Intelligent drilling machine drill rod assembling and disassembling system

Abstract

The invention relates to the technical field of drilling machines, in particular to an intelligent drilling machine drill rod connecting and dismounting system. The drill rod loading and unloading system comprises a drill arm module, a big arm module, a mechanical arm module, a drill rod warehouse and a mechanical arm module, and D-H models of the drill arm module, the big arm module, the mechanical arm module, the drill rod warehouse and the mechanical arm module are established respectively; performing positive solution operation on each corresponding D-H model to obtain a first pose, a second pose, a third pose and a fourth pose; and inverse solution operation is carried out based on the first pose, the second pose, the third pose and the fourth pose, and parameter values of the drill arm module, the large arm module, the mechanical arm module, the drill rod warehouse and the manipulator module are obtained. According to the embodiment of the invention, the kinematic models are respectively established, the drill rod connecting and dismounting system is split and decoupled, and the calculation complexity is reduced. All the functional modules work synchronously, so that the waiting time is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling rigs, and particularly to an intelligent drilling rig drill pipe connection and disconnection system. Background Art

[0002] During the process of drilling and rod retraction of down-the-hole drills, the connection and disconnection operations of drill pipes need to be carried out frequently. The traditional method is manual operation. Due to the large number of degrees of freedom of each component of the drilling rig and the complex operation, high requirements are imposed on the operation skills of operators. Moreover, even for skilled operators, it takes a long time to carry out the connection and disconnection operations of drill pipes, resulting in low operation efficiency.

[0003] Furthermore, the time occupied by the connection and disconnection operations of drill pipes in the entire drilling operation process is the largest. The level of connection and disconnection operation efficiency directly affects the overall drilling operation efficiency. Therefore, it is necessary to improve the process of connection and disconnection operations. Summary of the Invention

[0004] In view of this, the present invention provides an intelligent drilling rig drill pipe connection and disconnection system to solve the problems that the time occupied by the connection and disconnection operations of drill pipes is relatively large and the disassembly efficiency is relatively low.

[0005] In a first aspect, the present invention provides an intelligent drilling rig drill pipe connection and disconnection system, which includes: A drill arm module for installing drill pipes and operating the drill pipes to carry out drilling operations; A boom module connected to the drill arm module for adjusting the drilling angle of the drill arm module; A robotic arm module for grasping drill pipes at a predetermined position and installing the drill pipes into the drill arm module, and for disassembling the drill pipes from the drill arm module and moving the drill pipes to a predetermined position; A drill pipe library for storing drill pipes; A manipulator module for taking out drill pipes from the drill pipe library and moving the drill pipes to a predetermined position for the robotic arm module to grasp, and for grasping the drill pipes on the robotic arm module at a predetermined position and moving the drill pipes into the drill pipe library for storage; D-H models of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module are respectively established; Forward kinematic calculations are performed on each corresponding D-H model to obtain the first pose of the gripper center in the manipulator module, the second pose of the hinge point between the boom module and the drill arm module, the third pose of the gripper center in the robotic arm module, and the fourth pose of the drill pipe center in the drill arm module; Inverse kinematic calculations are performed based on the first pose, the second pose, the third pose, and the fourth pose to respectively obtain the parameter values of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module.

[0006] Beneficial effects: In the embodiments of the present invention, the drill pipe connection and disconnection system is divided into five major modules: the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module. Kinematic models are established respectively, and the drill pipe connection and disconnection system is disassembled and decoupled, reducing the complexity of calculation. In this embodiment, all functional modules operate synchronously, reducing unnecessary waiting time and improving the efficiency of the connection and disconnection rod operation. Moreover, this embodiment realizes automatic continuous operation, significantly improving the overall comprehensive efficiency of the drilling rig operation compared with manual operation. Therefore, this embodiment can greatly shorten the time for connecting and disconnecting rods during the drilling operation, and the automatic continuous operation mode improves the overall comprehensive efficiency of the drilling rig operation.

[0007] In an alternative embodiment, the calculation method of the first pose is as follows: Form a plurality of first spatial transformation matrices according to the predetermined points of the manipulator module; the first spatial transformation matrix is defined by joint parameters (θ, a, α, d); The first spatial transformation matrices are respectively as follows: T1 = f(θ1, a1, α1, d1); T2 = f(θ3, a3, α3, d3); T3 = f(θ4, a4, α4, d4); M1 = T1 * T2 * T3; Wherein, M1 is the first pose of the gripper center in the manipulator module.

[0008] In an alternative embodiment, the calculation method of the second pose is as follows: Form a plurality of second spatial transformation matrices according to the predetermined points of the hinge points; the second spatial transformation matrix is defined by joint parameters (θ, a, α, d); The second spatial transformation matrices are respectively as follows: T4 = f(θ6, a6, α6, d6); T5 = f(θ7, a7, α7, d7); T6 = f(θ8, a8, α8, d8); T7 = f(θ9, a9, α9, d9); T8 = f(θ10, a10, α10, d10); T9 = f(θ11, a11, α11, d11); M2 = T4 * T5 * T6 * T7 * T8 * T9; Wherein, M2 is the second pose of the hinge point between the boom module and the drill arm module.

[0009] In an alternative embodiment, the calculation method of the fourth pose is as follows: Form a fourth spatial transformation matrix according to the predetermined points of the drill arm module; the fourth spatial transformation matrix is defined by joint parameters (θ, a, α, d). The fourth spatial transformation matrix is as follows: T15 = f(θ18, a18, α18, d18); M4 = M2 * T15; where M4 is the fourth pose of the drill pipe center in the drill arm module.

[0010] In an alternative embodiment, the calculation method of the third pose is as follows: Form a plurality of third spatial transformation matrices according to the predetermined points of the robotic arm module; the third spatial transformation matrix is defined by joint parameters (θ, a, α, d). The third spatial transformation matrices are respectively as follows: T10 = f(θ12, a12, α12, d12); T11 = f(θ13, a13, α13, d13); T12 = f(θ14, a14, α14, d14); T13 = f(θ15, a15, α15, d15); T14 = f(θ16, a16, α16, d16); M3 = T10 * T11 * T12 * T13 * T14; where M3 is the third pose of the gripper center in the robotic arm module.

[0011] In an alternative embodiment, perform inverse kinematics calculations based on the third pose of the gripper center in the robotic arm module to obtain the parameter values of the robotic arm module, including: Let , construct the modulus function as shown below; , any value that makes the minimum point is the solution of the system of equations; The calculation steps are as follows: Given the initial value (k = 0); the initial value is the angle or length value of each degree of freedom of the robotic arm module. Calculate the negative gradient vector ; Perform a one-dimensional search calculation to explore the step size , ; Perform ; If , then take , stop the operation; otherwise, let k = k + 1, turn to 2, and continue the iteration.

[0012] In an alternative embodiment, the manipulator module retrieves a drill pipe from the drill pipe library and moves the drill pipe to a predetermined position for the robotic arm module to grasp, including: Start the drill pipe retrieval program of the manipulator module; When there is a drill pipe in the manipulator module, perform inverse kinematic calculation based on the first pose to obtain the first parameter value of the manipulator module; and directly move the drill pipe to the predetermined position for the robotic arm module to grasp according to the first parameter value; If there is a drill pipe in the storage layer of the drill pipe library, retrieve the drill pipe and move it to the predetermined position for the robotic arm module to grasp, and record the number of layers of the storage layer and the remaining number of drill pipes in the storage layer at the same time. When the manipulator module fails to retrieve the drill pipe, send an alarm signal; If there is no drill pipe in the storage layer of the drill pipe library, the drill pipe library moves one layer and is re-supplied for the manipulator module to grasp; When there is no drill pipe in the manipulator module, perform inverse kinematic calculation based on the first pose to obtain the second parameter value of the manipulator module; directly move the manipulator module to the preset grasping position in the drill pipe library to grasp the drill pipe according to the second parameter value.

[0013] In an alternative embodiment, the manipulator module grasps the drill pipe on the robotic arm module from the predetermined position and moves the drill pipe to the drill pipe library for storage, including: Start the drill pipe storage program of the manipulator module; When there is no drill pipe in the manipulator module, perform inverse kinematic calculation based on the first pose to obtain the third parameter value of the manipulator module; directly move the manipulator module to the predetermined position to grasp the drill pipe on the robotic arm module according to the third parameter value; When there is a drill pipe in the manipulator module, if there is a vacancy in the storage layer of the drill pipe library, perform inverse kinematic calculation based on the first pose to obtain the fourth parameter value of the manipulator module; operate the manipulator module to place the drill pipe into the vacancy according to the fourth parameter value, and record the number of layers of the storage layer and the remaining number of drill pipes in the storage layer at the same time. When the manipulator module fails to place the drill pipe, send an alarm signal; if there is no vacancy in the storage layer of the drill pipe library, the drill pipe library moves one layer and is re-supplied for the manipulator module to store.

[0014] In an alternative embodiment, the robotic arm module grasps the drill pipe at the predetermined position and installs the drill pipe into the drill arm module, including: Start the drill pipe installation program of the robotic arm module; When there is no drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the fifth parameter value of the robotic arm module; adjust the robotic arm module to move to the predetermined position to grasp the drill pipe based on the fifth parameter value; When there is a drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the sixth parameter value of the robotic arm module; adjust the robotic arm module to install the drill pipe into the drill arm module based on the sixth parameter value.

[0015] In an alternative embodiment, the robotic arm module disassembles the drill pipe from the drill arm module and moves the drill pipe to a predetermined position, including: Start the drill pipe disassembly program of the robotic arm module; When there is no drill pipe on the robotic arm module, perform inverse kinematic calculation based on the second pose to obtain the seventh parameter value of the hinge point; adjust the drill arm module to move to the disassembly position based on the seventh parameter value; perform inverse kinematic calculation based on the third pose to obtain the eighth parameter value of the robotic arm module; adjust the robotic arm module to move to the drill arm module to disassemble the drill pipe based on the eighth parameter value; When there is a drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the ninth parameter value of the robotic arm module; adjust the robotic arm module to move the drill pipe to a predetermined position based on the ninth parameter value. Description of the Drawings

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a coordinate schematic diagram of the drill pipe connection and disconnection system in the embodiment of the present invention; Figure 2 It is a flowchart of the robotic arm module picking up the drill pipe in the embodiment of the present invention; Figure 3 It is a flowchart of the robotic arm module storing the drill pipe in the embodiment of the present invention; Figure 4 It is a flowchart of the robotic arm module loading the drill pipe in the embodiment of the present invention; Figure 5 It is a flowchart of the robotic arm module disassembling the drill pipe in the embodiment of the present invention; Figure 6 It is a flowchart of the automatic rod connection of the drill pipe connection and disconnection system in the embodiment of the present invention; Figure 7 It is a flowchart of the automatic drilling of the drill arm module in the embodiment of the present invention; Figure 8 It is a flowchart of the automatic rod disconnection of the drill pipe connection and disconnection system in the embodiment of the present invention; Figure 9 It is a flowchart of the automatic rod disconnection of the drill arm module in the embodiment of the present invention. Detailed Embodiments

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It 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, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0021] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0022] During the drilling and rod retraction processes of a down-the-hole drill, the connection and disconnection operations of drill pipes need to be performed frequently. The traditional method is manual operation. Since the degrees of freedom of each component of the drill are relatively many and the operation is complex, high requirements are imposed on the operation skills of the operators. Moreover, even for a skilled operator, it takes a long time to perform the connection and disconnection operations of drill pipes, resulting in low operation efficiency. Furthermore, the time proportion of the connection and disconnection operations of drill pipes in the entire drilling operation process is the largest. The level of the connection and disconnection operation efficiency directly affects the overall drilling operation efficiency. Therefore, it is necessary to improve the process of the connection and disconnection operations.

[0023] In view of this, the present invention provides an intelligent drill pipe connection and disconnection system for a drill to solve the problems that the time proportion of the connection and disconnection operations of drill pipes is relatively large and the disassembly efficiency is relatively low.

[0024] The following combination Figures 1 to 9, describe embodiments of the present invention.

[0025] According to an embodiment of the present invention, on the one hand, an intelligent drill pipe connection and disconnection system for a drill rig is provided. The drill pipe connection and disconnection system includes: a drill arm module, a boom module, a robotic arm module, a drill pipe library, and a manipulator module.

[0026] Specifically, in this embodiment, the drill arm module is used to install drill pipes and operate the drill pipes for drilling operations. The boom module is connected to the drill arm module and is used to adjust the drilling angle of the drill arm module. The robotic arm module is used to grab drill pipes at a predetermined position and install the drill pipes into the drill arm module, and to disassemble the drill pipes from the drill arm module and move the drill pipes to a predetermined position. The drill pipe library is used to store drill pipes, and the manipulator module is used to take out drill pipes from the drill pipe library, move the drill pipes to a predetermined position for the robotic arm module to grab, and grab the drill pipes on the robotic arm module from the predetermined position and move the drill pipes to the drill pipe library for storage.

[0027] In the drill pipe connection and disconnection system, the process of loading drill pipes is: sending the drill pipes from the drill pipe library to the drill arm; the process of unloading drill pipes is: sending the drill pipes from the drill arm back to the drill pipe library. In the appendix Figure 2 to the appendix Figure 9 "Y" represents yes, and "N" represents no.

[0028] The specific working process of this embodiment is as follows: S1. Establish D-H models of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module respectively.

[0029] According to the overall structure of the drill pipe connection and disconnection system, its degrees of freedom of motion are 22, including 2 for the drill pipe library, 3 for the manipulator module, 6 for the boom module, 5 for the drill arm module, and 6 for the robotic arm module. Moreover, each moving joint forms a spatial transformation matrix through dimensional parameters and the amount of motion of the degrees of freedom of motion. Among them, the following degrees of freedom do not affect the positioning operation of connecting and disconnecting drill pipes: drill pipe library upgrade, opening and closing of the gripper of the drill pipe library manipulator, opening and closing of the robotic arm gripper, opening and closing of the upper clamp on the drill arm, opening and closing of the lower clamp on the drill arm, drill arm unclamping, and forward and reverse rotation of the drill arm. Therefore, they are not considered in this embodiment.

[0030] In summary, a total of 15 spatial matrices need to be constructed for forward and inverse kinematic calculations. The specific spatial matrices are specifically described in the following embodiments.

[0031] S2. Perform forward kinematic calculations on each corresponding D-H model to obtain the first pose of the gripper center in the manipulator module, the second pose of the hinge point between the boom module and the drill arm module, the third pose of the gripper center in the robotic arm module, and the fourth pose of the drill pipe center in the drill arm module.

[0032] The controller drives the corresponding kinematic pair to execute in place according to the solution result. When the angles or lengths of each degree of freedom are known, the values of each degree of freedom are substituted into the calculation formula of each degree of freedom in the D-H model, and the corresponding pose can be calculated.

[0033] S3. Perform inverse solution operations based on the first pose, the second pose, the third pose, and the fourth pose to obtain the parameter values of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module respectively.

[0034] When the pose of each module is given, by performing an inverse solution algorithm on the D-H model, the angles or length values of each degree of freedom in each module can be calculated.

[0035] With such settings, the embodiment of the present invention divides the drill pipe connection and disconnection system into five major modules: the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module. Kinematic models are established respectively, and the drill pipe connection and disconnection system is split and decoupled, reducing the complexity of calculation. In this embodiment, all functional modules operate synchronously, reducing unnecessary waiting time and improving the efficiency of the rod connection and disconnection operation. Moreover, this embodiment realizes automatic continuous operation. Compared with manual operation, the overall comprehensive efficiency of the drilling rig operation is significantly improved. Therefore, this embodiment can greatly shorten the rod connection and disconnection time during the drilling operation, and the automatic continuous operation method improves the overall comprehensive efficiency of the drilling rig operation.

[0036] In this embodiment, the D-H model describes the geometric relationship of adjacent links through the following four parameters: Length a: Along the x-axis, the translational distance from the z-axis of the previous joint to the z-axis of the current joint.

[0037] Twist angle α: Around the x-axis, the rotation angle from the z-axis of the previous joint to the z-axis of the current joint.

[0038] Offset d: Along the z-axis, the translational distance from the x-axis of the previous joint to the x-axis of the current joint.

[0039] Joint angle θ: Around the z-axis, the rotation angle (for rotational joints) or fixed value (for translational joints) from the x-axis of the previous joint to the x-axis of the current joint.

[0040] As Figure 1 shown, for the definition of the coordinate axes, the coordinate origin of the entire system is defined at the center of the hinge point between the boom and the chassis. The positive x direction is to the left as shown in the figure, the positive y direction is upward as shown in the figure, and the positive z direction is vertically inward.

[0041] Furthermore, in an optional implementation manner, the calculation method of the first pose is as follows: Form a plurality of first spatial transformation matrices according to the predetermined positions of the manipulator module; the first spatial transformation matrices are defined by joint parameters (θ, a, α, d); The first spatial transformation matrices are respectively as follows: T1 = f(θ1, a1, α1, d1); T2 = f(θ3, a3, α3, d3); T3 = f(θ4, a4, α4, d4); M1 = T1 * T2 * T3; Wherein, M1 is the first pose of the gripper center in the manipulator module. T1, T2, and T3 are the three degrees of freedom of the gripper center in the manipulator module.

[0042] Furthermore, in an alternative embodiment, the calculation method of the second pose is as follows: Form a plurality of second spatial transformation matrices according to the predetermined positions of the hinge points; the second spatial transformation matrices are defined by joint parameters (θ, a, α, d); The second spatial transformation matrices are respectively as follows: T4 = f(θ6, a6, α6, d6); T5 = f(θ7, a7, α7, d7); T6 = f(θ8, a8, α8, d8); T7 = f(θ9, a9, α9, d9); T8 = f(θ10, a10, α10, d10); T9 = f(θ11, a11, α11, d11); M2 = T4 * T5 * T6 * T7 * T8 * T9; Wherein, M2 is the second pose of the hinge point between the boom module and the drill boom module. T4, T5, T6, T7, T8, and T9 are the six degrees of freedom of the hinge point.

[0043] Furthermore, in an alternative embodiment, the calculation method of the fourth pose is as follows: Form a fourth spatial transformation matrix according to the predetermined position of the drill boom module; the fourth spatial transformation matrix is defined by joint parameters (θ, a, α, d); The fourth spatial transformation matrix is as follows: T15 = f(θ18, a18, α18, d18); M4 = M2 * T15; Wherein, M4 is the fourth pose of the drill pipe center in the drill boom module. T15 is one degree of freedom of the drill pipe center.

[0044] Furthermore, in an alternative embodiment, the calculation method of the third pose is as follows: Form multiple third space transformation matrices according to the predetermined points of the robotic arm module; the third space transformation matrix is defined by joint parameters (θ, a, α, d); The third space transformation matrices are as follows respectively: T10 = f(θ12, a12, α12, d12); T11 = f(θ13, a13, α13, d13); T12 = f(θ14, a14, α14, d14); T13 = f(θ15, a15, α15, d15); T14 = f(θ16, a16, α16, d16); M3 = T10 * T11 * T12 * T13 * T14; Among them, M3 is the third pose of the gripper center in the robotic arm module. T10, T11, T12, T13, and T14 are the five degrees of freedom of the gripper center in the robotic arm module.

[0045] Furthermore, in an optional implementation manner, the inverse solution of the robotic arm module is taken as an example for algorithm description.

[0046] The specific content is as follows. Based on the third pose of the gripper center in the robotic arm module, perform inverse solution operations to obtain the parameter values of the robotic arm module, including: Let , construct the modular function as shown below; , any point that makes the minimum point is the solution of the system of equations; The calculation steps are as follows: Given the initial value (k = 0); the initial value is the angle or length value of each degree of freedom of the robotic arm module; Calculate the negative gradient vector ; Perform a one-dimensional search calculation to explore the step size , ; Perform ; If , then take , stop the operation; otherwise, let k = k + 1, turn to 2, and continue the iteration. Therefore, in this embodiment, the error gradient between the target pose and the actual pose is calculated, and the parameters are adjusted iteratively to minimize the error, and finally the required joint parameters are obtained. The inverse solution algorithm based on gradient descent in this embodiment ensures the positioning accuracy.

[0047] Of course, the inverse kinematic algorithms of the boom module, the drill boom module, the drill pipe library module, and the manipulator module are similar, and will not be elaborated here.

[0048] The following embodiments will elaborate in detail on the processes of taking, installing, removing, and storing drill pipes.

[0049] Further, in an alternative embodiment, as Figure 2 shown, the process of taking a drill pipe by the manipulator module is as follows: The manipulator module takes out a drill pipe from the drill pipe library and moves the drill pipe to a predetermined position for the robotic arm module to grasp. Specifically, it includes the following steps: S401. Start the drill pipe taking program of the manipulator module.

[0050] If the drill pipe taking program has ended, then the overall process ends directly. If the drill pipe taking program is proceeding normally and has not ended, then execute step S402.

[0051] S402. When there is a drill pipe in the manipulator module, perform inverse kinematic calculation based on the first pose to obtain the first parameter value of the manipulator module; and directly move the drill pipe operated by the manipulator module to a predetermined position for the robotic arm module to grasp according to the first parameter value.

[0052] After performing the inverse kinematic calculation, adjust the position of the manipulator module, for example, lean forward and swing right. After adjusting the position, it indicates that the manipulator module is ready and waits for the robotic arm module to grasp. When the robotic arm module finishes taking the drill pipe, the drill pipe taking program of the drill pipe taking manipulator module ends.

[0053] S403. When there is no drill pipe in the manipulator module, perform inverse kinematic calculation based on the first pose to obtain the second parameter value of the manipulator module; directly move the manipulator module to the preset grasping position in the drill pipe library to grasp the drill pipe according to the second parameter value.

[0054] If there is no drill pipe in the manipulator module, then it is necessary to take a drill pipe from the drill pipe library. During the movement to the drill pipe library, it is also necessary to adjust the position of the manipulator module, for example, swing left, open the gripper, and lean backward. Of course, the position of the drill pipe library can also be adjusted during this process. For the specific method, refer to this embodiment and will not be elaborated here. Thus, it is convenient for the manipulator module to take out the drill pipe.

[0055] S404. If there is a drill pipe in the storage layer of the drill pipe library, take out the drill pipe and move it to a predetermined position for the robotic arm module to grasp, and record the number of layers of the storage layer and the remaining number of drill pipes in the storage layer at the same time. When the manipulator module fails to take the drill pipe, send an alarm signal.

[0056] Since there are multiple storage levels in the drill pipe library, and a certain number of drill pipes are stored in each storage level, such as 6, 8, 10, or 12. Therefore, first determine whether there are drill pipes in the current storage level. If there are drill pipes, directly locate and take out the drill pipes after positioning. At the same time, record the number of the storage level and the remaining number of drill pipes in the storage level. Then execute step S402 and wait for the manipulator module to grab.

[0057] However, during this process, unexpected situations are likely to occur. For example, if the manipulator module fails to clamp the drill pipe, then the manipulator module cannot obtain the signal that it has grabbed the drill pipe. At this time, an alarm needs to be processed and wait for the technician to check the manipulator module. If necessary, maintenance can be carried out.

[0058] S405: If there are no drill pipes in the storage level of the drill pipe library, the drill pipe library moves one layer and supplies the manipulator module to grab again.

[0059] If there are no drill pipes in the current storage level, then the drill pipe library needs to move one storage level, for example, it can rise or fall, and supply the manipulator module to grab again.

[0060] Further, in an alternative embodiment, as Figure 3 shown, the process of storing drill pipes by the manipulator module is as follows: The manipulator module grabs the drill pipe on the robotic arm module from a predetermined position and moves the drill pipe to the drill pipe library for storage. Specifically, it includes the following steps: S406: Start the drill pipe storage program of the manipulator module.

[0061] S407: When there is no drill pipe in the manipulator module, perform inverse kinematics based on the first pose to obtain the third parameter value of the manipulator module; directly move the manipulator module to the predetermined position according to the third parameter value to grab the drill pipe on the robotic arm module.

[0062] Similarly, after performing inverse kinematics, adjust the position of the manipulator module, for example, lean forward and swing to the right. After adjusting the position, it means that the manipulator module is ready and waits for the robotic arm module to place the drill pipe. When the robotic arm module finishes placing the drill pipe, the work of the robotic arm module is completed.

[0063] S408: When there is a drill pipe in the manipulator module, if there is a vacancy in the storage level of the drill pipe library, perform inverse kinematics based on the first pose to obtain the fourth parameter value of the manipulator module; operate the manipulator module according to the fourth parameter value to put the drill pipe into the vacancy, and at the same time record the number of the storage level and the remaining number of drill pipes in the storage level. When the manipulator module fails to place the drill pipe, send an alarm signal; if there is no vacancy in the storage level of the drill pipe library, the drill pipe library moves one layer and supplies the manipulator module to store again.

[0064] Similarly, it is necessary to determine whether there is an empty space in the drill pipe layer. If there is, then adjust the position of the manipulator module, and then place the drill pipe into the empty space, while recording the layer number of the drill pipe layer and the remaining number of drill pipes in the layer. Similarly, if the manipulator module still emits a situation of grasping a drill pipe, an alarm process also needs to be performed.

[0065] If there is no empty space, similarly, it is necessary to move the drill pipe layer and select a new layer for storage.

[0066] Furthermore, in an alternative embodiment, as Figure 4 shown, the process of loading the drill pipe by the robotic arm module is as follows: The robotic arm module grasps the drill pipe at a predetermined position and installs the drill pipe into the drill arm module, including: S409. Start the drill pipe loading program of the robotic arm module.

[0067] S410. When there is no drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the fifth parameter value of the robotic arm module; adjust the robotic arm module to move to the predetermined position to grasp the drill pipe based on the fifth parameter value.

[0068] S411. When there is a drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the sixth parameter value of the robotic arm module; adjust the robotic arm module to install the drill pipe into the drill arm module based on the sixth parameter value.

[0069] Similarly, after starting the drill pipe loading program, if there is no drill pipe, then it is necessary to go to the position of the manipulator module to pick up the drill pipe. Inverse kinematics is required for positioning during this process. For example, as Figure 4 shown, the telescoping is in place, the vertical is in place, the slide is in place, the swing is in place, and the horizontal telescoping is in place.

[0070] After picking up the drill pipe, execute step S410 when there is a drill pipe on the robotic arm module. At this time, it is necessary to install the drill pipe into the drill arm module. Inverse kinematics is also required for positioning. For example, as Figure 4 shown, the parallelism is adjusted, the swing is in place, and the vertical is in place. Then the thruster of the drill arm module descends to ensure that the drill pipe is stuck between the thruster and the pipe handler.

[0071] Furthermore, the gripper of the robotic arm module is loosened, and the swing continues for assembly until the drill pipe is placed at the drilling position mark.

[0072] Furthermore, it is also necessary to calculate and record the number of drill pipes that have been drilled. If it is already the last drill pipe, then the drill pipe loading process of the robotic arm module ends. If not, it is still necessary to prepare to execute the next drill pipe loading program.

[0073] Furthermore, in an alternative embodiment, as Figure 5As shown in the figure, the process of the robotic arm module removing the drill rod is as follows: The robotic arm module removes the drill rod from the drill arm module and moves the drill rod to a predetermined position, including: S412. Start the drill rod removal program of the robotic arm module.

[0074] S413. When there is no drill rod on the robotic arm module, perform inverse kinematic calculation based on the second pose to obtain the seventh parameter value of the hinge point; adjust the drill arm module to move to the disassembly position based on the seventh parameter value; perform inverse kinematic calculation based on the third pose to obtain the eighth parameter value of the robotic arm module; adjust the robotic arm module to move to the drill arm module to disassemble the drill rod based on the eighth parameter value.

[0075] S414. When there is a drill rod on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the ninth parameter value of the robotic arm module; adjust the robotic arm module to move the drill rod to a predetermined position based on the ninth parameter value.

[0076] Similarly, at the beginning of the program, the robotic arm module needs to determine whether there is a drill rod. If there is no drill rod, it means that it is necessary to take out the drill rod from the drill arm module. The process of taking out the drill rod is opposite to the process of assembling the drill rod in the above-mentioned embodiment, which will not be elaborated here. For the detailed process, reference can be made to the appendix Figure 5 . Then, after taking out the drill rod, it is necessary to correspondingly move the drill rod to the grasping position of the manipulator module so that the manipulator module can store the drill rod in the drill rod library. This part will not be elaborated here either. For the detailed process, reference can be made to the appendix Figure 5 .

[0077] Furthermore, in an alternative embodiment, as Figure 7 shown, the steps of the drill arm module for automatic drilling are as follows: After the robotic arm module places the drill rod at the drilling position mark, the make-up / break-out tong closes, and the thruster rotates forward and moves downward to engage with the upper end of the drill rod. Then, the make-up / break-out tong opens. Determine whether the current drill rod is the first drill rod. If it is not the first drill rod, the thruster needs to rotate forward and move downward so that the new drill rod engages with the previous drill rod. If it is the first drill rod, directly open the lower make-up / break-out tong, and the thruster rotates forward and drills downward until the drilling is completed, and then the lower make-up / break-out tong closes.

[0078] If it is the last drill rod, directly end. If it is not the last drill rod, then repeat the above drill rod steps.

[0079] Furthermore, in an alternative embodiment, as Figure 9 shown, the steps of the drill arm module for automatic drill rod removal are as follows: After the drill rod removal program is started, first take the drill rod from the thruster through the robotic arm module, and then the thruster rotates forward and moves up to the in-place position.

[0080] If this is the last drill pipe, directly close the upper and lower pipe unloaders, then reverse and lift the thruster to achieve uncoupling, and then open the pipe unloader to complete the identification of the thruster pipe unloading completion.

[0081] If this is not the last drill pipe, first control the lower pipe unloader to close, then control the upper pipe unloader to close, then retract the uncoupling oil cylinder, and at the same time record the uncoupling pressure of the uncoupling oil cylinder. Open the upper pipe unloader, and then return the uncoupling oil cylinder to its initial position. It is also necessary to check whether the pressure of the uncoupling oil cylinder is less than the set value. If the high pressure still remains, it means that the pressure relief is not completed and re-operation is required. If the pressure of the uncoupling oil cylinder is less than the set value, then the upper pipe unloader can be closed, then the thruster can be reversed and lifted to achieve uncoupling, and then the upper pipe unloader can be opened to complete the identification of the thruster pipe unloading completion.

[0082] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An intelligent drill pipe connection and disconnection system for a drilling rig, characterized in that, Including: A drill arm module for installing drill pipes and operating the drill pipes to perform drilling operations; A boom module connected to the drill arm module for adjusting the drilling angle of the drill arm module; A robotic arm module for grasping a drill pipe at a predetermined position and installing the drill pipe into the drill arm module, and for disassembling the drill pipe from the drill arm module and moving the drill pipe to the predetermined position; A drill pipe library for storing drill pipes; A manipulator module for taking out a drill pipe from the drill pipe library and moving the drill pipe to the predetermined position for the robotic arm module to grasp, and for grasping the drill pipe on the robotic arm module at the predetermined position and moving the drill pipe to the drill pipe library for storage; Establish D-H models of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module respectively; Perform forward kinematic calculations on each corresponding D-H model to obtain the first pose of the gripper center in the manipulator module, the second pose of the hinge point between the boom module and the drill arm module, the third pose of the gripper center in the robotic arm module, and the fourth pose of the drill pipe center in the drill arm module; Perform inverse kinematic calculations based on the first pose, the second pose, the third pose, and the fourth pose to obtain the parameter values of the drill arm module, the boom module, the robotic arm module, the drill pipe library, and the manipulator module respectively.

2. The intelligent drill pipe connection and disconnection system of the drill rig according to claim 1, wherein, The calculation method of the first pose is as follows: Form a plurality of first spatial transformation matrices according to the predetermined points of the manipulator module; the first spatial transformation matrix is defined by joint parameters (θ, a, α, d); The first spatial transformation matrices are respectively as follows: T1 = f(θ1, a1, α1, d1); T2 = f(θ3, a3, α3, d3); T3 = f(θ4, a4, α4, d4); M1 = T1 * T2 * T3; Wherein, M1 is the first pose of the gripper center in the manipulator module.

3. The intelligent drill pipe connection and disconnection system of a drill rig according to claim 1, wherein, The calculation method of the second pose is as follows: Form a plurality of second spatial transformation matrices according to the predetermined points of the hinge point; the second spatial transformation matrix is defined by joint parameters (θ, a, α, d); The second spatial transformation matrices are respectively as follows: T4 = f(θ6, a6, α6, d6); T5 = f(θ7, a7, α7, d7); T6 = f(θ8, a8, α8, d8); T7 = f(θ9, a9, α9, d9); T8 = f(θ10, a10, α10, d10); T9 = f(θ11, a11, α11, d11); M2 = T4 * T5 * T6 * T7 * T8 * T9; Wherein, M2 is the second pose of the hinge point between the boom module and the drill arm module.

4. The intelligent drill pipe connection and disconnection system for a drill rig according to claim 3, characterized in that The calculation method of the fourth pose is as follows: Form a fourth spatial transformation matrix according to the predetermined points of the drill arm module; the fourth spatial transformation matrix is defined by joint parameters (θ, a, α, d); The fourth spatial transformation matrix is as follows: T15 = f(θ18, a18, α18, d18); M4 = M2 * T15; Wherein, M4 is the fourth pose of the drill pipe center in the drill arm module.

5. The intelligent drill pipe connection and disconnection system for a drill rig according to claim 1, wherein, The calculation method of the third pose is as follows: Based on the predetermined points of the robotic arm module, a plurality of third space transformation matrices are formed; the third space transformation matrix is defined by joint parameters (θ, a, α, d); The third space transformation matrices are respectively as follows: T10 = f(θ12, a12, α12, d12); T11 = f(θ13, a13, α13, d13); T12 = f(θ14, a14, α14, d14); T13 = f(θ15, a15, α15, d15); T14 = f(θ16, a16, α16, d16); M3 = T10 * T11 * T12 * T13 * T14; Among them, M3 is the third pose of the gripper center in the robotic arm module.

6. The intelligent drill pipe connection and disconnection system for a drill rig according to claim 5, wherein, Based on the third pose of the gripper center in the robotic arm module, an inverse solution operation is performed to obtain the parameter values of the robotic arm module, including: Let , construct the modular function as follows; , any value that makes reach the minimum point is the solution of the system of equations; The calculation steps are as follows: Given an initial value (k = 0); the initial value is the angle or length value of each degree of freedom of the robotic arm module; Calculate the negative gradient vector ; Perform one-dimensional search calculation to explore the step size , ; Make ; If , then take , and stop the operation; otherwise, let k = k + 1, go to 2, and continue the iteration.

7. The intelligent drill pipe connection and disconnection system of a drill rig according to any one of claims 1 to 6, characterized in that, The manipulator module takes out a drill pipe from the drill pipe library and moves the drill pipe to the predetermined position for the robotic arm module to grasp, including: Start the drill pipe taking program of the manipulator module; When there is no drill pipe in the manipulator module, an inverse solution operation is performed based on the first pose to obtain the second parameter value of the manipulator module; according to the second parameter value, the manipulator module is directly moved to the preset grasping position in the drill pipe library to grasp the drill pipe; If there is a drill pipe in the storage layer of the drill pipe library, the drill pipe is taken out and moved to the predetermined position for the robotic arm module to grasp, and at the same time, the number of layers of the storage layer and the remaining number of drill pipes in the storage layer are recorded. When the manipulator module fails to take the drill pipe, an alarm signal is issued; If there is no drill pipe in the storage layer of the drill pipe library, the drill pipe library moves one layer and is re-supplied for the manipulator module to grasp; When there is a drill pipe in the manipulator module, an inverse solution operation is performed based on the first pose to obtain the first parameter value of the manipulator module; and according to the first parameter value, the drill pipe is directly moved to the predetermined position for the robotic arm module to grasp.

8. The intelligent drill pipe connection and disconnection system of a drill rig according to any one of claims 1 to 6, characterized in that The manipulator module grasps the drill pipe on the robotic arm module from the predetermined position and moves the drill pipe to the drill pipe library for storage, including: Start the drill pipe storing program of the manipulator module; When there is no drill pipe in the manipulator module, an inverse solution operation is performed based on the first pose to obtain the third parameter value of the manipulator module; according to the third parameter value, the manipulator module is directly moved to the predetermined position to grasp the drill pipe on the robotic arm module; When there is a drill pipe in the manipulator module, if there is an empty space in the storage layer of the drill pipe library, an inverse solution operation is performed based on the first pose to obtain the fourth parameter value of the manipulator module; according to the fourth parameter value, the manipulator module is operated to put the drill pipe into the empty space, and at the same time, the number of layers of the storage layer and the remaining number of drill pipes in the storage layer are recorded. When the manipulator module fails to place the drill pipe, an alarm signal is issued; if there is no empty space in the storage layer of the drill pipe library, the drill pipe library moves one layer and is re-supplied for the manipulator module to store.

9. The intelligent drill pipe connection and disconnection system for a drill rig according to any one of claims 1 to 6, characterized in that, The robotic arm module grasps the drill pipe at the predetermined position and installs the drill pipe into the drill arm module, including: Start the drill pipe loading program of the robotic arm module; When there is no drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the fifth parameter value of the robotic arm module; adjust the robotic arm module to move to the predetermined position to grab the drill pipe based on the fifth parameter value; When there is a drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the sixth parameter value of the robotic arm module; adjust the robotic arm module to install the drill pipe into the drill arm module based on the sixth parameter value.

10. The intelligent drill pipe connection and disconnection system of a drill rig according to any one of claims 1 to 6, characterized in that, The robotic arm module disassembles the drill pipe from the drill arm module and moves the drill pipe to the predetermined position, including: Start the drill pipe unloading program of the robotic arm module; When there is no drill pipe on the robotic arm module, perform inverse kinematic calculation based on the second pose to obtain the seventh parameter value of the hinge point; adjust the drill arm module to move to the disassembly position based on the seventh parameter value; perform inverse kinematic calculation based on the third pose to obtain the eighth parameter value of the robotic arm module; adjust the robotic arm module to move into the drill arm module to disassemble the drill pipe based on the eighth parameter value; When there is a drill pipe on the robotic arm module, perform inverse kinematic calculation based on the third pose to obtain the ninth parameter value of the robotic arm module; adjust the robotic arm module to move the drill pipe to the predetermined position based on the ninth parameter value.

Images