Detection positioning device and method for rapid retreating of drilling machine power head

Abstract

The invention relates to a detecting and positioning device and method for rapid retreating of a drilling machine power head, and belongs to the technical field of coal mine machinery design. The device comprises a power head, a rack, a clamping device and a drill rod, the power head moves on a sliding rail on the rack through a sliding assembly, a proximity switch sensor is arranged at the side end, away from the clamping device, of the sliding rail, and an induction block matched with the proximity switch sensor is arranged at the bottom of a guide sliding sleeve below the power head. In the method, a PLC (Programmable Logic Controller) is simultaneously connected to a proximity switch sensor on a sliding rail through a circuit, the switching value of a proportional electromagnetic valve of a hydraulic driving assembly is controlled according to the signal change of the proximity switch sensor, and corresponding control modes in different states are established according to the control process of the PLC. According to the invention, through grading and advanced speed reduction, the problem of position drift caused by inertia when the power head stops retreating is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine machinery design, and relates to a detection and positioning device and method for rapid retraction of a drill rig power head. Background Art

[0002] The application background of automatic drill rigs in the coal mine field is closely related to the realistic challenges faced by China's coal mining and the requirements for technological upgrading. Soft coal seams are widely distributed in China (accounting for about 40% of the total coal output). Such coal seams have high gas content and low structural strength. The traditional manual or semi-mechanized drill pipe loading and unloading methods are inefficient under complex geological conditions and are prone to safety accidents caused by drill pipe detachment, human error, etc. As the depth of coal mining increases, the demand for kilometer-level deep hole construction in gas drainage, water exploration and drainage operations is becoming increasingly urgent. The time-consuming proportion of traditional manual drill pipe loading and unloading is as high as 30%-40%. High-intensity operations lead to personnel fatigue and fluctuations in borehole quality. In addition, according to relevant regulations, the automation rate of coal mine drilling equipment is required to be ≥80%. The popularization of technologies such as full-hydraulic crawler drill rigs and directional drill rigs provides a hardware foundation for automation upgrading. For example, the ZDY15000LDK drill rig developed by Xi'an Research Institute of China Coal Technology and Engineering Group has integrated eight automation functions such as automatic drill pipe loading and unloading and trajectory control, marking the entry of the industry technology iteration into a new stage.

[0003] For drill rigs with automatic drill pipe loading and unloading, firstly, the ±1mm grasping accuracy of the manipulator and the automatic centering technology of the power head increase the screw connection success rate to 99.5%, significantly reducing the accident risks such as coal and gas outbursts and mechanical injuries. Secondly, the continuous operation ability increases the single-shift borehole depth by 2-3 times, and the construction efficiency of directional long boreholes (≥1500m) is increased by 300%. At the same time, the intelligent monitoring system can predict more than 60% of equipment failures, and the maintenance cost is reduced by 30%. In addition, the automated process promotes the standardization of drill pipe interfaces and the upgrading of the supporting industrial chain, laying a foundation for the development of drill rigs towards "unmanned and adaptive". For example, the full-automatic anchor support robot technology of CRCC has realized underground autonomous drilling operations. These breakthroughs not only support the safety goal of "fewer people, safer" in coal mines, but also provide key technical guarantees for deep resource mining and green mine construction, driving the industry to transform from labor-intensive to technology-intensive.

[0004] Currently, in the drill pipe positioning process, the displacement of the power head is detected by a wire rope sensor, and the PLC program gives a certain control amount to the propulsion cylinder. However, the moving speed of the power head is too fast. When the PLC controls the cylinder to stop expanding and contracting, due to the inertia of the hydraulic system, the power head is likely to exceed the set value when it retracts to the last end, and the value drifts. The power head needs to move slightly back and forth to find the fixed value, resulting in low drill pipe unloading efficiency. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a detection and positioning device and method for the rapid backward movement of a drill rig power head.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] On the one hand, a detection and positioning device for the rapid backward movement of a drill rig power head is proposed. The device includes: a power head, a frame, a gripper, and a drill pipe. Among them, the power head and the gripper are respectively arranged on the frame, and the power head and the gripper are coaxially arranged according to the parts where they fix the drill pipe. The gripper is fixedly installed at the end of the frame, and the power head is slidably installed on the frame through a sliding component. The sliding component includes a slide rail arranged on the frame and a guiding sliding sleeve connected to the power head. A proximity switch sensor is arranged at the side end of the slide rail far from the gripper, and an induction block paired with the proximity switch sensor is arranged at the bottom of the guiding sliding sleeve far from the gripper;

[0008] The device further includes a hydraulic drive component for driving the power head to move closer to or away from the gripper on the slide rail, and a PLC controller for controlling the switching quantity of the proportional solenoid valve of the hydraulic drive component;

[0009] The PLC controller is also connected to the proximity switch sensor on the slide rail through a circuit. It controls the switching quantity of the proportional solenoid valve of the hydraulic drive component according to the signal change of the proximity switch sensor, and establishes corresponding control methods for different states during its control process.

[0010] Furthermore, the PLC controller divides the rapid backward movement and deceleration positioning process of the power head into a first state, a second state, a third state, and a fourth state according to the movement position of the power head and the change state of the digital quantity signal received by the PLC controller. Among them,

[0011] The first state means that during the backward movement of the power head, the induction block has not reached the detection range of the proximity switch sensor. At this time, the PLC controller continuously receives the digital quantity signal "0" returned by the proximity switch sensor;

[0012] The second state means that during the backward movement of the power head, the induction block has just entered the detection range of the proximity switch sensor. At this time, the PLC controller receives the digital quantity signal returned by the proximity switch sensor jumping from "0" to "1";

[0013] The third state means that during the backward movement of the power head, the induction block continuously remains within the detection range of the proximity switch sensor. At this time, the PLC controller continuously receives the digital quantity signal "1" returned by the proximity switch sensor;

[0014] The fourth state means that the induction block of the power head has just left the detection range of the proximity switch sensor. At this time, the PLC controller receives the digital quantity signal returned by the proximity switch sensor jumping from "1" to "0".

[0015] Further, in the first state, the PLC controller maintains the switching value of the proportional solenoid valve;

[0016] In the second state, the PLC controller immediately controls the switching value of the proportional solenoid valve to start decreasing;

[0017] In the third state, the PLC controller continuously controls the switching value of the proportional solenoid valve to decrease;

[0018] In the fourth state, the PLC controller immediately controls the switching value of the proportional solenoid valve to become 0, and the power head stops moving.

[0019] Further, the duration of the third state is related to the initial speed of the power head, the amplitude of the switching value adjusted by the PLC controller, and the width of the induction block of the power head; combining the initial speed of the power head, the amplitude of the switching value adjusted by the PLC controller, and the width parameter of the induction block of the power head, it is configured with the standard that the induction block of the power head just breaks away from the detection range of the proximity switch sensor when the switching value decreases to 0.

[0020] Further, the proximity switch sensor adopts an inductive proximity switch sensor, and a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit are arranged inside the inductive proximity switch sensor;

[0021] During the working process, the high-frequency oscillation coil continuously oscillates, the signal output circuit maintains the initial state, and the initial state of the signal output circuit includes the normally open or normally closed state. When the induction block enters the detection range of the proximity switch sensor, the oscillation frequency of the high-frequency oscillation coil changes, and the signal processing circuit triggers the state flip of the signal output circuit according to the frequency change, and the whole process continuously transmits the output signal of the signal output circuit to the PLC control program.

[0022] Further, the induction block is made of a metal material. When the induction block moves quickly and enters the magnetic field range of the inductive proximity switch sensor, eddy current effects are generated due to electromagnetic induction between the metal surface of the induction block made of the metal material and the magnetic field generated by the high-frequency oscillation coil, resulting in an increase in the energy loss of the high-frequency oscillation coil and a change in the oscillation frequency of the high-frequency oscillation coil; the signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

[0023] Further, the vertical distance between the end face of the proximity switch sensor and the surface of the induction block is set to 4 - 8 mm.

[0024] On the other hand, a detection and positioning method for the rapid retraction of the drill rig power head is also proposed. The method includes:

[0025] S1. The power head quickly retracts along the slide rail under the action of the hydraulic drive assembly, and the PLC controller continuously monitors the digital signal of the inductive proximity switch sensor;

[0026] S2. When the induction block does not enter the detection range of the sensor, the PLC controller receives the signal "0" and maintains the current switching value of the proportional solenoid valve;

[0027] S3. When the induction block enters the detection range of the sensor and the signal jumps from "0" to "1", the PLC controller immediately reduces the switching value of the proportional solenoid valve to initiate deceleration;

[0028] S4. When the induction block remains within the detection range, the PLC controller continuously and dynamically adjusts the switching value according to the signal "1" and decelerates to the preset speed;

[0029] S5. When the induction block leaves the detection range and the signal jumps from "1" to "0", the PLC controller sets the switching value to zero and the power head stops precisely;

[0030] S6. The drill pipe thread is disengaged by the swing of the gripper and the reverse rotation of the power head, and the manipulator grabs to complete the rod unloading.

[0031] The beneficial effects of the present invention are as follows:

[0032] Through the innovative design of mechatronics, the present invention optimizes the stop positioning of the traditional drill unloading process of the drill rig. It creatively adopts a closed-loop feedback system of an inductive proximity switch and a PLC controller. By real-time monitoring the displacement of the power head and dynamically adjusting the hydraulic flow rate, the error caused by traditional mechanical limit is significantly reduced. When the induction block enters the detection area of the sensor, the PLC controller immediately starts a step-by-step deceleration program. Through the progressive flow regulation of the proportional solenoid valve, it not only avoids the pressure shock caused by the sudden stop of the hydraulic system but also ensures that the power head can be precisely positioned at the predetermined position.

[0033] The non-contact detection characteristic of the inductive sensor completely solves the defects of the mechanical limit switch being easily worn and requiring regular calibration; the PLC-programmed control logic can automatically match the optimal deceleration curve for different drill pipe specifications, significantly reducing the risk of human operation errors. A specially designed four-stage control algorithm: free retraction → deceleration start → continuous deceleration → precise braking is adopted. In this way, the problem of inertial drift of the power head after the output stop instruction in the traditional method is avoided.

[0034] Other advantages, objectives, and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following specification. Description of the Drawings

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail and preferably below with reference to the accompanying drawings, wherein:

[0036] Figure 1 is the operating structure diagram of an existing automatic drill rig;

[0037] Figure 2 is the structural schematic diagram of the detection and positioning device for the rapid retraction of the drill rig power head according to an embodiment of the present invention;

[0038] Figure 3 is the schematic diagram of the power head position in the first state according to an embodiment of the present invention;

[0039] Figure 4 is the schematic diagram of the power head position in the fourth state according to an embodiment of the present invention;

[0040] Figure 5 is the schematic diagram of the positional relationship between the drill pipe and the gripper in the fourth state according to an embodiment of the present invention;

[0041] Figure 6 is the partial enlarged schematic diagram of the positional relationship between the drill pipe and the gripper in the fourth state according to an embodiment of the present invention.

[0042] Reference numerals: 1 - drill pipe; 2 - drill pipe box; 3 - grasping manipulator; 4 - power head; 5 - main manipulator; 6 - rotating rod transfer device; 7 - gripper; 8 - frame; 41 - guiding sliding sleeve; 42 - induction block; 71 - front gripper; 72 - rear gripper; 81 - guide rail; 82 - proximity switch sensor. Specific embodiments

[0043] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0044] Among them, the accompanying drawings are only for illustrative purposes, showing only schematic diagrams, rather than physical diagrams, and should not be construed as a limitation to the present invention; for better illustrating the embodiments of the present invention, some components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the dimensions of actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0045] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation to the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0046] Please refer to Figures 1 to 6 , a detection and positioning device and method for the rapid backward movement of a drill rig power head.

[0047] In this embodiment, Figure 1 shows a structural diagram of the operation of an existing automatic drill rig. The processes of loading and unloading the drill pipes of the automatic drill rig are realized through the collaborative operation of the manipulator and the translation component to achieve automated operation. In the process of loading the drill pipe, first, the grasping manipulator 3 grabs the drill pipe 1 from the drill pipe box 2 and places it into the drill pipe transfer device 6; subsequently, the drill pipe transfer device 6 moves to the grasping position of the main manipulator 5 to the right, and the main manipulator 5 takes out the drill pipe 1 from the translation component and sends the drill pipe to the front end of the power head 4 through a flipping action; the power head 4 completes the threaded connection of the drill pipe by rotating forward and starts the drilling operation. The process of unloading the drill pipe is executed in reverse: after the power head 4 reversely retreats and disconnects the threaded connection, the main manipulator 5 grabs the disassembled drill pipe 1 and puts it back into the drill pipe transfer device 6; the translation component moves to the vicinity of the drill pipe box 2 to the left, and the grasping manipulator 3 intervenes again, takes out the drill pipe from the translation component and returns it to the drill pipe box 2 to complete the recovery of the drill pipe. The entire process realizes the efficient cycle of drill pipe loading and unloading through the precise grasping of the main manipulator 5, the directional transportation of the drill pipe transfer device 6, and the automated docking of the power head, significantly reducing the need for manual intervention and ensuring the safety and continuity of coal mine drilling operations.

[0048] When unloading the drill pipe, the power head 4 needs to rotate and quickly retreat at the same time. For example, when unloading the rear drill pipe 1B, the power head 4 retreats to the expected position, and the end face of the front drill pipe 1A protrudes a certain value beyond the end face of the rear gripper 71. At this time, the drill pipe positioning process is completed, and then through the swing of the gripper 7 and the reverse rotation of the power head 4, the front and rear threads of the rear drill pipe 1B are disengaged, and finally the main manipulator 5 grabs the rear drill pipe 1B.

[0049] At present, in the drill pipe unloading process, the displacement of the power head 4 is detected by a wire rope sensor, and the PLC program gives a certain control amount to the propulsion oil cylinder. However, the moving speed of the power head 4 is too fast. When the PLC controls the oil cylinder to stop telescoping, due to the inertia of the hydraulic system, it is easy for the power head to exceed the set value when it retreats to the rearmost end, and the value drifts. The power head 4 needs to move slightly back and forth to find the fixed value, resulting in low drill unloading efficiency.

[0050] Based on the above, this embodiment proposes a detection and positioning device for the rapid backward movement of the drill rig power head, as Figure 2 shown, which includes: a power head 4, a frame 8, a gripper 7, and a drill pipe 1. Among them, the power head 4 and the gripper 7 are respectively arranged on the frame 8. The power head 4 and the gripper 7 are coaxially arranged according to the parts where they fix the drill pipe. The gripper 7 is fixedly installed at the end of the frame 8. The power head 4 is slidably installed on the frame 8 through a sliding component. The sliding component includes a slide rail 81 arranged on the frame 8 and a guiding sliding sleeve 41 connected to the power head 4. A proximity switch sensor 82 is arranged at the side end of the slide rail 81 away from the gripper 7, and an induction block 42 paired with the proximity switch sensor 82 is arranged at the bottom of the guiding sliding sleeve 41 away from the gripper 7.

[0051] The device further includes a hydraulic drive component for driving the power head 4 to move closer to or away from the gripper 7 on the slide rail 81, and a PLC controller (not shown in the figure) for controlling the switching quantity of the proportional solenoid valve of the hydraulic drive component.

[0052] The PLC controller is also connected to the proximity switch sensor 82 on the slide rail 81 through a circuit. It controls the switching quantity of the proportional solenoid valve of the hydraulic drive component according to the signal change of the proximity switch sensor 82 to achieve precise positioning when the power head 4 retracts.

[0053] Specifically, in this embodiment, the proximity switch sensor 82 on the slide rail 81 adopts an inductive proximity switch sensor. The inductive proximity switch sensor internally is provided with a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit.

[0054] During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit maintains the initial state. The initial state of the signal output circuit includes a normally open or normally closed state. In this embodiment, the signal output circuit maintains a normally open state.

[0055] When the induction block 42 installed on the guiding sliding sleeve 41 of the power head 4 moves rapidly and enters the magnetic field range of the inductive proximity switch sensor, due to electromagnetic induction, eddy current effect is generated between the metal surface of the induction block made of metal material and the magnetic field generated by the high-frequency oscillation coil, resulting in an increase in the energy loss of the high-frequency oscillation coil, and the oscillation frequency of the high-frequency oscillation coil decreases or even stops oscillating; the signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

[0056] In this embodiment, the vertical distance between the end face of the proximity switch sensor 82 and the surface of the induction block 42 can be set to 2 - 10 mm, and in this embodiment, it is set to 4 - 8 mm.

[0057] In this embodiment, when using an inductive proximity switch sensor, the material of the induction block 42 needs to be a metal material, such as iron, copper, aluminum, etc.

[0058] Specifically, the signal output circuit uses an NPN / PNP type digital signal. In the normally open state, the signal output circuit outputs a digital signal "0" to the PLC controller; in the closed state, the signal output circuit outputs a digital signal "1" to the PLC controller.

[0059] According to the movement position of the power head 4 and the change state of the digital signal received by the PLC, the rapid backward movement and deceleration positioning process of the power head 4 are divided into four states. Among them, the first state means that during the backward movement of the power head 4, the induction block 42 has not reached the detection range of the proximity switch sensor 82. At this time, the PLC controller continuously receives the digital signal "0" returned by the proximity switch sensor 82, and the PLC controller maintains the switching value of the proportional solenoid valve. The positional relationship between the power head 4 and the frame 8 in the first state is as Figure 3 shown; the second state means that during the backward movement of the power head 4, the induction block 42 just enters the detection range of the proximity switch sensor 82. At this time, the PLC controller receives the digital signal returned by the proximity switch sensor 82 jumping from "0" to "1", and the PLC controller immediately controls the switching value of the proportional solenoid valve to start decreasing. The positional relationship between the power head 4 and the frame 8 in the second state is as Figure 2 shown; the third state means that during the backward movement of the power head 4, the induction block 42 continuously remains within the detection range of the proximity switch sensor 82. At this time, the PLC controller continuously receives the digital signal "1" returned by the proximity switch sensor 82, and the PLC controller continuously controls the switching value of the proportional solenoid valve to decrease; the fourth state means that the induction block 42 of the power head 4 just leaves the detection range of the proximity switch sensor 82. At this time, the PLC controller receives the digital signal returned by the proximity switch sensor 82 jumping from "1" to "0", and the PLC controller immediately controls the switching value of the proportional solenoid valve to become 0, and the power head 4 stops moving. The positional relationship between the power head 4 and the frame 8 in the fourth state is asFigure 4 as shown

[0060] In the above solution, the duration of the third state is related to the initial speed of the power head 4, the amplitude of the PLC controller's adjustment of the digital quantity, and the width of the sensing block 42 of the power head; when making a specific configuration, considering the initial speed of the power head 4, the amplitude of the PLC controller's adjustment of the digital quantity, and the width parameter of the sensing block 42 of the power head 4, it is based on the condition that when the digital quantity is reduced to 0, the sensing block 42 of the power head 4 just gets out of the detection range of the proximity switch sensor.

[0061] When the power head 4 changes from the third state to the fourth state, the relationship between the drill pipe 1 and the front gripper 71 and the rear gripper 72 of the gripper 7 in the fourth state is as Figure 5 shown, among which, the partial enlarged schematic diagram of the positional relationship between the connection of the two drill pipes (front drill pipe 1A and rear drill pipe 1B) and the front gripper 71 and the rear gripper 72 is as Figure 6 shown, that is, the end face of the front drill pipe 1A protrudes a certain value from the end face of the rear gripper 72, and the partial view is as Figure 6 .

[0062] Additionally, this embodiment also provides a method for a detection and positioning device for the rapid retraction of a drill rig power head as described above. The method includes the following steps:

[0063] S1. The power head rapidly retracts along the slide rail under the action of the hydraulic drive assembly, and the PLC controller continuously monitors the digital quantity signal of the inductive proximity switch sensor;

[0064] S2. When the sensing block is not within the detection range of the sensor (the first state), the PLC receives the signal "0" and maintains the current digital quantity of the proportional solenoid valve;

[0065] S3. When the sensing block enters the detection range of the sensor (the second state), the signal jumps from "0" to "1", and the PLC immediately reduces the digital quantity of the proportional solenoid valve to start deceleration;

[0066] S4. When the sensing block is continuously within the detection range (the third state), the PLC continuously and dynamically adjusts the digital quantity according to the signal "1" and decelerates to the preset speed;

[0067] S5. When the sensing block gets out of the detection range (the fourth state), the signal jumps from "1" to "0", and the PLC sets the digital quantity to zero, and the power head stops precisely;

[0068] S6. Disconnect the drill pipe thread by the swing of the gripper and the reverse rotation of the power head, and the manipulator grabs to complete the rod unloading.

[0069] Generally speaking, through the innovative mechatronic design, the present invention optimizes the stop positioning of the traditional drill rig's drill pipe unloading process. A closed-loop feedback system of inductive proximity switches and PLC controllers is creatively adopted. By real-time monitoring the power head displacement and dynamically adjusting the hydraulic flow rate, the error caused by traditional mechanical limits is significantly reduced. When the induction block enters the sensor detection area, the system immediately starts the hierarchical deceleration program. Through the progressive flow regulation of the proportional solenoid valve, it not only avoids the pressure shock caused by the sudden stop of the hydraulic system but also ensures that the power head can achieve accurate positioning at the predetermined position.

[0070] The non-contact detection characteristic of the inductive sensor completely solves the defects of the mechanical limit switch, such as easy wear and the need for regular calibration; the PLC-programmed control logic can automatically match the optimal deceleration curve for different drill pipe specifications, significantly reducing the risk of human operation errors. A specially designed four-stage control algorithm: free backward → decelerated start → continuous deceleration → precise braking. In this way, the problem of inertial drift of the power head after the output stop command in the traditional method is avoided.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A detection and positioning device for the rapid backward movement of a drill rig power head, characterized in that: The device comprises: a power head, a frame, a clamp and a drill rod, wherein the power head and the clamp are respectively arranged on the frame, the power head and the clamp are coaxially arranged according to the position where the drill rod is fixed, the clamp is fixedly installed on the end of the frame, the power head is slidably installed on the frame through a sliding assembly, the sliding assembly comprises a slide rail arranged on the frame and a guide sleeve connected to the power head, a proximity switch sensor is arranged on the side end of the slide rail away from the clamp, and a sensing block matched with the proximity switch sensor is arranged on the bottom of the guide sleeve away from the clamp; The device also includes a hydraulic drive assembly for driving the power head on the slide rail to move closer to or away from the clamp, and a PLC controller for controlling the switching amount of a proportional solenoid valve of the hydraulic drive assembly; The PLC controller is also connected to the proximity switch sensor on the slide rail through a line. It controls the switching amount of the proportional solenoid valve of the hydraulic drive component according to the signal change of the proximity switch sensor, and establishes corresponding control methods under different states for its control process.

2. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 1, characterized in that: The PLC controller divides the rapid retreat and deceleration positioning process of the power head into the first state, the second state, the third state and the fourth state according to the movement position of the power head and the change state of the digital signal received by the PLC controller, wherein: The first state means that the induction block does not reach the detection range of the proximity switch sensor during the backward movement of the power head. At this time, the PLC controller continues to receive the digital signal "0" returned by the proximity switch sensor; The second state refers to the moment when the induction block just enters the detection range of the proximity switch sensor during the backward movement of the power head. At this time, the digital signal returned by the proximity switch sensor received by the PLC controller jumps from "0" to "1"; The third state means that the induction block is continuously within the detection range of the proximity switch sensor during the backward movement of the power head, and the PLC controller continuously receives the digital signal "1" returned by the proximity switch sensor; The fourth state refers to the situation that the sensing block of the power head has just left the detection range of the proximity switch sensor. At this time, the digital signal returned by the proximity switch sensor received by the PLC controller jumps from "1" to "0".

3. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 2, wherein: In the first state, the PLC controller maintains the switching value of the proportional solenoid valve; In the second state, the PLC controller immediately controls the switching amount of the proportional solenoid valve to start decreasing; In the third state, the PLC controller continuously controls the switching amount of the proportional solenoid valve to decrease; In the fourth state, the PLC controller immediately controls the switch value of the proportional solenoid valve to become 0, and the power head stops moving.

4. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 3, characterized in that: The duration of the third state is related to the initial speed of the power head, the amplitude of the switch quantity adjusted by the PLC controller, and the width of the sensing block of the power head; combined with the initial speed of the power head, the amplitude of the switch quantity adjusted by the PLC controller, and the width parameters of the sensing block of the power head, the configuration is based on the standard that when the switch quantity is reduced to 0, the sensing block of the power head just leaves the detection range of the proximity switch sensor.

5. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 1, characterized in that: The proximity switch sensor adopts an inductive proximity switch sensor, which has a high-frequency oscillation coil, a signal processing circuit and a signal output circuit arranged inside the inductive proximity switch sensor; During operation, the high-frequency oscillation coil continuously oscillates, and the signal output circuit remains in its initial state. The initial state of the signal output circuit includes normally open or normally closed states. When the induction block enters the detection range of the proximity switch sensor, the oscillation frequency of the high-frequency oscillation coil changes. The signal processing circuit triggers the state flip of the signal output circuit based on the frequency change, and the entire process continuously transmits the output signal of the signal output circuit to the PLC control program.

6. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 5, characterized in that: The induction block is made of a metal material. When the induction block moves quickly and enters the magnetic field range of the inductive proximity switch sensor, eddy current effects are generated between the metal surface of the induction block made of the metal material and the magnetic field generated by the high-frequency oscillation coil due to electromagnetic induction, resulting in an increase in the energy loss of the high-frequency oscillation coil and a change in the oscillation frequency of the high-frequency oscillation coil. The signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

7. The detection and positioning device for the rapid backward movement of the power head of a drilling rig according to claim 6, wherein: The perpendicular distance between the end face of the proximity switch sensor and the surface of the induction block is set to 4 - 8 mm.

8. A detection and positioning method for the rapid backward movement of the power head of a drilling rig, characterized in that: The method includes: S1. The power head quickly retreats along the slide rail under the action of the hydraulic drive assembly, and the PLC controller continuously monitors the digital signal of the inductive proximity switch sensor. S2. When the induction block does not enter the detection range of the sensor, the PLC controller receives the signal "0" and maintains the current switch value of the proportional solenoid valve. S3. When the induction block enters the detection range of the sensor and the signal jumps from "0" to "1", the PLC controller immediately reduces the switch value of the proportional solenoid valve to start deceleration. S4. When the induction block remains within the detection range, the PLC controller continuously and dynamically adjusts the switch value according to the signal "1" to decelerate to the preset speed. S5. When the induction block exits the detection range and the signal jumps from "1" to "0", the PLC controller sets the switch value to zero, and the power head stops precisely. S6. The drill pipe thread is removed by the swing of the gripper and the reverse rotation of the power head, and the manipulator grabs to complete the rod removal.

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