipping oil cylinder 21 shortens its stroke, and the swing cylinder 22 swings 90 degrees around the fixed seat 20, driving the drill pipe 29 to flip 90 degrees and then basically coincide with the drilling axis of the frame 1, and then docking and installation are carried out. After that, the flipping oil cylinder 21 extends its stroke to reset. Through the above settings, the route is optimized, the flipping function and the translation function are combined, and the telescopic joint 17 is reduced. The combination of the flipping and moving functions avoids the situation where multiple complex components need to work together in the traditional system. The traditional system may require a separate flipping device and multiple manipulators to complete the transfer, flipping and docking of the drill pipe 29. However, this design directly drives the swing cylinder 22 to flip by using the flipping oil cylinder 21, simplifies the mechanical structure, reduces the telescopic joint 17 and related connecting components, and at the same time makes the loading and unloading process of the drill pipe 29 smoother. The telescopic movement of the flipping oil cylinder 21 can precisely control the flipping angle of the jaws 19, ensuring that the drill pipe 29 can accurately flip from the vertical position to the position parallel to the axis of the drilling rig, avoiding docking failures or misalignment of the drill pipe 29 caused by inaccurate control.

[0046] It further includes a connecting block 23. The lifting outer cylinder 11 is clamped and fixed to the first sliding seat 10 through the connecting block 23. An inner slide rail 24 is detachably arranged inside the lifting outer cylinder 11. A slider adapted to the inner slide rail 24 is fixed to the outer side of the lifting inner cylinder 12. The slider is slidably engaged with the inner slide rail 24.

[0047] Rack teeth 25 are provided on the opposite surfaces of the first slide rail 9 and the second slide rail 14. A first gear and a second gear are respectively engaged with the rack teeth 25 on the first slide rail 9 and the second slide rail 14. A first motor 26 is installed on the first sliding seat 10 to drive the first gear to rotate. A second motor 27 is installed on the second sliding seat 15 to drive the second gear to rotate. Through the engagement of the rack teeth 25 and the gears, the accuracy of the movement of the sliding seat on the slide rail can be ensured, reducing the movement error caused by friction or clearance. At the same time, the rack and gear 25 structure can provide stronger bearing capacity and transmission efficiency, and is not prone to displacement, which helps to improve the stability and reliability of the entire lifting system. Clamping plates 28 are integrally formed on the upper and lower sides of the first sliding seat 10 and the second sliding seat 15. The clamping plates 28 are used to clamp the outer sides of the first slide rail 9 or the second sliding seat 15 for limiting.

[0048] It further includes a sensor system, such as Figure 7 and Figure 8 As shown, the sensor system includes an identification sensor 30, a translation sensor 31, a column selection sensor 32, a telescopic sensor 33, a lifting sensor 34, a proximity sensor 35, and a height sensor. The identification sensor 30 is used to judge whether the clamping unit clamps the drill pipe 29. The translation sensor 31 is used to judge the upward displacement of the clamping unit. The column selection sensor 32 is used to judge the displacement of the clamping unit along the direction of the vertical plate 3. The telescopic sensor 33 and the lifting sensor 34 are used to judge the displacement of the clamping unit in the vertical direction of the drill pipe box. The proximity sensor 35 is used to judge whether there is a drill pipe 29 below the clamping unit. The height sensor is used to identify the height of the frame 1.

[0049] The control method of the drill pipe 29 loading and unloading system includes the following specific steps:

[0050] Step 1, initialization: Move the drilling rig to the drilling position, ensure that all components are in the initialization state, and the height of the lowest position of the gripper 18 is higher than the top of the longitudinal opening 7 of the drill pipe box, that is, the gripper 18 does not interfere with the drill pipe box. At this time, the displacement of the lifting inner cylinder 12 measured by the lifting sensor 34 is a, the displacement of the gripper 18 measured by the telescopic sensor 33 is b, the height of the drill pipe box is H1, the diameter of the drill pipe 29 is d, and the height of the drill pipe 29 in the drill pipe box at this time is H2 = nd, where n is the number of drill pipes 29;

[0051] Step 2, column selection: Determine the position of the drill pipe 29 to be taken out. Slide the gripper 18 along the transverse slide rail to align with the drill pipe 29 to be taken. When the first slide block 10 slides, the distance of the slide is monitored by the column selection sensor 32 to determine the position of the first slide block 10, improving the accuracy of the gripper 18 in transverse movement positioning. Determine the position of the gripper 18 through the position of the first slide block 10. Move the gripper 18 upward to above the drill pipe box and then stop moving;

[0052] Step 3, translation: Drive the second slide block 15 to move along the second slide rail 14 by the second motor 27, so that the gripper 18 moves above the middle of the drill pipe 29 to be clamped. When the second slide block 15 slides, the distance of the slide is detected by the translation sensor 31 to determine the position of the second slide block 15, improving the accuracy of the gripper 18 in longitudinal movement positioning;

[0053] Step 4, grasping the drill pipe 29: Move the gripper 18 downward through the cooperation of the telescopic oil cylinder 16 and the lifting assembly. The telescopic oil cylinder 16 and the lifting assembly cooperate with each other to adjust the height of the gripper 18. Compared with only using one lifting driving part, the number of driving parts in this solution is increased, the lifting speed is faster, and in the case of lifting the same height, the stroke of a single driving part in this solution is shorter and the flexibility is higher. Until the proximity sensor 35 detects that there is a drill pipe 29 below the gripper 18, and then the gripper 18 clamps the drill pipe 29 below. Through the mutual cooperation of the telescopic sensor 33 and the lifting sensor 34, the height calculation, monitoring and control requirements of the gripper 18 under various working conditions are met, and the system is simple and reliable; Specifically, the telescopic oil cylinder 16 drives the gripper 18 to move vertically, and the distance of the gripper 18 moving vertically is detected by the telescopic sensor 33. At the same time, the proximity sensor 35 detects whether there is a drill pipe 29 below the gripper 18. If when the telescopic oil cylinder 16 extends downward to the maximum value, the proximity sensor 35 still does not detect the drill pipe 29, at this time the lifting assembly drives the second slide rail 14 to descend, controlling the gripper 18 to continue to move downward until the proximity sensor 35 recognizes that there is a drill pipe 29 below. At this time, the displacement change of the lifting inner cylinder 12 is a1, and the displacement change of the gripper 18 is b1. As Figure 5 shown, the displacement from the gripper 18 to the drill pipe 29 is Δ1 = H1 - H2 = a1 + b1. The lifting sensor 34 measures the displacement of the lifting inner cylinder 12 as a2 = (a - a1), and the telescopic sensor 33 measures the displacement of the gripper 18 as b2 = (b + b1);

[0054] Step 5, Remove the drill pipe box: After the gripper 18 grips the drill pipe 29, the gripper 18 is moved upward through the combined action of the telescopic oil cylinder 16 and the lifting assembly until the gripper 18 is located above the drill pipe box, and it needs to be lifted upward by at least the height of the diameter of one drill pipe 29 to avoid interference between the drill pipe 29 gripped by the gripper 18 and other components during the subsequent process. At this time, the lifting sensor 34 measures the displacement of the lifting inner cylinder 12 as a3 = (a + d), and the telescopic sensor 33 measures the displacement of the gripper 18 as b3 = b, or the lifting sensor 34 measures the displacement of the lifting inner cylinder 12 as a3 = a, and the telescopic sensor 33 measures the displacement of the gripper 18 as b3 = (b - d);

[0055] Step 6, Move to the longitudinal opening 7: The first motor 26 drives the first slide 10 to move on the outer wall of the first slide rail 9, and the column selection sensor 32 real-time detects the position of the first slide 10 outside the first slide rail 9 until the gripper 18 is located above the longitudinal opening 7 of the drill pipe box;

[0056] Step 7, Sinking detection, the telescopic oil cylinder 16 or the lifting assembly drives the gripper 18 to descend, so that the identification sensor 30 detects that the gripper 18 holds the drill pipe 29, improving the safety and effectiveness of the system operation;

[0057] Step 8, Align with the frame 1: To avoid interference between the gripper 18 and the frame 1 during transportation, the gripper 18 is raised or lowered through the combined action of the telescopic oil cylinder 16 and the lifting assembly until the axis of the drill pipe 29 is aligned with a specific position on the frame 1. If the height of the gripper 18 is lower than the height c of the frame 1 at this time, the displacement required for the gripper 18 to align with the frame 1 is Δ2. Let the lifting inner cylinder 12 need to rise a4 and the gripper 18 need to contract b4, Δ2 = a4 + b4. At this time, the lifting sensor 34 measures the displacement as a5 = (a3 + a4), and the telescopic sensor 33 measures the displacement as b5 = (b3 - b4). If the height of the gripper 18 is higher than the height c of the frame 1 at this time, the displacement required for the gripper 18 to align with the frame 1 is Δ3. Let the lifting inner cylinder 12 need to descend a4 and the gripper 18 need to extend b4, Δ2 = a4 + b4. At this time, the lifting sensor 34 measures the displacement as a5 = (a3 - a4), and the telescopic sensor 33 measures the displacement as b5 = (b3 + b4);

[0058] Step 9, Translational transportation: The second motor 27 drives the second slide 15 to move on the outer wall of the second slide rail 14, so that the gripper 18 drives the drill pipe 29 to move towards the frame 1 until the drill pipe 29 is docked with the frame 1.

[0059] The above are only embodiments of the present invention, and common general technical solutions and / or characteristics in the solutions are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope claimed in this application shall be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. A drill pipe loading and unloading system and control method, characterized in that: The invention comprises a frame, a sensor system and a drill rod box for storing drill rods, wherein the drill rod box comprises a bottom plate and vertical plates arranged at both ends of the bottom plate, partitions for separating drill rods are arrayed on opposite surfaces of the vertical plates, a transfer robot for transferring drill rods is arranged on the outer side of the vertical plates close to the frame, the transfer robot comprises a first sliding part, a lifting part and a clamping unit which can slide relative to the lifting part, and a longitudinal opening for the clamping unit and the drill rod to pass through is opened in the middle of the vertical plate, the lifting part is installed on the first sliding part and can slide horizontally relative to the vertical plate, a through hole for the drill rod to pass through is opened on the frame opposite to the longitudinal opening, and a flipping robot for flipping the drill rod is arranged on one side of the through hole.

2. The drill pipe loading and unloading system and control method according to claim 1, characterized in that: The first sliding part includes a first slide rail and a first slide seat slidably arranged on the first slide rail, the lifting part includes a lifting outer cylinder, a lifting cylinder and a lifting inner cylinder slidably arranged in the lifting outer cylinder, the lifting cylinder is installed at the bottom of the lifting inner cylinder, and the output end of the lifting cylinder is fixedly connected to the lifting inner cylinder.

3. The drill pipe loading and unloading system and control method according to claim 2, characterized in that: It also includes a second sliding part, which includes a crossbeam, a second slide rail and a second slide seat slidably arranged on the second slide rail. The crossbeam is fixedly arranged on the top end of the lifting inner cylinder, the second slide rail is fixed on the side of the crossbeam, and the clamping unit is fixed on the second slide seat.

4. The drill pipe loading and unloading system and control method according to claim 3, characterized in that: The clamping unit includes a telescopic cylinder, a telescopic joint and a gripper. The telescopic joint includes an inner sleeve and an outer sleeve. The outer sleeve is fixed on the second slide seat. The telescopic cylinder is installed on the top of the outer sleeve. The output end of the telescopic cylinder is fixedly connected to the inner cylinder. It also includes a clamping drive component. The gripper is installed on the inner sleeve through the clamping drive component.

5. The drill pipe loading and unloading system and control method according to claim 4, characterized in that: The flipping robot includes a clamping jaw part, a fixed seat and a flipping cylinder. The fixed seat is fixed on the frame. The clamping jaw part includes a clamping jaw, a swinging cylinder and a clamping jaw cylinder. The clamping jaws are hinged on one side of the swinging cylinder. The clamping jaw cylinder is arranged in the swinging cylinder. One end of the clamping jaw is connected to the output end of the clamping jaw cylinder to achieve clamping. The other side of the swinging cylinder is hinged to one end of the fixed seat. Both ends of the flipping cylinder are hinged to the swinging cylinder and the other end of the fixed seat respectively. The flipping cylinder is telescoped to drive the swinging cylinder to swing around the hinge point.

6. The drill pipe loading and unloading system and control method according to claim 5, characterized in that: Racks are provided on the surfaces opposite to the first slide rail and the second slide rail, and first gears and second gears are respectively engaged with the racks on the first slide rail and the second slide rail. A first motor is installed on the first slide seat to drive the first gear to rotate, and a second motor is installed on the second slide seat to drive the second gear to rotate.

7. The drill pipe loading and unloading system and control method according to claim 6, characterized in that: The sensor system includes an identification sensor, a translation sensor, a selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor and a height sensor. The identification sensor is used to determine whether the clamping unit clamps a drill rod. The translation sensor is used to determine the upward displacement of the clamping unit. The selection sensor is used to determine the displacement of the clamping unit along the vertical plate direction. The telescopic sensor and the lifting sensor are used to determine the vertical displacement of the clamping unit in the drill rod box. The proximity sensor is used to determine whether there is a drill rod under the clamping unit. The height sensor is used to identify the height of the rack.

8. A drill pipe loading and unloading system and control method, characterized in that: The following steps are involved: Step 1, initialization: make sure that all components are in the initialization state, and the height of the lowest position of the gripper is higher than the top of the longitudinal opening of the drill rod box. At this time, the displacement of the lifting inner cylinder measured by the lifting sensor is a, and the displacement of the gripper measured by the telescopic sensor is b. The height of the drill rod box is H1, and the diameter of the drill rod is d. At this time, the height of the drill rod in the drill rod box is H2=nd, and n is the number of drill rods. Step 2, row selection: slide the gripper along the first slide rail to a position aligned with the drill rod to be taken, monitor the sliding distance through the row selection sensor when the first slide slides, thereby determining the position of the first slide, and determine the position of the gripper through the position of the first slide, and move the gripper upward to the top of the drill rod box and then stop moving; Step 3, translation: the second motor drives the second slide to move along the longitudinal guide rail, so that the gripper moves to above the middle of the drill rod to be clamped, and the sliding distance of the second slide is detected by the translation sensor when the second slide slides; Step 4, grab the drill rod: the gripper is moved downward by the telescopic cylinder and the lifting part, until the proximity sensor detects that there is a drill rod under the gripper, and then the gripper clamps the drill rod below; specifically, the telescopic cylinder drives the gripper to move vertically, and detects the vertical movement distance of the gripper through the telescopic sensor, and at the same time, the proximity sensor detects whether there is a drill rod below the gripper. If the proximity sensor still does not detect the drill rod when the telescopic cylinder is extended downward to the maximum value, the lifting part drives the longitudinal guide rail to descend, and controls the gripper to continue to move downward until the proximity sensor recognizes that there is a drill rod below. At this time, the change displacement of the lifting inner cylinder is a1, the change displacement of the gripper is b1, and the displacement of the gripper to the drill rod is Δ1=H1-H2=a1+b1. The lifting sensor measures the displacement of the lifting inner cylinder as a2=(a-a1), and the telescopic sensor measures the displacement of the gripper as b2=(b+b1). Step 5, move out the drill rod box: after the claws clamp the drill rod, they move the claws upwards through the cooperation of the telescopic cylinder and the lifting part until the claws are located above the drill rod box, and need to be raised upwards by at least one drill rod diameter. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3=(a+d), and the telescopic sensor measures the displacement of the claws as b3=b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3=a, and the telescopic sensor measures the displacement of the claws as b3=(bd); Step 6, moving to the longitudinal opening: the first motor drives the first slide to move on the outer wall of the transverse guide rail, and the column selection sensor detects the position of the first slide outside the transverse guide rail in real time until the gripper is located above the longitudinal opening of the drill rod box; Step 7, sinking detection, the telescopic cylinder or the lifting part drives the claw to descend, so that the recognition sensor detects that the drill rod is clamped in the claw; Step 8, aligning the frame: the gripper is raised or lowered by the telescopic cylinder and the lifting part until the axis of the drill pipe is aligned with a specific position on the frame. If the height of the gripper is lower than the frame height c at this time, the gripper needs to be displaced Δ2 to align with the frame. Suppose the lifting inner cylinder needs to be raised a4, and the gripper needs to be retracted b4, Δ2=a4+b4. At this time, the lifting sensor measures a displacement of a5=(a3+a4), and the telescopic sensor measures a displacement of b5=(b3-b4). If the height of the gripper is higher than the frame height c at this time, the gripper needs to be displaced Δ3 to align with the frame. Suppose the lifting inner cylinder needs to be lowered a4, and the gripper needs to be extended b4, Δ2=a4+b4. At this time, the lifting sensor measures a displacement of a5=(a3-a4), and the telescopic sensor measures a displacement of b5=(b3+b4). Step 9, translational transport: the second motor drives the second slide to move on the outer wall of the longitudinal guide rail, so that the claw drives the drill rod to move toward the rack.

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