Drill rod transporter tilt angle sensor and control method

Abstract

The invention relates to a drill rod transporter tilt angle sensor and a control method, and belongs to the field of mining drilling machines. By arranging a gear transmission structure, the rotating process and the rotating inclination angle of a transporter gyrator located in the drilling machine are transmitted to a sensor gear ring located outside the drilling machine, and the actual rotating direction and the rotating angle of the sensor gear ring can directly act on the length change of a stay wire of a stay wire sensor; and finally, according to the transmission ratio of the gear structure, the rotation process and the rotation inclination angle of a transporter gyrator located in the drilling machine are reversely deduced, a displacement sensor is used for monitoring the inclination angle change process of the transporter, and length / angle conversion is carried out. And the comprehensiveness of monitoring the automatic conveying process of the drill rod is improved.

Description

Technical Field

[0001] The invention belongs to the field of mining drilling rigs and relates to a drill rod transporter inclination sensor and a control method. Background Art

[0002] In existing technologies, drill pipe conveying inclination adjustment is usually completed by a manipulator, and the sensor technologies used are mainly divided into the following two categories:

[0003] (1) Full-process monitoring. Use precision sensors such as encoders to monitor the inclination of the manipulator. This method has a complex structure, low sensor reliability, and high cost.

[0004] (2) Specific position monitoring. Position sensors are used to monitor the specific positions of the manipulator (such as extreme positions and horizontal positions) to determine the relative positions between components. This method improves sensor reliability, but it completely lacks process monitoring, making it difficult to improve the degree of automation and self-regulation of the operation process.

[0005] Therefore, the drill rod conveying system of the existing automatic drilling rig lacks a reliable means of monitoring the inclination adjustment process. Summary of the Invention

[0006] In view of this, an object of the present invention is to provide a drill rod transporter inclination sensor and control method to solve the problem in the prior art that the drill rod conveying system lacks a reliable means for monitoring the inclination adjustment process.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A drill pipe transporter inclination sensor comprises an inner gear ring, a rotating shaft, a sensor gear ring and a pull-wire sensor;

[0009] The inner gear ring is fixedly connected to the rotating ring of the transporter rotator connected to the drill pipe transporter, so as to drive the inner gear ring to rotate through the transporter rotator;

[0010] The rotating shaft is rotatably connected to the lifting sleeve of the drill pipe transporter, and a primary gear and a secondary gear are respectively provided at both ends of the rotating shaft, the primary gear is meshed with the inner gear ring, and the secondary gear is meshed with the sensor gear ring, and the sensor gear ring is rotatably arranged on the outside of the lifting sleeve;

[0011] The pull wire sensor is arranged on the outside of the lifting sleeve and is connected to the sensor gear ring through a pull wire, so as to calculate the rotation angle of the transporter according to the pull wire length of the pull wire sensor.

[0012] Optionally, according to the drill pipe transporter inclination sensor of the present invention, the inclination adjustment range of the transporter rotator is 360°.

[0013] Optionally, according to the drill pipe transporter inclination sensor of the present invention, the transporter rotator is divided into positive inclination rotation and negative inclination rotation, and the angles corresponding to the positive inclination rotation and negative inclination rotation are 0~180° and 0~-180° respectively.

[0014] Optionally, according to the drill pipe transporter inclination sensor of the present invention, the rotation angle of the connection point between the pull wire in the pull wire sensor and the sensor gear ring is smaller than the inclination adjustment range of the transporter rotator.

[0015] Optionally, according to the drill pipe transporter inclination sensor of the present invention, when the transporter rotator is in the initial position, the initial length of the cable between the connection point of the cable sensor and the sensor ring gear is L0, and the initial angle is θ, then the cable length corresponding to a unit angle satisfies the following conditions:

[0016] k=L0 / θ.

[0017] Optionally, according to the drill pipe transporter inclination sensor of the present invention, an initial angle θ of the wire between the connection point of the wire sensor and the sensor gear ring is less than 180°.

[0018] Optionally, according to the drill pipe transporter inclination sensor of the present invention, when the transporter rotator inclination rotates, the total length of the real-time pull wire of the pull wire sensor is L Z , then the real-time angle of the sensor ring gear is:

[0019] α=(L0-L Z ) / k;

[0020] When the transporter rotor rotates counterclockwise with a positive inclination angle, L0≥L Z , α≥0; when the transporter rotor rotates clockwise with a negative angle, L0≤L Z , α≤0.

[0021] Optionally, according to the drill pipe transporter inclination sensor of the present invention, the transmission ratio of the gear train consisting of the inner ring gear, the primary gear, the secondary gear, and the sensor ring gear is i, and the actual rotation angle of the transporter calculated by the sensor ring gear is:

[0022] β=iα。

[0023] Optionally, according to the drill pipe transporter inclination sensor of the present invention, the transmission ratio of the gear train consisting of the inner ring gear, the first-stage gear, the second-stage gear and the sensor ring gear is i≥1.

[0024] In addition, the present invention also provides a method for controlling a rod transporter inclination sensor, which uses the drill rod transporter inclination sensor described in the above embodiment and includes the following steps:

[0025] S1, the transponder rotator rotates to set the inclination angle;

[0026] S2, through the first and second gears on the rotating shaft, the inclination angle of the transporter rotator is transmitted to the sensor ring gear, and drives the cable of the cable sensor to retract;

[0027] S3. Calculate the rotation angle and rotation direction of the sensor gear ring according to the actual extension length of the wire of the wire sensor;

[0028] S4. Calculate the inclination angle of the rotator, transporter, and revolver according to the transmission ratio of the gear train consisting of the inner gear ring, the first gear, the second gear, and the sensor gear ring.

[0029] The beneficial effects of the present invention are:

[0030] Compared with the prior art, which uses complex precision sensors such as encoders to monitor the inclination of the manipulator throughout the entire process, or to perform specific monitoring of the manipulator's special positions (extreme positions, horizontal positions), etc., the present invention sets a gear transmission structure to transmit the rotation process and rotation inclination of the transporter rotator inside the drilling rig to the sensor gear ring outside the drilling rig. The actual rotation direction and rotation angle of the sensor gear ring will directly affect the length change of the wire of the wire sensor, that is, the envelope angle of the wire to the sensor gear ring. Finally, the rotation process and rotation inclination of the transporter rotator inside the drilling rig are reversed according to the transmission ratio of the gear structure. The displacement sensor is used to monitor the change process of the transporter inclination and perform length / angle conversion, thereby improving the comprehensiveness of monitoring the automatic conveying process of the drill pipe.

[0031] In addition, the present invention can also set the transmission ratio of the gear transmission structure so that the output angle range of the sensor ring gear is smaller than the inclination angle change range of the transporter rotor, thereby improving the flexibility of the installation position of the wire sensor and the design of related structural parts in the present invention.

[0032] 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

[0033] 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 with reference to the accompanying drawings, in which:

[0034] Figure 1This is an axial side view of the drill pipe transporter inclination sensor provided by the present invention;

[0035] Figure 2 A cross-sectional view of the drill pipe transporter inclination sensor provided by the present invention;

[0036] Figure 3 This is a schematic diagram of the working principle of the transporter inclination sensor provided by the present invention.

[0037] Reference numerals: 8 - drill pipe transporter; 11 - frame; 705 - lifting sleeve; 709 - transporter rotator;

[0038] 71403-Tilt sensor; 71403a-Inner ring gear; 71403b-First stage gear; 71403c-Rotating shaft; 71403d-Sensor ring gear; 71403e-Pull wire sensor; 71403f-Second stage gear; 71403g-Gland cover. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may 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 may be omitted in the accompanying drawings.

[0041] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] See also Figures 1 to 3 As shown, a drill pipe transporter inclination sensor 71403 includes an inner gear ring 71403a, a rotating shaft 71403c, a sensor gear ring 71403d and a pull wire sensor 71403e.

[0043] The inner gear ring 71403a is fixedly connected to the rotating ring of the transporter rotator 709 connected to the drill pipe transporter 8, so as to drive the inner gear ring 71403a to rotate through the transporter rotator 709.

[0044] The rotating shaft 71403c is rotatably connected to the lifting sleeve 705 of the drill pipe transporter 8, and a first-stage gear 71403b and a second-stage gear 71403f are respectively provided at both ends of the rotating shaft 71403c. The first-stage gear 71403b is engaged with the inner gear ring 71403a, and the second-stage gear 71403f is engaged with the sensor gear ring 71403d. The sensor gear ring 71403d is rotatably set on the outside of the lifting sleeve 705.

[0045] The pull-wire sensor 71403e is arranged on the outside of the lifting sleeve 705 and is connected to the sensor gear ring 71403d through a pull-wire, so as to calculate the rotation angle of the drill pipe transporter 8 according to the pull-wire length of the pull-wire sensor 71403e.

[0046] The drill pipe transporter 8 is the second-level actuator of the drill pipe conveying system, which realizes the transfer of drill pipe between the main manipulator and the auxiliary manipulator, and converts the inclination angle of the drill pipe from horizontal to parallel to the frame. The lifting sleeve 705 is the main connecting part of the transporter rotator 709, lifting cylinder, lifting column and other components. The lifting sleeve cavity is formed by the front and rear side panels and the top cover plate. The interior of the cavity is used to install the lifting cylinder. One end of the lifting cylinder is connected to the lifting sleeve 705 by a pin shaft or other means, and the other end is fixedly installed on the rotating platform, thereby driving the lifting sleeve 705 to move up and down along the lifting column. The rotating shaft 71403c and the transporter rotator 709 can both rise and fall synchronously with the rise and fall of the lifting sleeve 705.

[0047] In addition, a pressure cap 71403g is provided on the outside of the lifting sleeve 705, and the sensor ring gear 71403d is enclosed within the pressure cap 71403g to protect the sensor ring gear 71403d. The direction of rotation of the sensor ring gear 71403d can be displayed by the expansion and contraction of the cable of the cable sensor 71403e, and the angle can be calculated based on the change in the length of the cable of the cable sensor 71403e. The pressure cap 71403g can be configured as a transparent structure to intuitively display the rotation direction of the sensor ring gear 71403d and the degree of gear wear, thereby facilitating timely repair or replacement of the drill pipe transporter inclination sensor 71403 and avoiding large errors in the detection of the drill pipe transporter inclination sensor 71403.

[0048] This invention utilizes an integrated design combining gear transmission, cable measurement, and mechanical protection to achieve high-precision, high-reliability, full-process tilt monitoring under complex operating conditions. By optimizing the gear ratio when converting rotary motion into linear displacement, the nonlinear error between cable extension and actual angle is minimized.

[0049] Furthermore, the inclination adjustment range of the transporter revolver 709 is 360°, and the transporter revolver 709 is divided into positive inclination rotation and negative inclination rotation. The angles corresponding to the positive inclination rotation and the negative inclination rotation are 0~180° and 0~-180° respectively.

[0050] The basic working principle of the transporter tilt sensor 71403 is as follows Figure 3 shown.

[0051] The inclination rotation range of the drill rod transporter 8 is consistent with that of the drilling rig frame, which is 360°. According to the settings of the drilling rig hydraulic pipeline, control circuit, etc., the inclination adjustment of the frame in actual operation is divided into two upper and lower semicircles, namely 0 to ±180°. In the specific implementation process, compared with the unidirectional control of 0° to 360°, the present invention effectively solves the problem of entanglement between hydraulic pipelines and cables through limited angle control + two-way rotation strategy, that is, the inclination rotation range of the drill rod transporter 8 is adjusted from unidirectional 0° to 360° to bidirectional 0 to ±180°, and the corresponding gear transmission structure and sensor gear ring 71403d also have forward and reverse rotation. The pull wire of the wire sensor 71403e is controlled by the limited angle of the drill rod transporter 8, avoiding the problem of failure of the wire sensor 71403e due to stress damage, or even breakage due to excessive stretching.

[0052] Furthermore, when the transporter rotator 709 is in the initial position, that is, assuming that the inclination angle of the drill pipe transporter 8 is 0°, the cable passes through the upper semicircle of the sensor gear ring 71403d and is fixed to it. The initial length of the cable between the connection point of the cable sensor 71403e and the sensor gear ring 71403d is L0, and the initial angle is θ. Then, the cable length corresponding to a unit angle satisfies the following conditions:

[0053] k=L0 / θ.

[0054] Furthermore, the initial angle θ of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is less than 180°. In theory, the rotation angle of the transporter inclination sensor 71403 should be consistent with the inclination adjustment range of the drill pipe transporter 8. However, affected by factors such as the structural size of the lifting sleeve 705, the installation space, and processing and assembly errors, the fixed end of the wire of the wire sensor 71403e cannot always be installed facing 0° or 180° (the horizontal line in the figure), and there will actually be a section of the wire that cannot always fit the outer edge of the sensor gear ring 71403d. Therefore, the envelope range of the wire for the outer edge of the sensor gear ring 71403d is always less than 180°. Preferably, the envelope range of the wire for the outer edge of the sensor gear ring 71403d is between 120° and 180°.

[0055] Example 1:

[0056] by Figure 3 For example, the wire sensor 71403e is located above the horizontal line of the sensor gear ring 71403d. When the transporter rotator is in the initial state, the connection point between the wire sensor 71403e and the sensor gear ring 71403d rotates to the 0° or 180° horizontal line, and the wire of the wire sensor 71403e rotates a certain angle from its own installation position, which means that the wire of the wire sensor 71403e needs to be stretched to the initial length L0 in the initial state and wrapped around the outside of the sensor gear ring 71403d. The corresponding initial angle is θ. When the transporter rotator 709 rotates at an inclination angle, the total length of the wire of the wire sensor 71403e is L Z , then the real-time angle of the sensor ring gear 71403d is:

[0057] α=(L0-L Z ) / k;

[0058] When the transporter rotator 709 rotates counterclockwise at a positive inclination angle, that is, the inner gear ring 71403a rotates counterclockwise along with the transporter rotator 709, the first-stage gear 71403b is engaged with the inner side of the inner gear ring 71403a, so the first-stage gear 71403b also rotates counterclockwise, the rotating shaft 71403c is fixedly connected to the first-stage gear 71403b, and the second-stage gear 71403f is fixedly connected to the rotating shaft 71403c, so the rotating shaft 71403c and the second-stage gear 71403f both move synchronously with the first-stage gear 71403b in the same direction, and also rotate counterclockwise. Figure 3As shown, the secondary gear 71403f and the sensor gear ring 71403d are also in an internal gear meshing relationship. Therefore, the sensor gear ring 71403d also rotates counterclockwise. As the sensor gear ring 71403d rotates counterclockwise, the wire in the wire sensor 71403e gradually retracts under the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is ≥ the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor ring gear 71403d is ≥0.

[0059] When the transporter rotor 709 rotates clockwise with a negative inclination, that is, the inner gear ring 71403a rotates clockwise with the transporter rotor 709, the first gear 71403b engages with the inner side of the inner gear ring 71403a, so the rotation direction of the first gear 71403b is also clockwise, the rotating shaft 71403c is fixedly connected to the first gear 71403b, and the second gear 71403f is fixedly connected to the rotating shaft 71403c, so the rotating shaft 71403c and the second gear 71403f are both in the same direction and synchronous motion with the first gear 71403b, and also rotate clockwise. Figure 3 As shown, the secondary gear 71403f and the sensor gear ring 71403d are also in an internal gear meshing relationship. Therefore, the sensor gear ring 71403d also rotates clockwise. As the sensor gear ring 71403d rotates clockwise, the wire in the wire sensor 71403e is gradually stretched by the sensor gear ring 71403d, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is ≤ the total real-time wire length L of the wire sensor 71403e Z , the real-time angle α rotated by the sensor gear ring 71403d is ≤ 0. However, the positive or negative value of the real-time angle α rotated by the sensor gear ring 71403d only indicates the tilt rotation direction of the transporter rotor 709.

[0060] Example 2:

[0061] The difference from the first embodiment is that the wire pulling sensor 71403e in this embodiment is located below the sensor gear ring 71403d. When the overall gear transmission structure remains unchanged, the rotation direction of the sensor gear ring 71403d is still consistent with the rotation direction of the transporter revolver 709. However, the total length Lz of the wire pulling sensor 71403e in real time is opposite to that in the first embodiment. The calculation formula of the real-time angle of rotation of the sensor gear ring 71403d is α=(L Z -L0) / k.

[0062] Specifically, when the transporter rotator 709 rotates counterclockwise at a positive inclination angle, the wire in the wire sensor 71403e is gradually stretched by the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is less than the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor ring gear 71403d is ≥0.

[0063] When the transporter rotator 709 rotates clockwise at a negative angle, the wire in the wire sensor 71403e gradually retracts under the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is greater than the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor ring gear 71403d is ≤0.

[0064] Furthermore, the transmission ratio of the gear train consisting of the inner ring gear 71403a, the primary gear 71403b, the secondary gear 71403f and the sensor ring gear 71403d is i. Then, the actual rotation angle of the drill pipe transporter 8 calculated by the sensor ring gear 71403d is:

[0065] β=iα。

[0066] According to the gear train structure, the expression of the transmission ratio i is:

[0067] i = (Z2 / Z1)*(Z4 / Z3), where Z1 is the number of teeth on the inner ring gear 71403a, Z2 is the number of teeth on the primary gear 71403b, Z3 is the number of teeth on the secondary gear 71403f, and Z4 is the number of teeth on the sensor ring gear 71403d. Assuming the gear transmission structure of the present invention is a transmission chain of inner ring gear 71403a (120 teeth) → primary gear 71403b (20 teeth) → secondary gear 71403f (10 teeth) → sensor ring gear 71403d (300 teeth), a 360° rotation of the transporter rotator 709 is converted into a 72° rotation of the sensor ring gear 71403d (a transmission ratio of 5:1). Compared with the conventional setting with a transmission ratio of 1, the measuring range of the wire sensor 71403e is shortened to 1 / 5 of the conventional length. On this basis, even if the drill pipe transporter 8 is rotated to the extreme position, the length conversion of the wire sensor 71403e will not be very large. It is only necessary to calculate the length change of the wire sensor 71403e to effectively calculate the actual inclination degree of the transporter rotator 709.

[0068] Furthermore, the gear train consisting of the inner ring gear 71403a, the primary gear 71403b, the secondary gear 71403f, and the sensor ring gear 71403d has a transmission ratio of i ≥ 1. When the transmission ratio i ≥ 1, the rotation angle of the sensor ring gear 71403d is mechanically reduced, significantly shortening the displacement of the cable sensor 71403e, thereby increasing the flexibility of the installation location of the cable sensor 71403e and the design of related structural components.

[0069] In addition, the present invention also provides a method for controlling the rod transporter inclination sensor 71403, which uses the drill rod transporter inclination sensor 71403 in the above embodiment and includes the following steps:

[0070] S1, the transporter rotator 709 rotates to set the inclination angle;

[0071] S2. The inclination angle of the transporter rotator 709 is transmitted to the sensor ring gear 71403d through the primary gear 71403b and the secondary gear 71403f on the rotating shaft 71403c, and the cable of the cable sensor 71403e is driven to extend and retract.

[0072] S3. Calculate the rotation angle and direction of the sensor gear ring 71403d based on the actual extension length of the wire of the wire sensor 71403e. When the wire is extended, the sensor outputs a positive increment (+ΔL), corresponding to clockwise rotation; when the wire is retracted, the sensor outputs a negative increment (-ΔL), corresponding to counterclockwise rotation.

[0073] In embodiment 2, when the pull wire sensor 71403e is located below the horizontal line of the sensor gear ring 71403d, when the pull wire is extended, the sensor outputs a positive increment (+ΔL), corresponding to a counterclockwise rotation; when the pull wire is retracted, the sensor outputs a negative increment (-ΔL), corresponding to a clockwise rotation.

[0074] S4. Calculate the inclination angle of the rotator, transporter, and revolver based on the transmission ratio of the gear system consisting of the inner gear ring 71403a, the first gear 71403b, the second gear 71403f, and the sensor gear ring 71403d.

[0075] The present invention transmits the rotation process and rotation inclination of the transporter rotator 709 located inside the drilling rig to the sensor ring gear 71403d located outside the drilling rig by setting a gear transmission structure, and the actual rotation direction and rotation angle of the sensor ring gear 71403d will directly act on the length change of the pull wire of the pull wire sensor 71403e, that is, the envelope angle of the pull wire to the sensor ring gear 71403d. Finally, the rotation process and rotation inclination of the transporter rotator 709 located inside the drilling rig are reversed according to the transmission ratio of the gear structure, and the displacement sensor is used to monitor the inclination change process of the drill rod transporter 8, and length / angle conversion is performed, thereby improving the comprehensiveness of monitoring the automatic conveying process of the drill rod.

[0076] In addition, the present invention can also set the transmission ratio of the gear transmission structure so that the output angle range of the sensor ring gear 71403d is smaller than the inclination change angle range of the transporter rotor 709, thereby improving the flexibility of the installation position of the wire drawing sensor 71403e and the design of related structural parts in the present invention.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A drill pipe transporter inclination sensor, characterized by: It includes an inner gear ring, a rotating shaft, a sensor gear ring and a wire sensor; The inner gear ring is fixedly connected to the rotating ring of the transporter rotator connected to the drill pipe transporter, so as to drive the inner gear ring to rotate through the transporter rotator; The rotating shaft is rotatably connected to the lifting sleeve of the drill pipe transporter, and a primary gear and a secondary gear are respectively provided at both ends of the rotating shaft, the primary gear is meshed with the inner gear ring, and the secondary gear is meshed with the sensor gear ring, and the sensor gear ring is rotatably arranged on the outside of the lifting sleeve; The pull wire sensor is arranged on the outside of the lifting sleeve and is connected to the sensor gear ring through a pull wire, so as to calculate the rotation angle of the transporter according to the pull wire length of the pull wire sensor.

2. The drill pipe transporter inclination sensor according to claim 1, characterized in that: The tilt adjustment range of the transporter rotator is 360°.

3. The drill pipe transporter inclination sensor according to claim 2, characterized in that: The transporter rotator is divided into positive tilt rotation and negative tilt rotation, and the angles corresponding to the positive tilt rotation and negative tilt rotation are 0 to 180 degrees and 0 to -180 degrees respectively.

4. The drill pipe transporter inclination sensor according to claim 3, characterized in that: The rotation angle of the connection point between the pull wire in the pull wire sensor and the sensor gear ring is smaller than the inclination adjustment range of the transporter rotor.

5. The drill pipe transporter inclination sensor according to claim 4, characterized in that: When the transporter revolver is in the initial position, the initial length of the cable between the cable sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then, the cable length corresponding to a unit angle satisfies the following conditions: k=L0 / θ.

6. The drill pipe transporter inclination sensor according to claim 5, characterized in that: An initial angle θ of the wire between the wire sensor and the sensor gear ring connection point is less than 180°.

7. The drill pipe transporter inclination sensor according to claim 6, characterized in that: When the angle of the transporter rotor rotates, the total length of the wire pulling sensor is L Z , then the real-time angle of the sensor ring gear is: α=(L0-L Z ) / k; When the transporter rotor rotates counterclockwise with a positive inclination angle, L0≥L Z , α≥0; when the transporter rotor rotates clockwise with a negative angle, L0≤L Z , α≤0.

8. The drill pipe transporter inclination sensor according to claim 7, characterized in that: The transmission ratio of the gear system composed of the inner ring gear, the first gear, the second gear and the sensor ring gear is i, and the actual rotation angle of the transporter calculated by the sensor ring gear is: β＝iα。 9. The drill pipe transporter inclination sensor according to claim 8, characterized in that: The transmission ratio of the gear train composed of the inner gear ring, the first-stage gear, the second-stage gear and the sensor gear ring is i≥1.

10. A method for controlling an inclination sensor of a rotating rod transporter, characterized in that: The drill pipe transporter inclination sensor according to claim 9 is used, and includes the following steps: S1, the transponder rotator rotates to set the inclination angle; S2, through the first and second gears on the rotating shaft, the inclination angle of the transporter rotator is transmitted to the sensor ring gear, and drives the cable of the cable sensor to retract; S3. Calculate the rotation angle and rotation direction of the sensor gear ring according to the actual extension length of the wire of the wire sensor; S4. Calculate the inclination angle of the rotator, transporter, and revolver according to the transmission ratio of the gear train consisting of the inner gear ring, the first gear, the second gear, and the sensor gear ring.

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