Drill rod conveying system

Abstract

The invention relates to a drill rod conveying system, and belongs to the technical field of mining drilling machines. Comprising a main manipulator, an auxiliary manipulator and a transporter, the main manipulator comprises a main rotating joint, a main telescopic joint, a main clamping jaw assembly and a rotating sensor; the main rotating joint comprises a rotating seat and a rotating driver, the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft penetrates through the rotating seat and is connected with the main telescopic joint; the rotation sensor is arranged on the main rotation joint and displays the rotation direction and angle of the main rotation joint in real time. The transporter is connected between the main mechanical arm and the auxiliary mechanical arm, and the drill rod is transported between the main mechanical arm and the auxiliary mechanical arm. According to the technical scheme, the arrangement flexibility of a drill rod conveying system is improved, the drilling inclination angle range of the drilling machine is expanded, the operation efficiency and safety are improved, the drilling machine adapts to improvements in the aspects of complex underground environments and the like, and remarkable technical progress and application value are brought to the technical field of mining drilling machines.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drills and relates to a drill rod conveying system. Background Art

[0002] As intelligent coal mining strategies are being promoted, drilling rig automation has become a key enabler for achieving reduced- and even unmanned underground operations. The complex underground environment in coal mines is rife with potential hazards such as gas and coal dust. Furthermore, the confined space, high humidity, and high temperatures present significant challenges for traditional manual operation. Workers endure significant physical and mental strain and accumulated fatigue during long periods of underground operation, making it difficult to maintain operational efficiency and significantly increasing the risk of accidents. This model clearly no longer meets the dual requirements of efficient mining and inherent safety in modern coal mining.

[0003] The emergence of automation technology has ushered in new hope for coal mining. Through automation, the drilling process and auxiliary processes can be automated. Operations that once required significant physical effort are now performed automatically by machines, significantly reducing labor intensity. Furthermore, unlike humans, machines are immune to operational errors caused by fatigue, significantly improving operational safety. Furthermore, automation technology has broken through the efficiency bottlenecks of manual operation, enabling sustained, stable, and efficient operation, making it an inevitable choice for technological upgrades in the coal industry.

[0004] The drill rod conveying system is one of the core systems of the automatic drilling rig. At present, the drill rod conveying system is generally composed of a main manipulator, an auxiliary manipulator and a transporter. The auxiliary manipulator generally refers to the drill rod conveying manipulator, which is responsible for taking the drill rod out of the drill rod box and placing it into the transporter; the main manipulator is the key executive component of the drill rod conveying system, responsible for delivering the drill rod from the transporter and other devices to the drilling rig mainframe for drilling operations; the transporter is the transition component between the two manipulators, which realizes the alignment and transfer of the drill rod with the main manipulator or the frame. The drill rod conveying system of the existing technology is still difficult to adapt to the inclination angle (i.e. the entire circumference) adjustment requirements of the full-section working conditions. Its shortcomings are mainly reflected in the following aspects:

[0005] (1) The existing main manipulator is separated from the frame. During the drilling process, the frame is in a certain inclination state. The initial position of the drill rod is generally horizontal. The manipulator needs to frequently switch between the horizontal and inclination states. The inclination joint is easily interfered with by other components, resulting in a more complex structure and sensor positioning system.

[0006] (2) The existing auxiliary manipulator is a rectangular coordinate joint manipulator, that is, each joint is a translation joint, which can only realize the translation or lifting of the drill rod, which greatly limits the subsequent mechanisms of the drill rod conveying system and the layout of the entire drilling rig. Especially in the vertical direction, the rectangular coordinate joint manipulator can only move straight up and down, making it difficult for the drill rod to cross the lifting sleeve and other essential components of the drilling rig under the drive of the grasping manipulator.

[0007] Due to the structural limitations of the main manipulator and auxiliary manipulator, the drilling inclination range of existing automatic drilling rigs is limited, making it difficult to meet the requirements of full-section working conditions. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a drill rod conveying system to solve the problem that the existing grabbing manipulator can only go straight up and down and cannot meet the drilling requirements of the full section and full inclination range.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] The drill rod conveying system is characterized by comprising a main manipulator and an auxiliary manipulator;

[0011] The main manipulator includes a main rotation joint, a main telescopic joint, a main gripper assembly and a rotation sensor;

[0012] The main rotating joint includes a rotating seat and a rotating driver, wherein the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft passes through the rotating seat and is connected to the main telescopic joint;

[0013] The main gripper assembly is connected to the bottom of the main telescopic joint, and drives the main gripper assembly to extend and retract in the vertical direction through the main telescopic joint, and the main gripper assembly is used for grasping; the rotation sensor is arranged on the main rotation joint;

[0014] The auxiliary manipulator is arranged on the auxiliary slide rail of the drill rod box and includes a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamping claw connected in sequence, the lifting joint is connected to the auxiliary slide rail at one end away from the auxiliary clamping claw, and the auxiliary telescopic joint and the auxiliary clamping claw are arranged toward the inside of the drill rod box;

[0015] The auxiliary rotation joint is connected to the lifting joint via a crossbeam; the auxiliary rotation joint comprises an auxiliary rotation shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the auxiliary rotation shaft. When the auxiliary rotation shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotation shaft;

[0016] The transporter is connected between the main manipulator and the auxiliary manipulator to realize the transport of the drill rod between the main manipulator and the auxiliary manipulator.

[0017] Optionally, according to the drill rod conveying system of the present invention, the rotation sensor includes a sensor body and a trigger ring; the trigger ring is fixed to the main rotating shaft and rotates synchronously and in the same direction as the manipulator rotates; a notch is provided on the trigger ring to divide the arc surface of the trigger ring into two parts, and the end surfaces on both sides of the notch serve as sensing surfaces;

[0018] The sensor body is arranged on the rotating seat and corresponds to the sensing surface on the end face of the trigger ring; when the sensor body is facing the sensing surface of the trigger ring, the sensor signal is connected; otherwise, the sensor signal is disconnected.

[0019] Optionally, according to the drill rod conveying system of the present invention, the sensing surfaces located on both sides of the notch are respectively a first sensing surface and a second sensing surface, and the arc lengths of the arc surfaces corresponding to the first sensing surface and the second sensing surface are not equal, so that when the sensor body is respectively located in the first sensing surface and the second sensing surface, the connection time of the sensor signal is inconsistent.

[0020] Optionally, according to the drill rod conveying system of the present invention, the arc length corresponding to the second sensing surface is greater than the arc length corresponding to the first sensing surface.

[0021] Optionally, according to the drill rod conveying system of the present invention, the trigger ring is cocentric with the main rotation axis of the main manipulator.

[0022] Optionally, according to the drill rod conveying system of the present invention, the trigger ring is an open ring structure, and the sensor body is located at one of the end points of the trigger ring.

[0023] Optionally, according to the drill rod conveying system of the present invention, the arc length angle of the trigger ring is greater than 180°.

[0024] Optionally, according to the drill rod conveying system of the present invention, the sensing surface covers all end surfaces of the trigger ring except the notch.

[0025] Optionally, according to the drill rod conveying system of the present invention, a protruding connecting plate is provided on the inner side of the trigger ring, and a connecting hole is provided on the connecting plate for bolting the trigger ring to the main rotating shaft of the main manipulator.

[0026] Optionally, according to the drill rod conveying system of the present invention, the number of the connecting holes is at least two.

[0027] Optionally, according to the drill rod conveying system of the present invention, an axially extending sensor seat is further provided on the rotating seat, and the sensor body is fixed on the sensor seat.

[0028] Optionally, according to the drill rod conveying system of the present invention, the main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder and a main telescopic cylinder, the main outer cylinder is detachably connected to the main rotating shaft through a flange, the main inner cylinder is slidingly connected to the inside of the main outer cylinder, and the main clamping jaw assembly is connected to the bottom of the main inner cylinder; the main telescopic cylinder is fixed on the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

[0029] Optionally, according to the drill rod conveying system of the present invention, the main clamping jaw assembly includes a main clamping jaw and a main clamping cylinder, the main clamping cylinder is fixed to the lower part of the main inner tube, the main clamping jaw is fixed on the main clamping cylinder, and is clamped or released under the drive of the main clamping cylinder.

[0030] Optionally, the drill rod conveying system according to the present invention further includes a sliding joint, the sliding joint including a fixed seat, a connecting arm and a sliding cylinder, the fixed seat is connected to the frame, and a horizontally arranged main slide rail is provided on the fixed seat, and a sliding groove is provided at the bottom of the connecting arm, and the sliding groove cooperates with the main slide rail; the rotating seat in the main rotating joint is fixedly connected to the connecting arm;

[0031] One end of the sliding oil cylinder is fixed on the fixing seat, and the other end is connected to the connecting arm, so that the connecting arm slides along the track.

[0032] Optionally, according to the drill rod conveying system of the present invention, one end of the lifting joint away from the slide rail is connected below the crossbeam.

[0033] Optionally, according to the drill rod conveying system of the present invention, the lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder, the lifting outer cylinder and the lifting inner cylinder under the beam are installed in a sleeve manner, the lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement, and the lifting cylinder drives the lifting pair to perform lifting movement.

[0034] Optionally, according to the drill rod conveying system of the present invention, the secondary rotation joint further comprises a secondary rotation driver connected to the crossbeam, and the secondary rotation driver is connected to the secondary rotation shaft to drive the rotation of the secondary rotation shaft.

[0035] Optionally, according to the drill rod conveying system of the present invention, the end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint, and the secondary rotating shaft rotates to drive the secondary telescopic joint and the secondary clamp to swing.

[0036] Optionally, according to the drill pipe conveying system of the present invention, the secondary telescopic joint comprises a secondary outer cylinder and a secondary inner cylinder, the secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic pair for performing telescopic movement;

[0037] and a secondary telescopic oil cylinder connected to the secondary rotating shaft, wherein the secondary telescopic oil cylinder is connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

[0038] Optionally, according to the drill rod conveying system of the present invention, a side of the auxiliary clamping jaw close to the telescopic unit is connected to an auxiliary clamping cylinder, and the auxiliary clamping jaw is clamped or released under the drive of the auxiliary clamping cylinder.

[0039] The beneficial effects of the present invention are:

[0040] (1) The present invention integrates most of the functions of the main manipulator by connecting the main rotating joint and the main telescopic joint and integrating them with the frame to keep the inclination angles of the two always consistent, simplifying the manipulator's movements and reducing the possibility of interference with other components. The main rotating joint can satisfy the rotation of the main manipulator at a certain angle, which means that any drill rod within this angle range can be grasped by the main manipulator; in addition, combined with the telescopic effect of the main telescopic joint, the grasping range of the main manipulator continues to expand within the original rotation angle range, thereby achieving a wider range of applicability.

[0041] (2) The present invention provides a sensor with a segmented sensing function at the main rotating joint of the main manipulator, so that the rotation of the main manipulator is divided into multiple segments and stops at a special position as required. Compared with the existing technology, the setting of the gap causes the sensor signal to be disconnected. According to the on-off signal of the sensor, the stroke of the main manipulator can be effectively determined. The sensor signal is connected to the control system to control the main manipulator to stop at a specific position. For example, when the main manipulator is executing a grasping program, the sensor signal is disconnected at the gap, ensuring that the main manipulator can effectively complete the grasping work, thereby improving the overall work efficiency and quality of the main manipulator.

[0042] (3) By setting a secondary rotating joint with a limited angle, the auxiliary manipulator can swing in the vertical plane. This enables the auxiliary manipulator to transport drill rods across components such as the attitude adjustment device, thereby allowing the transporter to be set on the attitude adjustment device at a position on the opposite side of the drill rod box. This improvement significantly improves the flexibility of the drill rod conveying system layout, allowing the drilling rig to adapt to more complex downhole environments and drilling requirements. Since the auxiliary manipulator can swing in the vertical plane, the drilling rig is no longer limited to the traditional manipulator's movement mode of only being able to move straight up and down when drilling in the full section and full inclination range. This greatly increases the drilling inclination range of the drilling rig and improves the adaptability and operating efficiency of the drilling rig.

[0043] Through technological innovation, this invention enables the drill rod grabbing manipulator to better adapt to the complex environmental conditions of coal mines, including potential hazards such as gas and coal dust, as well as unfavorable conditions such as confined space, high humidity, and high temperatures. This technical solution improves the flexibility of the drill rod conveying system layout, expands the drilling rig's drilling angle range, enhances operational efficiency and safety, and allows for adaptability to complex underground environments. This brings significant technological advancement and application value to the field of mining drilling rig technology.

[0044] 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

[0045] 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:

[0046] Figure 1 This is a front view of the main manipulator in the drill rod conveying system provided by the present invention;

[0047] Figure 2 A side view of the main manipulator in the drill rod conveying system provided by the present invention;

[0048] Figure 3 This is a schematic diagram of the assembly of the main manipulator in the drill rod conveying system provided by the present invention;

[0049] Figure 4 This is a schematic structural diagram of the rotation sensor provided by the present invention;

[0050] Figure 5 A side view of the auxiliary manipulator shaft in the drill rod conveying system provided by the present invention;

[0051] Figure 6 This is a front view of the auxiliary manipulator in the drill rod conveying system provided by the present invention;

[0052] Figure 7 This is a partial cross-sectional view of the auxiliary manipulator AA in the drill rod conveying system provided by the present invention.

[0053] Reference numerals:

[0054] 9-main manipulator; 11-frame;

[0055] 601-lifting cylinder; 602-lifting outer cylinder; 603-crossbeam; 604-secondary rotation driver; 605-secondary rotation shaft; 606-secondary telescopic cylinder; 607-secondary outer cylinder; 608-secondary inner cylinder; 609-secondary clamping claw; 610-secondary clamping cylinder;

[0056] 901-fixed seat; 902-main rotation driver; 903-rotation seat; 904-rotation sensor; 905-main rotation shaft; 906-main telescopic cylinder, 907-main outer cylinder; 908-main inner cylinder; 909-main clamping cylinder; 910-main clamping jaw; 911-connecting arm; 912-sliding cylinder;

[0057] 90401-Sensor seat; 90402-Sensor body; 90403-Trigger ring;

[0058] 90403a-first sensing surface; 90403b-notch; 90403c-second sensing surface. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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.

[0062] See also Figures 1 to 4 The figure shows the structure of the main manipulator in the drill pipe conveying system, including the main rotation joint, the main telescopic joint, the main gripper assembly and the rotation sensor;

[0063] The main rotating joint includes a rotating base 903 and a main rotating driver 902. The main rotating driver 902 is arranged at one end of the rotating base 903 and drives the main rotating shaft 905 to rotate. The main rotating shaft 905 passes through the rotating base 903 and is connected to the main telescopic joint.

[0064] The main jaw assembly is connected to the bottom of the main telescopic joint, and drives the main jaw assembly to extend and retract in the vertical direction through the main telescopic joint. The main jaw assembly is used for grasping; the rotation sensor 904 is set on the main rotation joint to display the rotation direction and angle of the main rotation joint in real time.

[0065] See also Figures 5 to 7 Figure 2 shows the structure of a secondary manipulator in a drill rod conveying system. The secondary manipulator is mounted on the secondary slide rail of the drill rod box and includes a sequentially connected lifting joint, a secondary rotation joint, a secondary telescopic joint, and a secondary gripper 609. The lifting joint's end, distal from the secondary gripper 609, is connected to the secondary slide rail, while the secondary telescopic joint and secondary gripper 609 face inward from the drill rod box. In certain embodiments, the secondary manipulator of the present invention is used to grasp and transport drill rods.

[0066] The lifting joint and the rotating joint are connected by a crossbeam 603. In some embodiments of the present invention, the drill rod box slide rails are arranged horizontally, and the lifting joint is installed vertically on the drill rod box slide rails. The end of the lifting joint away from the slide rails is connected to the bottom of the crossbeam 603, and the rotating joint is connected to the side of the crossbeam 603. The transporter is connected between the main manipulator 9 and the auxiliary manipulator to realize the transfer of drill rods between the main manipulator 9 and the auxiliary manipulator.

[0067] Based on Figure 1 As shown, a rotation sensor 904 is provided at the connection between the main rotation joint and the main telescopic joint. The rotation sensor 904 consists of a sensor seat 90401 , a sensor body 90402 and a trigger ring 90403 .

[0068] The sensor base 90401 is fixedly mounted on the top or side of the rotating base 903903, with the sensor body 90402 fixedly mounted therein. The trigger ring 90403, facing the sensing surface of the sensor body 90402, is fixedly mounted on the main rotating shaft 905905 or the main outer cylinder 907907. The operation of the sliding joint and the main telescopic joint does not activate the rotation sensor 904. Only the operation of the main rotating joint causes the rotation sensor 904 to start operating and transmit sensor signals. Based on the sensor signals transmitted by the rotation sensor 904, the rotation direction and angle of the main manipulator 9 can be determined in real time.

[0069] After grabbing the drill rod from the transporter, the main manipulator 9 first rotates past the first sensing surface 90403a and enters the gap 90403b. Because there is no sensing surface at the gap 90403b, the main manipulator pauses for a specific period of time or until the control system sends a signal before continuing to rotate (sensor body 90402 enters the second sensing surface 90403b) until the sensor is disconnected again, at which point the main manipulator delivers the drill rod into the rack. By installing sensors with segmented sensing capabilities at the main manipulator's main rotation joints, the main manipulator's rotation can be divided into multiple stages, pausing at specific locations as required.

[0070] Example 1:

[0071] Further, according to Figure 4 As shown, the first sensing surface 90403a and the second sensing surface 90403b are located on either side of the gap 90403b. The arc lengths of the arcs corresponding to the first and second sensing surfaces 90403a and 90403b are unequal, resulting in inconsistent sensor signal on-times when the sensor body is located within the first and second sensing surfaces 90403a and 90403b. The first arc is shorter than the second arc, and the control system can determine the direction of the main manipulator's rotation by observing the change in the sensor signal on-time (from short to long or from long to short), thereby recording the main manipulator's status in the system.

[0072] Specifically:

[0073] Initial state: the main gripper of the main manipulator 9 is vertically downward, only the main telescopic joint of the main manipulator 9 moves, the rotary joint is not started, the sensor body 90402 does not enter the sensing area of the first sensing surface 90403a, and the sensor signal is disconnected at this time.

[0074] The first rotation: the main rotating joint is started, and the main manipulator 9 rotates counterclockwise. Since the sensor body 90402 is fixed on the rotating seat 903, it will not move synchronously with the main rotating joint. At this time, the first sensing surface 90403a is acted upon by the main rotating shaft 905, so that the sensor body 90402 enters the sensing area of the first sensing surface 90403a, and the sensor receives the signal.

[0075] Stay stage: When the main rotating joint drives the main manipulator 9 to rotate continuously, until the gap 90403b of the trigger ring 90403 corresponds to the sensor body 90402, at this time, since there is no sensing surface at the gap 90403b, the sensor signal is disconnected, and the main manipulator 9 stays for a specific period of time or waits for the control system to send a signal again before continuing to rotate.

[0076] Second Rotation: The main rotation joint is activated again, and the main manipulator 9 continues to rotate counterclockwise. At this point, under the influence of the main rotation axis 905, the second sensing surface causes the sensor body 90402 to enter the sensing area of the second sensing surface 90403b. This is until the trigger ring 90403 completely leaves the sensor body 90402, indicating that the main manipulator 9 has completed its entire rotation. During the second rotation, the sensor signal is first connected and then disconnected.

[0077] Determination of positive and negative rotation direction: Since in the present invention, the arc length of the first sensing surface 90403a is smaller than the arc length of the second sensing surface 90403b, when the sensor signal is "off-short on-off-long on-off", the main manipulator rotates counterclockwise; otherwise it rotates clockwise.

[0078] In addition, there may be a second situation in the present invention, that is, the arc length of the first sensing surface 90403a is greater than the arc length of the second sensing surface 90403b. When the sensor signal is "off-long on-off-short on-off", the main robot rotates counterclockwise; otherwise it rotates clockwise.

[0079] Furthermore, the trigger ring 90403 is cocentric with the main rotation axis 905 of the main manipulator 9. During implementation, the sensor body 90402 of the present invention is fixed to the rotating base 903 and does not change position. The relative displacement between the sensor body 90402 and the trigger ring 90403 can only be achieved through the rotation of the trigger ring 90403. Since the trigger ring 90403 is cocentric with the main rotation axis 905, the rotation paths of the first sensing surface 90403a and the second sensing surface 90403b are consistent regardless of how the trigger ring 90403 rotates. Simply by aligning the sensor body 90402 with the rotation path of the trigger ring 90403, effective connection between the sensing surfaces of the sensor body 90402 and the trigger ring 90403 can be ensured, thereby reducing the error in the stroke determination of the main manipulator 9.

[0080] Example 2:

[0081] Based on Figure 4 As shown, the trigger ring 90403 is an open ring structure, and the initial position of the sensor body 90402 is located at one of the end points of the trigger ring 90403. In practice, since the trigger ring 90403 is an open ring structure and the diameter of the main rotating shaft 905 is smaller than the opening width of the trigger ring 90403, the trigger ring 90403 can be directly mounted on the rotating shaft during assembly without disassembling the main telescopic joint. This facilitates the assembly and disassembly of the trigger ring 90403, and when the sensor needs to be repaired or replaced later, there is no need to disassemble other structures of the main manipulator.

[0082] Furthermore, the arc length angle of the trigger ring 90403 is greater than 180°. During implementation, the circumferential angle of the trigger ring 90403 should completely cover the rotation angle range of the main manipulator. The rotation angle range of the main manipulator in the present invention is 0 to ±180°, where the positive and negative signs only represent the rotation direction of the main manipulator, i.e., 0 to 180° clockwise rotation and 0 to 180° counterclockwise rotation. Because the arc length angle corresponding to the trigger ring 90403 must be greater than 180°, it can ensure that the circumferential angle of the trigger ring 90403 completely covers the rotation angle range of the main manipulator.

[0083] In addition, the trigger ring 90403 in the present invention also has a notch 90403b. When designing the arc length angle actually corresponding to the trigger ring 90403, the arc length angle of the notch 90403b should also be considered. Therefore, the arc length angle actually corresponding to the trigger ring 90403 should still be greater than 180° after subtracting the arc length angle of the notch 90403b.

[0084] Furthermore, the sensing surface covers all end surfaces of the trigger ring 90403 except the notch 90403b, ensuring that the sensing signal between the sensor body 90402 and the trigger ring 90403 can record the status of the main manipulator in real time.

[0085] Further, according to Figure 4 As shown, the inner side of trigger ring 90403 is provided with a protruding connecting plate with a connecting hole (not shown) for bolting the trigger ring 90403 to the main rotating shaft 905 of the main manipulator. Since the end face of trigger ring 90403 is provided with a sensing surface and a notch 90403b, a small connecting plate is provided on the inner side of trigger ring 90403 without damaging the sensing surface. The connecting plate protrudes from the inner diameter of trigger ring 90403 and is provided with a connecting hole. The main rotating shaft 905 of the present invention is connected to the main outer cylinder 907 of the main telescopic joint via a flange. The flange end face of the main rotating shaft 905 is provided with a threaded hole or through-hole corresponding to the connecting hole. Finally, bolts or nuts are used to secure the trigger ring 90403 to the flange end face of the main rotating shaft 905.

[0086] Furthermore, the number of connection holes is at least two. Based on the principle that two points define a straight line, at least two connection holes are required to ensure a secure connection between the trigger ring 90403 and the flange end face of the main rotating shaft 905. The more connection holes there are, the stronger the connection between the two. However, the number of connection holes should not be too large, as this will make it difficult to assemble and disassemble the trigger ring 90403 and the main rotating shaft 905. Furthermore, given the limited space on the connecting plate, too many connection holes will make layout difficult and may even reduce the strength of the connecting plate itself. In the present invention, three connection holes are used for the connection between the trigger ring 90403 and the main rotating shaft 905, ensuring both stability and the strength of the trigger ring 90403 itself.

[0087] Further, according to Figure 1 As shown, the rotating base 903 is also provided with an axially extending sensor base 90401, to which the sensor body 90402 is fixed. In practice, the sensitivity between the sensor body 90402 and the trigger ring 90403, that is, the distance between the sensing surfaces of the sensor body 90402 and the trigger ring 90403, can be adjusted based on the axial position of the sensor base 90401 on the rotating base 903. When the distance between the two decreases, the sensitivity between the sensor body 90402 and the trigger ring 90403 increases; when the distance between the two increases, the sensitivity between the sensor body 90402 and the trigger ring 90403 decreases. However, in practice, the higher the sensitivity between the sensor body 90402 and the trigger ring 90403, the better. Excessively high sensitivity can cause sensor signals to be transmitted even when the sensor body 90402 and the trigger ring 90403's sensing surfaces are not facing each other, even if they are slightly interdigitated, which can easily lead to errors.

[0088] Example 3:

[0089] Furthermore, the main telescopic joint includes a vertically arranged main outer cylinder 907 and a main inner cylinder 908. The main outer cylinder 907 is connected to the main rotating shaft 905, the main inner cylinder 908 is slidably connected to the interior of the main outer cylinder 907, and the main gripper assembly is connected to the bottom of the main inner cylinder 908. During implementation, the main inner cylinder 908 and the main outer cylinder 907 of the present invention maintain relative sliding in the axial direction, with the sliding direction being perpendicular to the axis of the main rotating shaft 905 in the main rotating joint, thereby extending the radius of the original main manipulator 9 and expanding the grasping range of the main manipulator 9. In addition, during installation, the main inner cylinder 908 and the main outer cylinder 907 should be equipped with structures such as limit rings or retaining rings to ensure that the main inner cylinder 908 does not slip outside the main outer cylinder 907.

[0090] Furthermore, the main outer cylinder 907 is detachably connected to the main rotating shaft 905 via a flange. During implementation, the main telescopic joint in the present invention is suspended at one end of the main rotating shaft 905. In addition to the weight of the main clamping jaw assembly, sufficient connection strength is required between the main rotating shaft 905 and the main outer cylinder 907. Flange connection is to first fix two pipes, pipe fittings or equipment on a flange plate, add a flange gasket between the two flange plates, and fasten them together with bolts to complete the connection. Flange connection is an important connection method for pipeline construction. Flange connection is easy to use and can withstand greater pressure. Therefore, the present invention meets the connection strength between the main rotating shaft 905 and the main outer cylinder 907 through flange connection, and the flange connection is connected by multiple bolts, so that the main rotating shaft 905 and the main outer cylinder 907 can be disassembled to facilitate the later inspection or replacement of various components.

[0091] In addition, the main outer cylinder 907 and the main inner cylinder 908 in the present invention are both hollow cylindrical structures, which reduces the weight of the main telescopic joint to a certain extent and further ensures the connection strength between the main outer cylinder 907 and the main rotating shaft 905.

[0092] Furthermore, the main telescopic joint also includes a main telescopic oil cylinder 906, which is fixed to the top of the main outer cylinder 907. The main inner cylinder 908 is connected to the output end of the main telescopic oil cylinder 906. The present invention uses the main telescopic oil cylinder 906 to intelligently control the relative movement between the main outer cylinder 907 and the main inner cylinder 908, so that the main clamping jaw assembly located at the bottom of the main inner cylinder 908 can stop at a set position and perform a grasping action. The extension and contraction process of the main telescopic oil cylinder 906 is the distance that the main outer cylinder 907 and the main inner cylinder 908 can move relative to each other, and this distance should be less than the maximum displacement between the main outer cylinder 907 and the main inner cylinder 908 to prevent collision between the main outer cylinder 907 and the main inner cylinder 908.

[0093] Furthermore, the main clamping jaw assembly includes a main clamping jaw 910 and a main clamping cylinder 909. The main clamping cylinder 909 is fixed to the lower portion of the main inner tube 908. The main clamping jaw 910 is fixed to the main clamping cylinder 909 and is clamped or released under the drive of the main clamping cylinder 909. During operation, after the main rotating joint drives the main clamping jaw 910 to rotate to a set angle, the main telescopic joint's telescopic function extends the main clamping jaw 910 to a specified position. Finally, the main clamping cylinder 909 executes the grasping command to complete the grasping process. The main telescopic joint then controls the main clamping jaw 910 to retract. After the main rotating joint drives the main telescopic joint and the main clamping jaw 910 to rotate to the specified position, the main clamping cylinder 909 executes the release command to release the grasped drill rod to the specified position.

[0094] Example 4:

[0095] Based on Figure 1 As shown, the frame-mounted main manipulator 9 provided by the present invention also includes a sliding joint, and the rotating seat 903 is fixed to the sliding joint to drive the overall horizontal displacement of the main manipulator 9. The difference from the third embodiment is that this embodiment adds a sliding joint, while the remaining main rotating joints and main telescopic joints remain the same as those in the third embodiment.

[0096] As mentioned above, the combination of the main rotating joint and the main telescopic joint enables the main manipulator 9 to expand the grasping range. The sliding joint in this embodiment applies a horizontal displacement function to the main manipulator 9, further expanding the grasping range of the main manipulator 9.

[0097] Furthermore, the sliding joint includes a fixed seat 901 and a connecting arm 911. The fixed seat 901 is connected to the frame 11 and is equipped with a horizontally arranged main slide rail. The bottom of the connecting arm 911 is provided with a sliding groove that cooperates with the main slide rail. The rotating seat 903 in the main rotating joint is fixedly connected to the connecting arm 911. During implementation, the cooperation between the rail and the sliding groove limits the horizontal displacement between the connecting arm 911 and the fixed seat 901, that is, determines the direction and amount of horizontal displacement of the connecting arm 911. The main rotating joint and the main telescopic joint in the present invention are both fixed to the connecting arm 911. Therefore, any displacement of the connecting arm 911 will cause the entire main manipulator 9 to move. The specific horizontal displacement direction needs to be determined based on the initial position of the drill rod, the required transport position, and the initial position of the main manipulator 9 in the actual situation. In other words, the rail in the sliding joint in the present invention can be set in any direction to ensure that the main manipulator 9 can effectively complete the grasping process.

[0098] In addition, in Example 3, it is also mentioned that the main telescopic joint is suspended at one end of the main rotating shaft 905, that is, the connecting arm 911 also needs to assume the supporting role of the main manipulator 9. Therefore, according to the lever principle, without interfering with the normal telescopic operation of the main telescopic joint, there should be sufficient connection area between the connecting arm 911 and the rotating seat 903, and the distance between the connecting arm 911 and the main telescopic joint should be reduced as much as possible to ensure sufficient connection strength between the two, so as to avoid the main rotating shaft 905 being damaged due to the excessive weight of the main telescopic joint. Similarly, the rotating seat 903 should also have sufficient covering area for the main rotating shaft 905, and distribute the gravity of the main telescopic joint and the main clamping jaw assembly to each part of the rotating seat 903 through the transmission shaft, and then transmit it to the fixed seat 901 as a whole through the connecting arm 911.

[0099] Furthermore, the sliding joint also includes a sliding oil cylinder 912, one end of which is fixed to the fixed seat 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. The present invention uses the sliding oil cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed seat 901, so that the main manipulator 9 can stop at a set position and perform a grasping action. The displacement process of the sliding oil cylinder 912 is the distance that the connecting arm 911 and the fixed seat 901 can move relative to each other, and this distance should be less than the maximum displacement between the connecting arm 911 and the fixed seat 901 to prevent collision between the connecting arm 911 and the fixed seat 901.

[0100] See also Figures 5 to 7 As shown, the lifting joint and the auxiliary rotation joint are connected via a crossbeam 603 . The lifting joint is connected below the crossbeam 603 , and the auxiliary rotation joint is connected to the side of the crossbeam 603 .

[0101] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 which are connected to each other. The lifting outer cylinder 602 is installed in a sleeve arrangement with the lifting inner cylinder below the beam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting motion.

[0102] The secondary rotating joint includes a secondary rotating driver 604 connected to the beam 603 and a secondary rotating shaft 605 connected to the secondary rotating driver 604. The secondary rotating shaft 605 rotates under the drive of the secondary rotating driver 604; the end of the secondary rotating shaft 605 away from the beam 603 is connected to the secondary telescopic joint. The secondary rotating shaft 605 rotates, driving the secondary telescopic joint and the secondary clamp 609 to swing.

[0103] The secondary telescopic joint includes a secondary telescopic oil cylinder 606 connected to the secondary rotating shaft 605. The secondary outer cylinder 607 and the secondary inner cylinder 608 are connected to the lower part of the secondary telescopic oil cylinder 606. The secondary inner cylinder 608 is inserted into the secondary outer cylinder 607 to form a telescopic joint, which performs telescopic movement under the drive of the secondary telescopic oil cylinder 606.

[0104] The auxiliary rotating shaft 605 is installed in the inner cavity of the beam 603. The inner cavity of the beam 603 is provided with an arc groove. The outer side of the auxiliary rotating shaft 605 is provided with a protrusion. When the auxiliary rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotating shaft 605.

[0105] A side of the auxiliary clamping jaw 609 close to the telescopic unit is connected to an auxiliary clamping oil cylinder 610 , and the auxiliary clamping jaw 609 is clamped or released under the drive of the auxiliary clamping oil cylinder 610 .

[0106] The fifth embodiment is a step of taking out a drill rod from a drill rod box and placing the drill rod into a transporter.

[0107] Initial state: The auxiliary manipulator is located at any position of the auxiliary slide rail of the drill rod box. The lifting joint and the auxiliary telescopic joint prevent the auxiliary clamping jaw 609 from interfering with the drill rod box and the drill rod therein. The auxiliary rotating joint makes the auxiliary clamping jaw 609 point vertically downward and the auxiliary clamping jaw 609 is open.

[0108] Row selection: The auxiliary manipulator moves along the auxiliary slide rail of the drill rod box to select a row of drill rods to be grabbed;

[0109] Grabbing the drill rod: The auxiliary clamping jaw 609 is adjusted by the lifting joint and the auxiliary telescopic joint to reach a height suitable for grabbing the top drill rod in the selected column. The auxiliary clamping jaw 609 is driven by the auxiliary clamping cylinder 610 to clamp the drill rod.

[0110] Adjust the height: Adjust the height in reverse until the drill rod does not interfere with the drill rod box and is suitable for placing the drill rod on the transporter;

[0111] Translation: the auxiliary clamping jaw 609 holds the drill pipe and translates it toward the transporter;

[0112] Upward swing: the auxiliary rotation driver 604 drives the auxiliary rotation shaft 605 to drive the auxiliary clamp 609 to swing upward by an angle γ;

[0113] Extension: The secondary telescopic joint drives the secondary gripper 609 to extend toward the transporter;

[0114] Rod placement: The auxiliary clamp 609 is released and the drill rod is placed in the transporter;

[0115] Retraction: The secondary telescopic joint drives the secondary clamping jaw 609 to retract.

[0116] The sixth embodiment is a drill rod grabbing step of taking out the drill rod from the transporter and placing it into the drill rod box.

[0117] Initial state: the auxiliary manipulator is located at the position of the drill rod box auxiliary slide closest to the transporter, the lifting joint makes the auxiliary clamp 609 at a height suitable for grabbing the drill rod in the transporter, the auxiliary telescopic joint retracts, the auxiliary rotation joint lifts the auxiliary clamp 609, and the auxiliary clamp 609 opens.

[0118] Extend the auxiliary clamp 609 and grab the drill rod: The auxiliary telescopic joint drives the auxiliary clamp 609 to extend toward the transporter to a position suitable for grabbing the drill rod in the transporter. The auxiliary clamp 609 is driven by the auxiliary clamping cylinder 610 to clamp the drill rod.

[0119] The secondary clamping jaw 609 retracts: the secondary telescopic joint drives the secondary clamping jaw 609 to retract;

[0120] Downward swing: the auxiliary rotation driver 604 drives the auxiliary rotation shaft 605 to drive the auxiliary clamp 609 to swing downward by an angle γ;

[0121] Row selection: The auxiliary manipulator moves along the auxiliary slide rail of the drill rod box to select a row of recyclable drill rods in the drill rod box;

[0122] Adjusting the height: The auxiliary clamping jaw 609 is adjusted by the lifting joint and the auxiliary telescopic joint to reach a height suitable for putting the drill rod back;

[0123] Rod release: release the auxiliary clamp 609 and put the drill rod back into the drill rod box;

[0124] Retraction: The secondary telescopic joint drives the secondary clamping jaw 609 to retract.

[0125] The main manipulator 9 takes out the drill rod from the transporter and sends it to the drilling rig mainframe. The drill rod grabbing steps are basically the same as the auxiliary manipulator taking out the drill rod from the drill rod box and putting it into the transporter, so they will not be repeated here.

[0126] The present invention implements vertical swinging of the auxiliary manipulator by providing a secondary rotational joint with a defined angle. This allows the manipulator to transport drill pipe across components such as the attitude adjustment device, allowing the transporter to be positioned on the attitude adjustment device on the opposite side of the drill pipe box. This improvement significantly increases the flexibility of the drill pipe conveying system layout, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0127] 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. Drill pipe conveying system, characterized by: Including main manipulator, auxiliary manipulator and transporter; The main manipulator includes a main rotation joint, a main telescopic joint, a main gripper assembly and a rotation sensor; The main rotating joint includes a rotating seat and a rotating driver, wherein the rotating driver is arranged at one end of the rotating seat and drives the main rotating shaft to rotate, and the main rotating shaft passes through the rotating seat and is connected to the main telescopic joint; The main gripper assembly is connected to the bottom of the main telescopic joint, and drives the main gripper assembly to extend and retract in the vertical direction through the main telescopic joint, and the main gripper assembly is used for grasping; the rotation sensor is arranged on the main rotation joint; The auxiliary manipulator is arranged on the auxiliary slide rail of the drill rod box and includes a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamping claw connected in sequence, the lifting joint is connected to the auxiliary slide rail at one end away from the auxiliary clamping claw, and the auxiliary telescopic joint and the auxiliary clamping claw are arranged toward the inside of the drill rod box; The auxiliary rotation joint is connected to the lifting joint via a crossbeam; the auxiliary rotation joint comprises an auxiliary rotation shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the auxiliary rotation shaft. When the auxiliary rotation shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotation shaft; The transporter is connected between the main manipulator and the auxiliary manipulator to realize the transport of the drill rod between the main manipulator and the auxiliary manipulator.

2. The drill rod conveying system according to claim 1, characterized in that: The rotation sensor includes a sensor body and a trigger ring; the trigger ring is fixed to the main rotation shaft and rotates synchronously and in the same direction as the manipulator rotates; a notch is provided on the trigger ring to divide the arc surface of the trigger ring into two parts, and the end surfaces on both sides of the notch serve as sensing surfaces; The sensor body is arranged on the rotating seat and corresponds to the sensing surface on the end face of the trigger ring; when the sensor body is facing the sensing surface of the trigger ring, the sensor signal is connected; otherwise, the sensor signal is disconnected.

3. The drill rod conveying system according to claim 2, characterized in that: The sensing surfaces located on both sides of the notch are respectively the first sensing surface and the second sensing surface. The arc lengths of the arc surfaces corresponding to the first sensing surface and the second sensing surface are not equal, so that when the sensor body is respectively located in the first sensing surface and the second sensing surface, the connection time of the sensor signal is inconsistent.

4. The drill rod conveying system according to claim 3, characterized in that: The arc length corresponding to the second sensing surface is greater than the arc length corresponding to the first sensing surface.

5. The drill rod conveying system according to claim 4, characterized in that: The trigger ring is coaxial with the main rotation axis of the main manipulator.

6. The drill rod conveying system according to any one of claims 1 to 5, characterized in that: The trigger ring is an open ring structure, and the sensor body is located at one end point of the trigger ring.

7. The drill rod conveying system according to claim 6, characterized in that: The arc length angle of the trigger ring is greater than 180°.

8. The drill rod conveying system according to claim 7, characterized in that: The sensing surface covers all end surfaces of the trigger ring except the notch.

9. The drill rod conveying system according to claim 6, characterized in that: A protruding connecting plate is provided on the inner side of the trigger ring. A connecting hole is provided on the connecting plate for bolt connection between the trigger ring and the main rotating shaft of the main manipulator.

10. The drill rod conveying system according to claim 9, characterized in that: The number of the connecting holes is at least two.

11. The drill rod conveying system according to claim 6, characterized in that: The rotating seat is also provided with an axially extending sensor seat, and the sensor body is fixed on the sensor seat.

12. The drill rod conveying system according to claim 1, characterized in that: The main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected to the inside of the main outer cylinder. The main clamping jaw assembly is connected to the bottom of the main inner cylinder; the main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

13. The drill rod conveying system according to claim 1 or 12, characterized in that: The main clamping jaw assembly includes a main clamping jaw and a main clamping oil cylinder. The main clamping oil cylinder is fixed to the lower part of the main inner tube. The main clamping jaw is fixed on the main clamping oil cylinder and is clamped or released under the drive of the main clamping oil cylinder.

14. The drill rod conveying system according to claim 1, characterized in that: It also includes a sliding joint, which includes a fixed seat, a connecting arm and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, and the sliding groove cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm. One end of the sliding oil cylinder is fixed on the fixing seat, and the other end is connected to the connecting arm, so that the connecting arm slides along the track.

15. The drill rod conveying system according to claim 1, characterized in that: One end of the lifting joint away from the slide rail is connected to the lower side of the crossbeam.

16. The drill rod conveying system according to claim 15, characterized in that: The lifting joint includes a lifting outer cylinder and a lifting oil cylinder connected to the lifting outer cylinder. The lifting outer cylinder is installed in a sleeve manner with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting oil cylinder drives the lifting pair to perform lifting movement.

17. The drill rod conveying system according to claim 15, characterized in that: The secondary rotation joint further includes a secondary rotation driver connected to the crossbeam, and the secondary rotation driver is connected to the secondary rotation shaft to drive the rotation of the secondary rotation shaft.

18. The drill rod conveying system according to claim 17, characterized in that: One end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. The secondary rotating shaft rotates to drive the secondary telescopic joint and the secondary clamp to swing.

19. The drill rod conveying system according to claim 17, wherein: The secondary telescopic joint comprises a secondary outer tube and a secondary inner tube, wherein the secondary inner tube is inserted into the secondary outer tube to form a telescopic pair for telescopic movement; and a secondary telescopic oil cylinder connected to the secondary rotating shaft, wherein the secondary telescopic oil cylinder is connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

20. The drill rod conveying system according to claim 1, wherein: A side of the auxiliary clamping jaw close to the telescopic unit is connected to an auxiliary clamping oil cylinder, and the auxiliary clamping jaw is clamped or released under the drive of the auxiliary clamping oil cylinder.

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