Quick drill dismounting device of drilling machine

Abstract

The invention relates to a quick drill dismounting device of a drilling machine, and belongs to the field of coal mining equipment. The device comprises a drill retreating part, a drill moving part and a multi-thread PLC, and the multi-thread PLC can accurately estimate the time period of drill retreating and drill moving based on the induction signal feedback of the drill retreating part and the induction signal feedback of the drill moving part. Therefore, the multi-thread PLC adjusts the speed of drill retreating or drill moving according to the drill retreating time period and the drill moving time period so as to ensure that the working parameters of the drill retreating part and the drill moving part are adjusted by taking continuous execution of drill retreating and drill moving actions as a target. According to the invention, seamless connection of the drill withdrawing process and the drill moving process is ensured, the work flow of drill unloading of the whole drilling machine is optimized, the stability and reliability of equipment operation are improved, the operation complexity is reduced, and a powerful guarantee is provided for efficient and stable operation of the drilling machine.

Description

Technical Field

[0001] The present invention belongs to the field of coal mine equipment and relates to a quick drill unloading device for a drilling rig. Background Technique

[0002] The application background of automatic drilling 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-mechanical drill pipe loading and unloading methods are inefficient under complex geological conditions and are prone to safety accidents caused by drill pipe detachment, human misoperation, 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 drilling rigs and directional drilling rigs provides a hardware basis for automation upgrading. For example, the ZDY15000LDK drilling 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 a new stage in the technological iteration of the industry.

[0003] For drilling 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 risk of accidents such as coal and gas outbursts and mechanical injuries. Secondly, the continuous operation ability increases the single-shift drilling 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 drilling 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] Both the upper drilling and the drill unloading require the cooperation of the grasping manipulator and the drill retraction of the power head. However, in actual work, due to problems such as the drift of the power head and the inability of the grasping manipulator to accurately stop in the corresponding drill pipe groove, the process of the grasping manipulator and the drill retraction of the power head usually cannot be coordinated. For example, when the drill retraction of the power head is completed, the grasping manipulator is still in the drill moving work of the previous drill bit, resulting in a long idle period of the drill pipe withdrawn by the power head on the temporary placement device, leading to a decrease in the drill retraction efficiency; or when the grasping manipulator completes the previous drill moving work, the drill retraction action of the power head has not been completed, and the grasping manipulator has a long idle period, which will also lead to a decrease in the drill retraction efficiency. Summary of the Invention

[0005] In view of the above, the object of the present invention is to provide a quick drill unloading device for a drilling rig.

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

[0007] A quick drill unloading device for a drilling rig, the device includes a drill retracting part, a drill moving part and a multi-threaded PLC controller. Among them, the multi-threaded PLC controller can accurately estimate the time periods of drill retraction and drill movement based on the induction signal feedback of the drill retracting part and the induction signal feedback of the drill moving part. Thus, the multi-threaded PLC controller adjusts the speeds of drill retraction or drill movement according to the drill retraction time period and the drill movement time period, and adjusts the working parameters of the drill retracting part and the drill moving part with the goal of ensuring the continuous execution of the drill retraction and drill movement actions.

[0008] Further, the drill retracting part includes: a power head, a frame, a gripper and a main manipulator. 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 for fixing 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 drill retraction proximity switch sensor is arranged at the side end of the slide rail far from the gripper, and a drill retraction induction block paired with the drill retraction proximity switch sensor is arranged at the bottom of the guiding sliding sleeve far from the gripper; after the power head reversely retreats and disconnects the threaded connection, the main manipulator grabs the disassembled drill pipe and puts it back into the drill pipe transfer device of the drill moving part.

[0009] Further, the drill moving part includes: a drill pipe transfer device, a drill pipe box, a grasping manipulator, a mounting frame and a driving motor. The grasping manipulator is installed on the drill pipe box through the mounting frame and can move back and forth in the arrangement direction of several drill pipe slots of the drill pipe box through the driving motor; wherein, a mounting frame is arranged on the side of the drill pipe box, the grasping manipulator is slidably installed on the mounting frame through the driving motor, and the length of the mounting frame covers the drill pipe transfer device and the drill pipe box. Among them, several drill movement induction blocks are arranged on the mounting frame, and a drill movement proximity switch sensor is arranged below the driving motor; the drill movement induction blocks on the mounting frame include a drill pipe transfer device induction block and several drill pipe slot induction blocks. Among them, the drill pipe transfer device induction block is aligned with the position of the drill pipe transfer device, and each drill pipe slot induction block is aligned with the position of a drill pipe slot.

[0010] Further, the multi-threaded PLC controller is respectively connected to the drill retraction proximity switch sensor and the drill movement proximity switch sensor to obtain sensor signals;

[0011] Both the drill-retracting proximity switch sensor and the drill-shifting proximity switch sensor adopt inductive proximity switch sensors. The inductive proximity switch sensor is internally provided with a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit;

[0012] During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit maintains 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, and the signal processing circuit triggers the state inversion of the signal output circuit according to the frequency change. The whole process continuously transmits the output signal of the signal output circuit to the multi-threaded PLC control program;

[0013] Both the drill-retracting induction block and the drill-shifting induction block are made of metal materials. When the metal induction block moves rapidly 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 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 inversion of the signal output circuit.

[0014] Furthermore, according to the movement position of the power head and the change state of the digital quantity signals received by the multi-threaded PLC controller, the rapid backward movement and deceleration positioning process of the power head are divided into a first state, a second state, a third state, and a fourth state. Among them,

[0015] The first state means that during the backward movement of the power head, the drill-retracting induction block has not reached the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller continuously receives the digital quantity signal "0" returned by the drill-retracting proximity switch sensor; the multi-threaded PLC controller maintains the switch quantity of the proportional solenoid valve;

[0016] The second state means that during the backward movement of the power head, the drill-retracting induction block has just entered the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller receives the digital quantity signal returned by the drill-retracting proximity switch sensor jumping from "0" to "1"; the multi-threaded PLC controller immediately controls the switch quantity of the proportional solenoid valve to start decreasing;

[0017] The third state means that during the backward movement of the power head, the drill-retracting induction block continuously remains within the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller continuously receives the digital quantity signal "1" returned by the drill-retracting proximity switch sensor; the multi-threaded PLC controller continuously controls the switch quantity of the proportional solenoid valve to decrease;

[0018] The fourth state means that the drill retraction induction block of the power head has just left the detection range of the drill retraction proximity switch sensor. At this time, the multi-threaded PLC controller receives the digital signal returned by the drill retraction proximity switch sensor and jumps from "1" to "0"; the multi-threaded PLC controller immediately controls the switching value of the proportional solenoid valve to become 0, and the power head stops moving.

[0019] Furthermore, the multi-threaded PLC controller controls the driving amount of the driving motor according to the signal change of the drill transfer proximity switch sensor, and completes the rapid positioning of the gripper to the drill pipe groove with the maximum driving amount as the target; the multi-threaded PLC controller determines whether the gripper is close to the target drill pipe groove according to the number of signal changes of the drill transfer proximity switch sensor, and adjusts the driving amount of the driving motor according to the number of signal changes. Among them, in the multi-threaded PLC controller, the drill transfer device induction block corresponding to the drill transfer device is marked as 0, and the drill pipe groove induction blocks corresponding to the drill pipe grooves in the drill pipe box are represented as 1, 2, 3,..., N in sequence according to the distance from the drill transfer device induction block, where N represents the number of drill pipe grooves in the drill pipe box; when the gripper corresponds to the drill transfer device, the drill transfer proximity switch sensor is located on the left side of the drill transfer device induction block and the output signal is "0"; when the gripper corresponds to a certain drill pipe groove, the drill transfer proximity switch sensor is located on the right side of the drill pipe groove induction block and the output signal is "0", and the signal change "0→1→0" is defined as one change.

[0020] Suppose the target drill pipe groove is n. When moving from the drill transfer device to the position of the target drill pipe groove n, in the first n change processes, the multi-threaded PLC controller continuously controls the driving motor with the maximum driving amount, so that the gripper moves at the fastest speed. When the (n + 1)th signal changes from "0→1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the driving amount of the driving motor, and immediately stops driving when the signal changes from "1→0". The gripper accurately stops in the target drill pipe groove, and then the multi-threaded PLC controller drives the gripper to grasp the drill pipe.

[0021] When the gripper returns from the target drill pipe groove n to the drill transfer device, it is still in the first n change processes. The multi-threaded PLC controller continuously controls the driving motor with the maximum driving amount, so that the gripper moves at the fastest speed. When the (n + 1)th signal changes from "0→1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the driving amount of the driving motor, and immediately stops driving when the signal changes from "1→0". The gripper accurately stops in the drill transfer device.

[0022] Furthermore, the multi-threaded PLC controller also controls the movement and rotation of the power head of the drill retraction unit, and controls the drill rod grabbing and releasing actions of the main manipulator of the drill retraction unit; the multi-threaded PLC controller also controls the drill rod grabbing and releasing actions of the grabbing manipulator of the drill moving unit.

[0023] Furthermore, the operating parameters of the drill retracting unit and the drill moving unit adjusted by the multi-threaded PLC controller include at least the solenoid valve ratio of the hydraulic assembly of the power head of the drill retracting unit and the driving amount of the driving motor of the drill moving unit.

[0024] The beneficial effects of the present invention are:

[0025] The present invention uses a multi-threaded PLC controller to accurately estimate the drill withdrawal and drill movement time period based on the induction signal feedback of the drill withdrawal part and the drill movement part, and adjusts the speed accordingly to ensure the continuous execution of the drill withdrawal and drill movement actions, avoiding the situation where the drill rod retracted by the power head has a long idle period on the temporary placement equipment and the grasping manipulator, and significantly improving the efficiency of the drill withdrawal work.

[0026] The present invention utilizes the cooperation of the drill retraction proximity switch sensor and the drill retraction induction block, and the drill movement proximity switch sensor and the drill movement induction block. The multi-threaded PLC controller can accurately obtain the position information of the power head and the grabbing manipulator, and finely divide the rapid retreat and deceleration positioning process of the power head into states, accurately calculate the drill retraction time, and eliminate the uncertainty time of repeated position adjustment due to the drift of the power head; at the same time, the driving amount of the driving motor is controlled according to the number of changes in the drill movement proximity switch sensor signal, so as to realize the rapid and accurate positioning of the drill rod slot by the grabbing manipulator, and eliminate the uncertainty time of repeated position adjustment due to inaccurate positioning.

[0027] The present invention ensures seamless connection between the drill withdrawal and drill transfer processes, optimizes the entire drill rig unloading workflow, improves the stability and reliability of equipment operation, reduces operational complexity, and provides a strong guarantee for the efficient and stable operation of the drilling rig.

[0028] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 Schematic diagram of the overall structure of a quick drill unloading device for a drilling rig according to an embodiment of the present invention;

[0031] Figure 2 Side view structural schematic diagram of the drill retraction part according to an embodiment of the present invention;

[0032] Figure 3 Cross-sectional structural schematic diagram of the drill moving part according to an embodiment of the present invention;

[0033] Figure 4 Partial enlarged schematic diagram of the drill moving part according to an embodiment of the present invention.

[0034] Reference numerals: 100 - drill retraction part; 200 - drill moving part; 300 - drill pipe transfer device; 110 - power head; 120 - frame; 130 - gripper; 140 - main manipulator; 150 - drill retraction proximity switch sensor; 160 - drill retraction induction block; 210 - drill pipe box; 220 - grasping manipulator; 230 - mounting bracket; 240 - drive motor; 250 - drill moving proximity switch sensor; 260 - drill moving induction block. Detailed implementation manners

[0035] 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 drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0036] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and cannot be understood as a limitation to the present invention; in order to better illustrate the embodiments of the present invention, some components in the 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 drawings may be omitted.

[0037] 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", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the 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. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood 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.

[0038] See also Figures 1 to 4 , which is a quick drill unloading device for a drilling rig.

[0039] This embodiment provides a quick drill unloading device for a drilling rig, such as Figure 1 As shown, it at least includes a drill retracting unit 100, a drill moving unit 200, a drill rod transfer device 300 and a multi-threaded PLC controller. The multi-threaded PLC controller is not shown in the figure. The multi-threaded PLC controller can accurately estimate the time period of drill retracting and drill moving based on the sensing signal feedback of the drill retracting unit 100 and the sensing signal feedback of the drill moving unit 200. Therefore, the multi-threaded PLC controller adjusts the speed of drill retracting or drill moving according to the drill retracting time period and the drill moving time period to ensure that the drill retracting and drill moving actions are executed continuously.

[0040] In actual work, due to the drift of the power head 110 and the inability of the grabbing manipulator 220 to accurately stop in the corresponding drill rod groove, the process of the grabbing manipulator 220 and the power head 110 to withdraw the drill cannot be coordinated. For example, after the power head 110 has completed the drill withdrawal, the grabbing manipulator 220 is still in the drill moving work of the previous drill bit, resulting in a large idle period for the drill rod withdrawn by the power head 110 on the temporary placement equipment, resulting in a decrease in the efficiency of withdrawing the drill; or when the grabbing manipulator 220 has completed the last drill moving work, the drill withdrawal action of the power head 110 has not been completed, and the grabbing manipulator 220 has a large idle period, which also leads to a decrease in the efficiency of withdrawing the drill. Therefore, according to the design of the above scheme, under the premise of being able to accurately estimate the time period required for withdrawing the drill and moving the drill, ensuring the seamless connection of the drill withdrawal and moving actions helps to improve the efficiency of the drill withdrawal work.

[0041] Specifically, if Figure 2 As shown, the drill withdrawal unit 100 includes: a power head 110, a frame 120, a clamp 130 and a main manipulator 140, wherein the power head 110 and the clamp 130 are respectively arranged on the frame 120, and the power head 110 and the clamp 130 are coaxially arranged according to the position where the drill rod is fixed. The clamp 130 is fixedly installed on the end of the frame 120, and the power head 110 is slidably installed on the frame 120 through a sliding assembly. The sliding assembly includes a slide rail arranged on the frame 120 and a guide sleeve connected to the power head 110. A drill withdrawal proximity switch sensor 150 is provided at the side end of the slide rail away from the clamp 130, and a drill withdrawal sensing block 160 paired with the drill withdrawal proximity switch sensor 150 is provided at the bottom of the guide sleeve away from the clamp 130; after the power head 110 is reversed and withdrawn and the threaded connection is disconnected, the main manipulator 140 grabs the disassembled drill rod and puts it back into the drill rod transfer device 300.

[0042] like Figure 3 and Figure 4As shown in the figure, the drill moving part 200 includes: a drill pipe box 210, a grasping manipulator 220, a mounting bracket 230, and a driving motor 240. The grasping manipulator 220 is mounted on the drill pipe box 210 through the mounting bracket 230 and can move back and forth in the arrangement direction of several drill pipe grooves of the drill pipe box 210 through the driving motor 240. Among them, the mounting bracket 230 is arranged on the side of the drill pipe box 210, the grasping manipulator 220 is slidably mounted on the mounting bracket 230 through the driving motor 240, and the length of the mounting bracket 230 covers the drill pipe transfer device 300 and the drill pipe box 210. Among them, several drill moving induction blocks 260 are arranged on the mounting bracket 230, and a drill moving proximity switch sensor 250 is arranged below the driving motor 240. The drill moving induction blocks 260 on the mounting bracket 230 include a drill pipe transfer device 300 induction block and several drill pipe groove induction blocks. Among them, the drill pipe transfer device 300 induction block is aligned with the position of the drill pipe transfer device 300, and each drill pipe groove induction block is aligned with the position of a drill pipe groove.

[0043] The multi-threaded PLC controller is respectively connected to the drill retracting proximity switch sensor 150 and the drill moving proximity switch sensor 250 to obtain sensor signals.

[0044] Both the drill retracting proximity switch sensor 150 and the drill moving proximity switch sensor 250 adopt inductive proximity switch sensors. The inductive proximity switch sensor internally is provided with a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit.

[0045] 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 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. The whole process continuously transmits the output signal of the signal output circuit to the multi-threaded PLC control program.

[0046] Both the drill retracting induction block 160 and the drill moving induction block 260 adopt metal materials. When the metal 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 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.

[0047] The multi-threaded PLC controller divides the rapid retraction and decelerated positioning process of the power head 110 into a first state, a second state, a third state, and a fourth state according to the movement position of the power head 110 and the change state of the digital quantity signal received by the multi-threaded PLC controller. Among them,

[0048] The first state means that during the retraction of the power head 110, the drill retraction sensing block 160 has not reached the detection range of the drill retraction proximity switch sensor 150. At this time, the multi-threaded PLC controller continuously receives the digital signal "0" returned by the drill retraction proximity switch sensor 150; the multi-threaded PLC controller maintains the switching value of the proportional solenoid valve;

[0049] The second state means that during the retraction of the power head 110, the drill retraction sensing block 160 has just entered the detection range of the drill retraction proximity switch sensor 150. At this time, the multi-threaded PLC controller receives the digital signal returned by the drill retraction proximity switch sensor 150 that jumps from "0" to "1"; the multi-threaded PLC controller immediately controls the switching value of the proportional solenoid valve to start decreasing;

[0050] The third state means that during the retraction of the power head 110, the drill retraction sensing block 160 remains within the detection range of the drill retraction proximity switch sensor 150. At this time, the multi-threaded PLC controller continuously receives the digital signal "1" returned by the drill retraction proximity switch sensor 150; the multi-threaded PLC controller continuously controls the switching value of the proportional solenoid valve to decrease;

[0051] The fourth state means that the drill retraction sensing block 160 of the power head 110 has just left the detection range of the drill retraction proximity switch sensor 150. At this time, the multi-threaded PLC controller receives the digital signal returned by the drill retraction proximity switch sensor 150 that jumps from "1" to "0"; the multi-threaded PLC controller immediately controls the switching value of the proportional solenoid valve to become 0, and the power head 110 stops moving.

[0052] In this precise positioning method, the multi-threaded PLC controller can accurately calculate the time of drill retraction, eliminating the uncertain time caused by the need to repeatedly adjust the position of the power head 110 due to the drift of the power head 110.

[0053] The multi-threaded PLC controller controls the driving amount of the driving motor 240 according to the signal change of the drill moving proximity switch sensor 250, and completes the rapid positioning of the gripping manipulator 220 to the drill pipe groove with the maximum driving amount as the target. The multi-threaded PLC controller determines whether the gripping manipulator 220 is close to the target drill pipe groove according to the number of signal changes of the drill moving proximity switch sensor 250, and adjusts the driving amount of the driving motor 240 according to the number of signal changes. Among them, in the multi-threaded PLC controller, the induction block of the drill pipe transfer device 300 corresponding to the drill pipe transfer device 300 is marked as 0, and the induction blocks of the drill pipe grooves in the drill pipe box 210 are sequentially represented as 1, 2, 3, …, N according to the distance from the induction block of the drill pipe transfer device 300, where N represents the number of drill pipe grooves in the drill pipe box 210; when the gripping manipulator 220 corresponds to the drill pipe transfer device 300, the drill moving proximity switch sensor 250 is located on the left side of the induction block of the drill pipe transfer device 300, and the output signal is "0"; when the gripping manipulator 220 corresponds to a certain drill pipe groove, the drill moving proximity switch sensor 250 is located on the right side of the induction block of the drill pipe groove, and the output signal is "0". Define the signal change "0→1→0" as one change.

[0054] Suppose the target drill pipe groove is n. When moving from the drill pipe transfer device 300 to the position of the target drill pipe groove n, in the first n change processes, the multi-threaded PLC controller continuously controls the driving motor 240 with the maximum driving amount, so that the gripping manipulator 220 moves at the fastest speed. When the (n + 1)th signal changes from "0→1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the driving amount of the driving motor 240, and immediately stops driving when the signal changes from "1→0". The gripping manipulator 220 accurately stops in the target drill pipe groove, and then the multi-threaded PLC controller drives the gripping manipulator 220 to grab the drill pipe.

[0055] When the gripping manipulator 220 returns from the target drill pipe groove n to the drill pipe transfer device 300, it is still in the first n change processes. The multi-threaded PLC controller continuously controls the driving motor 240 with the maximum driving amount, so that the gripping manipulator 220 moves at the fastest speed. When the (n + 1)th signal changes from "0→1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the driving amount of the driving motor 240, and immediately stops driving when the signal changes from "1→0". The gripping manipulator 220 accurately stops in the drill pipe transfer device 300. [[ID=۸]]

[0056] In this way, the multi-threaded PLC can accurately estimate the drill moving time of the gripping manipulator 220, and eliminate the uncertain time caused by repeatedly adjusting the position of the gripping manipulator 220 due to inaccurate positioning of the gripping manipulator 220, so as to realize the seamless connection of the drill withdrawal and drill moving processes.

[0057] The multi-threaded PLC controller also controls the movement and rotation of the power head 110 of the drill retraction unit 100, and controls the drill rod grasping and releasing actions of the main manipulator 140 of the drill retraction unit 100; the multi-threaded PLC controller also controls the drill rod grasping and releasing actions of the grasping manipulator 220 of the drill transfer unit.

[0058] The working parameters of the drill retraction unit 100 and the drill transfer unit 200 adjusted by the multi-threaded PLC controller at least include the solenoid valve ratio of the hydraulic components of the power head 110 of the drill retraction unit 100 and the driving amount of the driving motor 240 of the drill transfer unit 200.

[0059] 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 quick drill unloading device for a drilling rig, characterized in that: The device includes a drill retraction part, a drill transfer part, and a multi-threaded PLC controller. Among them, the multi-threaded PLC controller can accurately estimate the time periods of drill retraction and drill transfer based on the induction signal feedback of the drill retraction part and the induction signal feedback of the drill transfer part. Thus, the multi-threaded PLC controller adjusts the speeds of drill retraction or drill transfer according to the drill retraction time period and the drill transfer time period, and adjusts the working parameters of the drill retraction part and the drill transfer part with the goal of ensuring the continuous execution of drill retraction and drill transfer actions.

2. The quick drill unloading device of a drill rig according to claim 1, characterized in that: The drill retraction part includes: a power head, a frame, a gripper, and a main manipulator. 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 drill retraction proximity switch sensor is arranged at the side end of the slide rail away from the gripper, and a drill retraction induction block paired with the drill retraction proximity switch sensor is arranged at the bottom of the guiding sliding sleeve away from the gripper; after the power head reversely retreats and disconnects the threaded connection, the main manipulator grabs the disassembled drill pipe and puts it back into the drill pipe transfer device.

3. The quick drill unloading device of a drilling rig according to claim 2, characterized in that: The drill transfer part includes: a drill pipe transfer device, a drill pipe box, a grasping manipulator, a mounting frame, and a driving motor. The grasping manipulator is installed on the drill pipe box through the mounting frame and can move back and forth in the arrangement direction of several drill pipe grooves of the drill pipe box through the driving motor; among them, the mounting frame is arranged on the side of the drill pipe box, the grasping manipulator is slidably installed on the mounting frame through the driving motor, and the length of the mounting frame covers the drill pipe transfer device and the drill pipe box. Among them, several drill transfer induction blocks are arranged on the mounting frame, and a drill transfer proximity switch sensor is arranged below the driving motor; the drill transfer induction blocks on the mounting frame include a drill pipe transfer device induction block and several drill pipe groove induction blocks. Among them, the drill pipe transfer device induction block is aligned with the position of the drill pipe transfer device, and each drill pipe groove induction block is aligned with the position of a drill pipe groove.

4. The quick drill unloading device of a drill rig according to claim 3, characterized in that: The multi-threaded PLC controller is respectively connected to the drill retraction proximity switch sensor and the drill transfer proximity switch sensor to obtain sensor signals; Both the drill retraction proximity switch sensor and the drill transfer proximity switch sensor adopt inductive proximity switch sensors. The inductive proximity switch sensor internally is provided with a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit; During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit maintains its initial state. The initial state of the signal output circuit includes a 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. The whole process continuously transmits the output signal of the signal output circuit to the multi-threaded PLC control program; Both the drill-retracting induction block and the drill-shifting induction block are made of metal materials. When the metal induction block moves rapidly 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 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.

5. The quick drill unloading device of a drill rig according to claim 4, characterized in that: The multi-threaded PLC controller divides the rapid backward movement and decelerated 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 signals received by the multi-threaded PLC controller. Among them, The first state means that during the backward movement of the power head, the drill-retracting induction block has not reached the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller continuously receives the digital quantity signal "0" returned by the drill-retracting proximity switch sensor; the multi-threaded PLC controller maintains the switching quantity of the proportional solenoid valve. The second state means that during the backward movement of the power head, the drill-retracting induction block has just entered the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller receives the digital quantity signal returned by the drill-retracting proximity switch sensor jumping from "0" to "1"; the multi-threaded PLC controller immediately controls the switching quantity of the proportional solenoid valve to start decreasing. The third state means that during the backward movement of the power head, the drill-retracting induction block continuously remains within the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller continuously receives the digital quantity signal "1" returned by the drill-retracting proximity switch sensor; the multi-threaded PLC controller continuously controls the switching quantity of the proportional solenoid valve to decrease. The fourth state means that the drill-retracting induction block of the power head has just left the detection range of the drill-retracting proximity switch sensor. At this time, the multi-threaded PLC controller receives the digital quantity signal returned by the drill-retracting proximity switch sensor jumping from "1" to "0"; the multi-threaded PLC controller immediately controls the switching quantity of the proportional solenoid valve to become 0, and the power head stops moving.

6. The quick drill unloading device of a drill rig according to claim 4, characterized in that: The multi-threaded PLC controller controls the driving amount of the driving motor according to the signal change of the drill-shifting proximity switch sensor to quickly position the grasping manipulator to the drill pipe groove with the maximum driving amount as the target; the multi-threaded PLC controller determines whether the grasping manipulator is close to the target drill pipe groove according to the number of signal changes of the drill-shifting proximity switch sensor and adjusts the driving amount of the driving motor. Among them, in the multi-threaded PLC controller, the drill pipe transfer device induction block corresponding to the drill pipe transfer device is marked as 0, and the drill pipe groove induction blocks corresponding to the drill pipe grooves in the drill pipe box are successively represented as 1, 2, 3,..., N according to the distance from the drill pipe transfer device induction block, where N represents the number of drill pipe grooves in the drill pipe box; when the grasping manipulator corresponds to the drill pipe transfer device, the drill-shifting proximity switch sensor is located on the left side of the drill pipe transfer device induction block and outputs a signal of "0"; when the grasping manipulator corresponds to a certain drill pipe groove, the drill-shifting proximity switch sensor is located on the right side of the drill pipe groove induction block and outputs a signal of "0". A signal change of "0→1→0" is defined as one change. Let the target drill pipe slot be n. When moving from the drill pipe transfer device to the position of the target drill pipe slot n, during the first n changes, the multi-threaded PLC controller continuously controls the drive motor with the maximum drive amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)-th signal changes from "0 → 1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the drive amount of the drive motor and stops driving immediately when the signal changes from "1 → 0". The grasping manipulator accurately stops in the target drill pipe slot, and then the multi-threaded PLC controller drives the grasping manipulator to grasp the drill pipe. When the grasping manipulator returns from the target drill pipe slot n to the drill pipe transfer device, during the first n changes, the multi-threaded PLC controller continuously controls the drive motor with the maximum drive amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)-th signal changes from "0 → 1", after receiving the signal "1", the multi-threaded PLC controller immediately gradually reduces the drive amount of the drive motor and stops driving immediately when the signal changes from "1 → 0". The grasping manipulator accurately stops in the drill pipe transfer device.

7. The quick drill unloading device of a drilling rig according to claim 3, characterized in that: The multi-threaded PLC controller also controls the movement and rotation of the power head of the drill withdrawal part, and controls the drill pipe grasping and releasing actions of the main manipulator of the drill withdrawal part; the multi-threaded PLC controller also controls the drill pipe grasping and releasing actions of the grasping manipulator of the drill transfer part.

8. The quick drill unloading device of a drill rig according to claim 3, characterized in that: The working parameters of the drill withdrawal part and the drill transfer part adjusted by the multi-threaded PLC controller at least include the solenoid valve ratio of the hydraulic components of the power head of the drill withdrawal part and the drive amount of the drive motor of the drill transfer part.

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