Full-section automatic control drilling machine and control method thereof

Abstract

The invention belongs to the field of mining drilling machines, and relates to a full-section automatic control drilling machine and a control method thereof.The full-section automatic control drilling machine comprises a moving platform, a drill rod box, an auxiliary mechanical arm, a posture adjusting device, a drill rod transporter, a main mechanical arm, a rack, a drill rod conveying sensor set and a rotation positioning sensor set; the drill rod transporter is arranged at the top of a transporter gyrator in the posture adjusting device; the machine frame is arranged on the side, away from the lifting sleeve, of the dip angle gyrator in a side hanging mode, and the main mechanical arm is installed on the machine frame and rotates along with the machine frame. The two independent gyrators are adopted to drive the drill rod transporter and the rack to rotate correspondingly, the rack is installed in a side hanging mode, wide-range dip angle adjustment of the drill rod transporter in the vertical plane is achieved, and the tapping height is reduced; and through the drill rod conveying sensor group and the rotary positioning sensor group, the problems that monitoring on the drill rod loading and unloading adjusting process is lacked and a manipulator inclination angle position judgment sensor cannot be applied to a large inclination angle range in the prior art are solved.

Description

Technical Field

[0001] The invention belongs to the field of mining drills and relates to a full-section automatic control drill and a control method thereof. Background Art

[0002] In the context of the intelligent coal mining strategy, drilling rig automation has become a key enabler for achieving reduced- and even unmanned underground operations. Traditional manual operation, limited by the complex underground environment and fatigue, fails to meet the dual requirements of efficient mining and inherent safety in modern coal mines. Automation technology automates the drilling process and auxiliary operations, significantly reducing labor intensity and improving safety. It also overcomes the efficiency bottleneck of manual operation, making it an inevitable choice for technological upgrades in the coal industry.

[0003] After nearly 10 years of development, automated drilling rig technology has matured, achieving fully automated operations for loading and unloading drill rods, drilling, and adjusting drill positions. It has been widely used in disaster prevention and control projects such as gas extraction and water exploration. However, the automated drilling rigs currently used in the industry mostly use a three-stage drill rod conveying system consisting of dual manipulators and a translational transporter (CN201911185745.9), which has the following main shortcomings:

[0004] (1) The drilling inclination range is limited

[0005] Due to the spatial relationship between the drill rod handling manipulator and the crawler platform, it cannot meet the requirements of drilling holes with a large negative angle. When drilling holes with a large positive angle, the frame needs to be raised to a higher height, and generally only works in tunnels with larger cross-sections.

[0006] (2) The opening height is relatively high

[0007] Limited by the drill rod conveying principle of the drill rod loading and unloading system, the height of the drilling host (mainly the power head and frame) must be adapted to the drill rod conveying route, resulting in a higher hole opening height.

[0008] (3) It is difficult to achieve four-corner anchoring

[0009] Anchoring is an important measure to ensure the stability of the drilling rig during drilling. However, due to the limitations of the existing technology on the movement space requirements and relative positions of the retractable turntable, crawler vehicle and manipulator, usually only the two anchoring components at the rear end of the drilling rig can be used, and it is difficult to use the two anchoring components at the front end of the drilling rig, resulting in poor stability of the body during drilling, affecting drilling efficiency and safety.

[0010] (4) The drill pipe conveying sensor system is not perfect

[0011] Existing drill pipe conveying systems generally monitor the key joints of components. One type is to use sensors such as encoders to monitor the angles and displacements of special joints of the manipulator. This method has a complex structure, low sensor reliability, and high cost. Another type is to use position sensors to monitor the special positions of the manipulator (extreme positions, horizontal positions), etc., to determine the relative positions between components. The sensor reliability of this method is improved, but there is a lack of process monitoring, and it is difficult to improve the degree of automation and self-adjustment capabilities of the operation process. At the same time, this technology is only applicable to drilling rigs with a smaller drilling inclination range. It cannot effectively distinguish between different working conditions with positive and negative inclination angles, and it is difficult to meet the drill pipe conveying needs under complex working conditions.

[0012] Therefore, an automated drilling rig with a wider range of applicable inclination angles and lower opening height is needed to expand the application scope of the automated drilling rig and give full play to its role in reducing manpower, improving efficiency and increasing safety in mine safety projects. Summary of the Invention

[0013] In view of this, the purpose of the present invention is to provide a full-section automatic control drilling rig and its control method, so as to solve the problems that the existing automatic drilling rig has a limited drilling inclination range and cannot perform negative large-angle drilling, and the height required for positive large-angle drilling is too high, as well as the problem that the existing technology lacks monitoring of the drill rod loading and unloading adjustment process and the manipulator inclination position judgment sensor cannot be applied to a large inclination range.

[0014] In order to achieve the above object, the present invention provides the following technical solutions:

[0015] A full-section automatic control drilling rig includes a mobile platform, a drill rod box, an auxiliary manipulator, a posture adjustment device, a drill rod transporter, a main manipulator, and a frame. The drill rod box and the posture adjustment device are both mounted on the mobile platform, and the posture adjustment device is located on one side of the drill rod box. The auxiliary manipulator is used to transport drill rods in the drill rod box to the drill rod transporter, and the main manipulator is used to transport drill rods in the drill rod transporter to the frame.

[0016] The attitude adjustment device includes a rotary platform, a lifting sleeve, a transporter rotator and an inclination rotator. The rotary platform serves as a carrier of the attitude adjustment device and is rotatably connected to the mobile platform. The lifting sleeve is vertically lifted and installed on the rotary platform. The transporter rotator and the inclination rotator are both installed on the lifting sleeve, and the inclination rotator and the transporter rotator are both located on the side of the lifting sleeve away from the drill pipe box.

[0017] The drill rod transporter is arranged on top of the transporter rotator, and the inclination angle of the drill rod transporter is adjusted by the transporter rotator;

[0018] The frame side hanging is arranged on a side of the inclination rotator away from the lifting sleeve, and the inclination angle of the frame is adjusted by the inclination rotator. The main manipulator is installed on the frame and rotates with the frame.

[0019] Furthermore, the auxiliary manipulator is slidably connected to the drill rod box via an auxiliary slide rail arranged on the drill rod box, and comprises a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamp connected in sequence, wherein one end of the lifting joint away from the auxiliary clamp is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary clamp are arranged toward the inside of the drill rod box;

[0020] The auxiliary rotating joint is connected to the lifting joint through a crossbeam; the auxiliary rotating joint includes an auxiliary rotating shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and the outer side of the auxiliary rotating shaft is provided with a protrusion. When the auxiliary rotating shaft rotates, the protrusion slides circumferentially in the arc groove to achieve rotation limitation of the auxiliary rotating shaft.

[0021] Furthermore, one end of the lifting joint away from the slide rail is connected to the bottom of the beam.

[0022] Furthermore, 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 arrangement with the lifting inner cylinder below the beam. 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.

[0023] 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.

[0024] Furthermore, one 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.

[0025] Furthermore, the auxiliary telescopic joint comprises an auxiliary outer tube and an auxiliary inner tube, wherein the auxiliary inner tube is inserted into the auxiliary outer tube to form a telescopic pair for performing telescopic movement;

[0026] 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.

[0027] Furthermore, 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.

[0028] Furthermore, the main manipulator includes a main rotation joint, a main telescopic joint, and a main gripper assembly;

[0029] 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;

[0030] The main clamping jaw assembly is connected to the bottom of the main telescopic joint, and drives the main clamping jaw assembly to telescope in the vertical direction through the main telescopic joint. The main clamping jaw assembly is used for grasping.

[0031] Furthermore, 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 slidably 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.

[0032] Furthermore, 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.

[0033] Furthermore, 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.

[0034] 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.

[0035] Furthermore, the drill rod transporter includes a base plate, a support block, a pressure plate, and an axial pressing block; the support block is arranged on the base plate to support the drill rod; the axial pressing block is arranged on the base plate and is located on both sides of the support block; the upper part of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the support block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the support block.

[0036] Furthermore, a sliding cylinder is provided at the bottom of the base plate, and the sliding cylinder is connected to the slider to drive the slider to slide along the length direction of the base plate.

[0037] Furthermore, the axial pressing block is rotatably connected to the pressure plate. When the drill rod transporter is in a state of waiting for loading or removing the drill rod, the pressure plate is rotated and opened upward to facilitate loading or removing the drill rod.

[0038] Furthermore, a pressing oil cylinder is provided on the pressing plate to drive the rotation of the pressing plate; the pressing oil cylinder is located outside the two axial pressing blocks and is hingedly connected to the upper part of the axial pressing blocks.

[0039] Furthermore, at least two support blocks are provided, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod.

[0040] Furthermore, it also includes an azimuth rotator, which is installed on the mobile platform and connected to the rotary platform, and is used to rotate the rotary platform and arrange it on the mobile platform of the drilling rig.

[0041] Furthermore, it also includes a lower anchoring assembly, which is installed on one side of the rotating platform and is used to contact the ground to support the posture adjustment device.

[0042] Furthermore, the main body of the slewing platform is a slewing flat plate, and one side of the slewing flat plate is provided with a lower anchor mounting plate and an ear seat for connecting the lower anchor assembly and the lifting cylinder respectively.

[0043] Furthermore, the other end of the lifting cylinder is connected to a lifting sleeve to drive the lifting sleeve to rise and fall vertically.

[0044] Furthermore, it also includes a lifting column, which is installed on the top of the lower anchor assembly or manufactured integrally with the lower anchor assembly, and is used to guide the vertical lifting of the lifting sleeve.

[0045] Furthermore, it also includes an upper anchor seat and an upper anchor assembly;

[0046] The upper anchor seat includes a fixing cylinder fixedly sleeved on the lifting column and a column head connected to the outside of the fixing cylinder;

[0047] The upper anchor assembly is mounted on the column head for contacting the tunnel top support.

[0048] Furthermore, the lifting sleeve includes a lifting sleeve cavity, a sleeve and a connecting sleeve;

[0049] The lifting sleeve cavity is surrounded by two front and rear side plates and a top cover plate, and is configured to accommodate the lifting cylinder;

[0050] The sleeve is fixedly mounted on the left and right sides of the lifting sleeve cavity and serves as a guide member for movement along the lifting column;

[0051] The connecting tube is fixedly mounted on a side of the lifting sleeve cavity facing the frame, and is provided with a flange for mounting a rotary transition plate.

[0052] Furthermore, the rotary transition plate is disc-shaped and comprises:

[0053] a first transition plate flange configured to be connected to the connecting cylinder;

[0054] A second transition plate flange configured to connect to the frame connecting plate; and

[0055] A third transition plate flange is configured to connect to the transshipper rotator.

[0056] Furthermore, the transporter rotator comprises:

[0057] a fixing ring connected to the third transition plate flange of the rotary transition plate; and

[0058] The rotating circle is connected to the drill pipe transporter and adjusts its inclination.

[0059] Furthermore, the rack connecting plate is disc-shaped and includes:

[0060] a first flange configured to connect to the second transition plate flange of the rotary transition plate; and

[0061] The second flange is configured to be connected to the inclinometer.

[0062] Furthermore, the inclinometer includes:

[0063] a fixing ring connected to the second flange of the frame connecting plate; and

[0064] a rotating ring, fixedly connected to the frame and configured to adjust the inclination angle of the frame;

[0065] The frame is arranged to be hung sideways on the inclinometer.

[0066] Furthermore, the fixing ring of the transporter rotator is directly mounted on the lifting sleeve, and the fixing ring of the inclination rotator is mounted on the fixing ring of the transporter rotator.

[0067] Furthermore, the fixing ring of the incline rotator is directly mounted on the lifting sleeve, and the fixing ring of the transporter rotator is mounted on the fixing ring of the incline rotator.

[0068] Furthermore, the detection sensor includes:

[0069] a detection sensor mounting base radially fixed to one side of the gripper in the auxiliary manipulator;

[0070] a detection sensor spring disposed in the detection sensor mounting seat;

[0071] a trigger post movably mounted in the detection sensor mounting seat via the detection sensor spring;

[0072] A detection sensor body is configured to detect displacement of the trigger column due to the presence of the drill pipe.

[0073] Furthermore, when the clamping claw approaches the drill rod, the trigger column is pressed upward by the drill rod, and the detection sensor body generates a connection signal indicating the presence of the drill rod.

[0074] Furthermore, the judgment sensor includes:

[0075] a judgment sensor mounting seat fixed below the bottom plate in the drill pipe transporter;

[0076] A judgment sensor body fixed in the judgment sensor mounting seat;

[0077] a judgment sensor spring disposed in the judgment sensor mounting seat;

[0078] A signal-emitting post movably mounted in the judgment sensor mounting seat via the judgment sensor spring;

[0079] When the drill rod is placed in the drill rod transporter, the signal transmitting column is pressed downward by the drill rod, and the judgment sensor body generates a connection signal indicating the presence of the drill rod.

[0080] Furthermore, the top end of the signal post passes through the bottom plate of the drill rod transporter, and when there is no drill rod in the drill rod transporter, the top end of the signal post exceeds the lowest point of the drill rod transporter where the drill rod is placed.

[0081] Furthermore, the rotation sensor includes:

[0082] A rotation sensor mounting base fixed on the rotation base of the main manipulator;

[0083] A rotation sensor body fixed in the rotation sensor mounting base;

[0084] A trigger ring is fixed on a rotating member rotatably connected to the rotating base and rotates with the rotating member. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator, and the trigger ring has two arc segments with different arc lengths, and a gap is provided between the two arc segments to generate a signal for detecting the rotation position and direction of the main manipulator.

[0085] Furthermore, the two arc segments and the gap are arranged so that during the rotation of the main manipulator, the rotation sensor body detects the arc segments and the gap in sequence, and indicates the rotation direction and position of the main manipulator according to the duration and on-off of the rotation sensor body signal.

[0086] Furthermore, the rack position sensor includes a position plate and a first sensor, wherein the position plate is connected to the rack and rotates with the rack;

[0087] The position plate is divided into a positive tilt zone and a negative tilt zone, and the positive tilt zone and the negative tilt zone both cover a circumferential angle of 180°. The difference between the radius of the positive tilt zone and the radius of the negative tilt zone is not less than 1 times the sensing distance of the first sensor, and then the on-off of the first sensor is used to determine whether the rack is in a positive tilt working condition or a negative tilt working condition;

[0088] The first sensor is arranged outside the zone plate and adjacent to the junction of the positive inclination zone and the negative inclination zone.

[0089] Furthermore, the first sensor is a Hall proximity switch, a photoelectric sensor or a laser sensor.

[0090] Further, the synchronization sensor includes a first trigger block and a second sensor;

[0091] The first trigger block is mounted on the transporter rotator and rotates with the drill pipe transporter, and the second sensor is mounted on a side of the frame facing the transporter rotator;

[0092] When the frame and the drill pipe transporter are at the same inclination angle, the first trigger block and the second sensor are aligned, and the second sensor outputs a signal;

[0093] When the frame and the drill rod transporter rotate relative to each other, the second sensor is disconnected and no signal is output.

[0094] Furthermore, it also includes a location shaft, both ends of which are connected to the frame and the location plate, so that the location plate rotates with the frame.

[0095] Furthermore, the location axis is a hollow circular tube with connecting flanges at both ends, one end of which is fixedly connected to the frame, and the other end of which is fixedly connected to the location plate.

[0096] Furthermore, a transporter level sensor is included for determining whether the drill pipe transporter is in a horizontal position;

[0097] When the drill rod transporter is in a horizontal position, the transporter level sensor outputs a signal, judging that the drill rod transporter is in a horizontal position;

[0098] When the drill rod transporter rotates and is not in a horizontal position, the transporter level sensor is disconnected and no signal is output, thereby determining that the drill rod transporter is not in a horizontal position.

[0099] Further, the transporter level sensor includes a second trigger block and a third sensor;

[0100] The second trigger block is installed on the drill rod transporter and rotates with the drill rod transporter, and the third sensor is installed on the side of the lifting sleeve facing the transporter rotator;

[0101] When the drill pipe transporter is in a horizontal position, the third sensor outputs a signal;

[0102] When the drill pipe transporter rotates and is not in a horizontal position, the third sensor is disconnected and no signal is output.

[0103] Furthermore, the transporter inclination sensor includes an inner gear ring, a rotating shaft, a sensor gear ring and a wire sensor;

[0104] 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;

[0105] 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, 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 for mounting the transporter rotator;

[0106] The draw wire sensor is arranged on the outside of the lifting sleeve and is connected to the sensor gear ring through a draw wire, so as to calculate the rotation angle of the drill pipe transporter according to the draw wire length of the draw wire sensor.

[0107] Furthermore, the tilt adjustment range of the transporter rotator is 360°;

[0108] 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.

[0109] Furthermore, 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.

[0110] Furthermore, when the transporter revolver is in the initial position, the initial length of the wire between the wire sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then, the wire length corresponding to a unit angle satisfies the following conditions:

[0111] k=L0 / θ.

[0112] Furthermore, an initial angle θ of the wire between the connection point of the wire sensor and the sensor gear ring is less than 180°.

[0113] Furthermore, when the angle of the transporter revolver is rotated, the total length of the real-time pull line of the pull line sensor is L Z , then the real-time angle of the sensor ring gear is:

[0114] α=(L0-L Z ) / k;

[0115] When the transporter rotor rotates counterclockwise with a positive inclination angle, L0≥L Z ,α≥0;

[0116] When the transporter rotor rotates clockwise with a negative angle, L0≤L Z , α≤0.

[0117] Furthermore, the transmission ratio of the gear system consisting 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:

[0118] β=iα。

[0119] Furthermore, a transmission ratio of the gear train consisting of the inner gear ring, the first-stage gear, the second-stage gear and the sensor gear ring is i≥1.

[0120] On the other hand, the present invention further provides a control method for a drill rod conveying system suitable for full-section drilling, which is applicable to the drill rod conveying system suitable for full-section drilling and comprises the following steps:

[0121] The process of transporting drill rods from the drill rod box to the rack:

[0122] Initial state: There are drill rods to be transported in the drill rod box, there are no drill rods in the auxiliary manipulator and the drill rod transporter, the detection sensor and judgment sensor signals are disconnected; the main manipulator is in the ready position, and the rotation sensor signal is disconnected;

[0123] Step 1: Grab the Drill Pipe

[0124] The auxiliary manipulator approaches the drill rod from the drill rod box, the auxiliary gripper clamps the drill rod, and the detection sensor signal is connected, indicating that the auxiliary manipulator has grasped the drill rod;

[0125] Step 2: Transfer to the Drill Pipe Transporter

[0126] The auxiliary manipulator puts the drill rod into the drill rod transporter, the auxiliary gripper is released, and the detection sensor signal is disconnected. At the same time, the judgment sensor signal is connected, indicating that the drill rod has entered the drill rod transporter;

[0127] Step 3: Main robot grasps

[0128] The main manipulator grabs the drill rod from the drill rod transporter. After the drill rod leaves, it determines that the sensor signal is disconnected;

[0129] Step 4: Transport to the rack

[0130] The main manipulator rotates toward the frame, and the rotation sensor generates a signal change indicating that the rotation is completed, indicating that the main manipulator has completed the rotation and sent the drill rod into the frame;

[0131] The process of recovering drill pipe from the rack to the drill pipe box:

[0132] Initial state: There is recovery space in the drill rod box, there are no drill rods in the auxiliary manipulator and the drill rod transporter, the detection sensor and judgment sensor signals are disconnected, the main manipulator is inside the rack, and the rotation sensor signal is disconnected;

[0133] Step 1: Main robot recovery

[0134] The main manipulator rotates from the frame toward the drill pipe transporter, and the rotation sensor generates a signal change indicating that the rotation is completed;

[0135] Step 2: Place on the drill pipe transporter

[0136] The main manipulator places the drill rod into the drill rod transporter and determines that the sensor signal is connected;

[0137] Step 3: Secondary manipulator grasps

[0138] The auxiliary manipulator grabs the drill rod from the drill rod transporter and detects that the sensor signal is connected. After the drill rod is removed, it determines that the sensor signal is disconnected;

[0139] Step 4: Put the drill box back

[0140] The auxiliary manipulator puts the drill rod back into the drill rod box and detects that the sensor signal is disconnected, completing the recovery.

[0141] Furthermore, the method further includes rotating the drill pipe transporter to a specified inclination angle:

[0142] S1, the transponder rotator rotates to set the inclination angle;

[0143] 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;

[0144] 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;

[0145] S4. Calculate the degree of inclination of the transporter rotor according to the transmission ratio of the gear train consisting of the inner ring gear, the first gear, the second gear, and the sensor ring gear.

[0146] Furthermore, the method further includes determining and synchronizing the inclination states of the frame and the drill pipe transporter, including the following steps:

[0147] Horizontal to positive tilt adjustment:

[0148] a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, the rack position sensor is off, and the synchronization sensor is on;

[0149] b. The frame rotates in the positive inclination direction to the set angle A, A>0°, and after the rotation begins, the synchronization sensor is disconnected and the transporter level sensor is disconnected;

[0150] c. The rack position sensor receives a signal to determine that the rack is in a positive tilt state;

[0151] d. After the rack is rotated into place, the drill pipe transporter rotates in the positive inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill pipe transporter and the rack are at the same inclination angle and are in the positive inclination state;

[0152] Horizontal to negative tilt adjustment:

[0153] a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, the rack position sensor is off, and the synchronization sensor is on;

[0154] b. The frame rotates in the negative inclination direction to the set angle α, α < 0°. After the rotation begins, the synchronization sensor is disconnected and the transporter level sensor is disconnected;

[0155] c. The rack position sensor signal remains disconnected, indicating that the rack is in a negative tilt state;

[0156] d. After the rack is rotated into place, the drill rod transporter rotates in the negative inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill rod transporter and the rack are at the same inclination angle and are in a negative inclination state.

[0157] Furthermore, the method further includes determining and synchronizing the inclination states of the frame and the drill pipe transporter, including the following steps:

[0158] Horizontal to positive tilt adjustment:

[0159] a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, and the rack position sensor is on;

[0160] b. The frame rotates in the positive inclination direction to the set angle A, A>0°, and the synchronous sensor is disconnected after the rotation starts;

[0161] c. The rack position sensor is disconnected, and it is determined that the rack is in a positive tilt state;

[0162] d. After the rack is rotated into place, the drill pipe transporter rotates in the positive inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill pipe transporter and the rack are at the same inclination angle and are in the positive inclination state;

[0163] Horizontal to negative tilt adjustment:

[0164] a. Initial state: The rack and drill pipe transporter are both in a horizontal position, the rack position sensor is on, and the synchronization sensor is on;

[0165] b. The frame rotates in the negative inclination direction to the set angle B, B < 0°, and after the rotation begins, the synchronous sensor is disconnected and the transporter level sensor is disconnected;

[0166] c. The rack position sensor signal remains connected, judging that the rack is in a negative tilt state;

[0167] d. After the rack is rotated into place, the drill rod transporter rotates in the negative inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill rod transporter and the rack are at the same inclination angle and are in a negative inclination state.

[0168] Furthermore, it also includes an adjustment process from a positive tilt angle or a negative tilt angle back to a horizontal position, which is the opposite of the adjustment process from horizontal to a positive tilt angle or a negative tilt angle.

[0169] Furthermore, the rotation sensor includes:

[0170] A rotation sensor mounting base fixed on the rotation base of the main manipulator;

[0171] A rotation sensor body fixed in the rotation sensor mounting base;

[0172] a trigger ring fixed to a rotating member of the main manipulator and rotating with the rotating member, the trigger ring being configured to interact with the rotation sensor body during rotation of the main manipulator, and the trigger ring having two arc segments of different arc lengths with a gap between the two arc segments to generate a signal for detecting the rotational position and direction of the main manipulator;

[0173] When the drill rod transporter is in an inclined state, after the main manipulator clamps the drill rod or places the drill rod in the drill rod transporter, the main manipulator rotates toward the frame through an arc segment of the trigger ring, and the rotation sensor body detects the gap between the two arc segments in the trigger ring. The signal of the rotation sensor body is disconnected, thereby causing the main manipulator to stay between the drill rod transporter and the frame, leaving space for the drill rod transporter to return to a horizontal position.

[0174] The beneficial effects of the present invention are:

[0175] (1) The present invention adopts two independent rotators to drive the drill rod transporter and the frame to rotate respectively, and cooperates with the side-hanging installation of the frame to achieve a wide range of inclination adjustment of the drill rod transporter in the vertical plane.

[0176] Expand the inclination range of drilling. Due to design defects, the existing drill pipe transporter can only move in the horizontal plane, which limits the inclination range of drilling for the automatic drilling rig and makes it difficult to expand to large-angle drilling conditions. The inclination-adjustable drill pipe transport mechanism of the present invention realizes asynchronous rotation adjustment of the inclination between the frame and the transporter through an asynchronous rotation device. The inclination rotator can adjust the inclination of the frame, and the transporter rotator can adjust the inclination of the transporter. The two cooperate with each other to enable the transporter to adjust the inclination over a wide range in the vertical plane. This enables the automatic drilling rig to adapt to the needs of drilling with larger inclination angles, breaking through previous technical limitations, meeting the drilling operations under more complex geological conditions, and broadening the application scenarios of the automatic drilling rig.

[0177] Avoid interference between components and achieve negative high-angle drilling. The layout of the drill rod transporter, manipulator and frame in the prior art is unreasonable. When adjusting the inclination angle of the drill rod conveying manipulator, especially under negative inclination conditions, it will interfere with the drill rod transporter, resulting in the inability of existing automatic drilling rigs to construct negative high-angle drilling. The reasonable design of the attitude adjustment device in the present invention effectively avoids this problem. By sequentially connecting the inclination rotator, the frame connecting plate, the rotary transition plate, the lifting sleeve and other components, the drill rod transporter and the frame can independently adjust the inclination. Under negative inclination conditions, the transporter can be adjusted to a suitable inclination as needed without interfering with other components on the rotary platform, thereby achieving the construction of negative high-angle drilling and further improving the operating capacity of the automatic drilling rig.

[0178] Improve automation and intelligence. This invention makes the drilling process more automated. Combined with automated drilling technology, it can achieve fully automatic operation of loading and unloading drill rods, drilling, and posture adjustment, further reducing labor intensity, improving operation safety and efficiency, and providing strong support for the intelligent construction of coal mines.

[0179] (2) This technical solution combines the integrated design of the anchoring assembly and the attitude adjustment device with the side-mounted installation of the frame to ensure that the drilling rig can achieve full anchoring at all four corners when adjusting the azimuth angle all around. Traditional drilling rigs are difficult to achieve four-corner fixation in certain positions, resulting in instability of the fuselage during drilling and posing a safety hazard. This solution makes four-corner anchoring possible by optimizing the structural layout, greatly improving the stability of the drilling rig. This enhanced stability not only reduces operational risks, but also provides reliable guarantees for safe construction in complex environments, fully demonstrating the dual advantages of the technical solution in performance and safety.

[0180] (3) 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.

[0181] (4) 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 drill rod 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 full-section automatic control drilling rig 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.

[0182] (5) The drill rod in transit is fixed by clamping the two ends of the drill rod in combination with pressing the top, thereby preventing the drill rod from falling during the inclination adjustment. Facilitating the loading and unloading of the drill rod: When the transporter is in the state of waiting to load or remove the drill rod (other clamping mechanisms have already clamped the drill rod), the clamping cylinder drives the pressure plate to rotate upward and open, and the sliding cylinder drives the slider to move outward, thereby expanding the internal space of the transporter and reducing obstacles during the loading and unloading process. Enhancing the stability of the drill rod fixation: By clamping the two ends of the drill rod by the slider and pressing the top by the pressure plate, the drill rod is fixed from multiple directions, which greatly enhances the stability of the drill rod during transportation and effectively avoids problems caused by shaking, deviation or even falling of the drill rod during transportation. Adapting to large-angle working conditions: The above-mentioned fixing method can ensure that the drill rod remains stable under large-angle working conditions, preventing the drill rod from falling during inclination adjustment, and expanding the application range and adaptability of the automatic drilling rig.

[0183] (6) The detection sensor on the auxiliary manipulator can directly sense whether there is a drill rod in the clamp through the trigger column design in the clamp and generate an accurate signal. This function provides key support for the automation of drill rod transportation, ensuring that the auxiliary manipulator moves accurately when grabbing and releasing the drill rod. In complex operating environments, the detection sensor effectively reduces human errors and improves operational safety through real-time feedback. Its simple structure and reliable performance not only reduce maintenance costs, but also enhance the overall stability and durability of the equipment. By cooperating with subsequent systems, the detection sensor lays the foundation for the continuity of drill rod circulation and is an indispensable part of the technical solution.

[0184] (7) The judgment sensor is located under the bottom plate of the drill rod transporter. Through the signaling column and spring reset design, it accurately detects whether there is a drill rod in the transporter and generates a connection signal. This function provides important information for the automatic control of drill rod transportation and ensures that the status of the drill rod is monitored in real time. Working in conjunction with the detection sensor of the auxiliary manipulator, the judgment sensor helps the system accurately track the flow path of the drill rod, thereby improving transportation efficiency and safety. The spring reset design avoids false triggering when there is no drill rod, ensuring the high reliability of the sensor. The application of this sensor significantly optimizes the automation process of drill rod transportation and provides stable support for subsequent drilling operations.

[0185] (8) The rotation sensor of the main manipulator is installed on the rotating seat. Through the trigger ring design, the rotation direction and position are judged according to the duration and on-off status of the signal. This function enables the main manipulator to accurately control the rotation movement and provide predictive information for drilling control. Combined with the judgment sensor of the drill rod transporter, the rotation sensor can also sense the flow direction of the drill rod in the main manipulator, further optimizing the control strategy of the drilling process. Its precise feedback reduces the possibility of mechanical interference and improves the operating efficiency and safety of the equipment. This design not only reflects the systematic nature of the technical solution, but also significantly improves the overall coordination and intelligence level of drill rod transportation and drilling operations.

[0186] (9) Compared with the prior art, the technical means of using 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 rotator inside the drilling rig to the sensor gear ring outside the drilling rig, and 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 rotator inside the drilling rig are reversed according to the transmission ratio of the gear structure, and the displacement sensor is used to monitor the change process of the transporter inclination, and the length / angle conversion is performed, thereby improving the comprehensiveness of the monitoring of the automatic conveying process of the drill rod;

[0187] 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 rotator, thereby improving the flexibility of the installation position of the wire sensor and the design of related structural parts in the present invention.

[0188] (10) The present invention realizes the accurate judgment and adjustment of the inclination angle of the frame and the drill rod transporter through the coordinated work of the frame position sensor and the synchronous sensor. The frame position sensor divides the 360° circumference into two 180° areas of positive inclination and negative inclination, and judges the current inclination range of the frame (positive inclination or negative inclination) by the signal on and off. The synchronous sensor detects whether the frame and the drill rod transporter are at the same inclination angle to ensure that the two remain consistent when the inclination angle changes. This design combines the functions of the two sensors and can collaboratively judge the rotation direction of the frame and the drill rod transporter in subsequent processes. It is suitable for inclination adjustment of the entire circumference and overcomes the limitations of the traditional method in the inclination range.

[0189] (11) In the drill rod conveying system, this technical solution significantly improves the accuracy and efficiency of the operation. The rack position sensor is used in conjunction with the synchronization sensor to achieve precise synchronization between the rack and the drill rod transporter under a wide range of working conditions such as positive and negative inclination angles, ensuring stability during the drill rod conveying process. For example, in a complex large inclination environment, the system can accurately distinguish the inclination direction, avoid misjudgment or misalignment, and thus improve conveying efficiency and safety. This precise inclination control provides technical support for the automation of drill rod conveying, and is particularly suitable for high-demand scenarios such as coal mines.

[0190] Through the synergistic effect of the above sensors, the present invention realizes efficient automation from perception to control during the drill rod transportation process, providing a strong guarantee for safety and efficiency in complex working environments.

[0191] 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

[0192] 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:

[0193] Figure 1 This is an axonometric view of a full-section automatic control drilling rig in an embodiment;

[0194] Figure 2 This is an axonometric view of the auxiliary manipulator in the embodiment;

[0195] Figure 3 This is a front view of the auxiliary manipulator in the embodiment;

[0196] Figure 4 for Figure 3 AA partial cross-sectional view of the middle auxiliary manipulator;

[0197] Figure 5 This is an axonometric view of the rotary platform in the embodiment;

[0198] Figure 6 This is an axonometric view of the posture adjustment device in the embodiment;

[0199] Figure 7 is a cross-sectional view of the posture adjustment device in the embodiment;

[0200] Figure 8 This is an axonometric view of the lifting sleeve in the embodiment;

[0201] Figure 9 This is an axonometric view of the upper anchor seat in the embodiment;

[0202] Figure 10 This is an axonometric view of the drill pipe transporter in the embodiment;

[0203] Figure 11 is a front view of the drill pipe transporter in the embodiment;

[0204] Figure 12 This is a schematic diagram of the assembly of the main manipulator in the embodiment;

[0205] Figure 13 This is a front view of the main manipulator of the embodiment;

[0206] Figure 14 A side view of the main manipulator of the embodiment;

[0207] Figure 15 This is a schematic diagram of the structure of the detection sensor in the embodiment;

[0208] Figure 16 This is a schematic diagram of the structure of the judgment sensor in the embodiment;

[0209] Figure 17 This is a working principle diagram of the rotation sensor in the embodiment;

[0210] Figure 18 An axonometric view of the rotation positioning sensor group in the embodiment;

[0211] Figure 19 This is a front view of the rack position sensor in the embodiment;

[0212] Figure 20 Schematic diagram of the structure of the rack position sensor in the embodiment;

[0213] Figure 21 Schematic diagram of the structure of the synchronization sensor in the embodiment;

[0214] Figure 22 Schematic diagram of the structure of the transporter inclination sensor in the embodiment;

[0215] Figure 23 Schematic diagram of the working principle of the transporter inclination sensor in the embodiment.

[0216] Reference numerals: mobile platform 1, hydraulic system 2, electric control system 3, anchoring system 4, drill rod box 5, auxiliary manipulator 6, attitude adjustment device 7, drill rod transporter 8, main manipulator 9, power head 10, frame 11, clamp 12, drill rod in hole 13, drill rod to be transported 14;

[0217] Auxiliary manipulator 6: lifting cylinder 601, lifting outer cylinder 602, crossbeam 603, auxiliary rotation driver 604, auxiliary rotation shaft 605, auxiliary telescopic cylinder 606, auxiliary outer cylinder 607, auxiliary inner cylinder 608, auxiliary clamping claw 609, auxiliary clamping cylinder 610, detection sensor 611, detection sensor mounting base 61101, detection sensor spring 61102, trigger column 61103, detection sensor body 61104;

[0218] Attitude adjustment device 7: azimuth rotator 701, slewing platform 702, slewing plate 70201, lower anchor mounting plate 70202, ear seat 70203, lower anchor assembly 703, lifting column 704, lifting sleeve 705, lifting sleeve cavity 70501, sleeve 70502, connecting cylinder 70503, lifting cylinder 706, upper anchor seat 707, column head 70701, fixing cylinder 70702, upper anchor assembly 708, transporter rotator 709, inclination rotator 710, slewing transition plate 712, frame connecting plate 713, rotation positioning sensor Sensor group 714, rack position sensor 71401, position plate 71401a, first sensor 71401b, synchronization sensor 71402, synchronization sensor 71402, first trigger block 71402a, second sensor 71402b, transporter inclination sensor 71403, inner ring gear 71403a, first gear 71403b, rotating shaft 71403c, sensor ring gear 71403d, pull wire sensor 71403e, second gear 71403f, pressure cover 71403g, transporter level sensor 71404;

[0219] Drill pipe transporter 8: base plate 801, support block 802, pressure plate 803, pressing cylinder 804, slide block 805, sliding cylinder 806, judgment sensor body 807, judgment sensor mounting base 808, signal post 809, judgment sensor spring 810;

[0220] Main manipulator 9: fixed base 901, main rotation driver 902, rotation base 903, rotation sensor 904, rotation sensor mounting base 90401, rotation sensor body 90402, trigger ring 90403, first arc segment 90403a, notch 90403b, second arc segment 90403c, main rotation shaft 905, main telescopic cylinder 906, main outer cylinder 907, main inner cylinder 908, main clamping cylinder 909, main clamping jaw 910, connecting arm 911, sliding cylinder 912. DETAILED DESCRIPTION

[0221] 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.

[0222] 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.

[0223] 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.

[0224] Example 1

[0225] See also Figure 1 The figure shows an overall schematic diagram of a full-section automatic control drilling rig, including a mobile platform 1, a hydraulic system 2, an electronic control system 3, an anchoring system 4, a drill rod box 5, an auxiliary manipulator 6, a posture adjustment device 7, a drill rod transporter 8, a main manipulator 9, a power head 10, a frame 11 and a clamp 12.

[0226] Among them, the mobile platform 1 is used to carry other components and has a mobile function; the hydraulic system 2 is installed on the mobile platform 1, serving as the power system for the drilling rig, driven by an electric motor, and outputting hydraulic power; the electronic control system 3 is installed on the mobile platform 1, including a controller and its supporting functional modules, a human-computer interaction system, etc.; and is used to control the drilling rig to perform automated operations.

[0227] The key to this embodiment lies in the attitude adjustment device 7, the drill rod box 5, the auxiliary manipulator 6, the drill rod transporter 8 and the main manipulator 9. The drill rod box 5 and the attitude adjustment device 7 are both installed on the mobile platform 1, and the attitude adjustment device 7 is located on one side of the drill rod box 5. The auxiliary manipulator 6 is used to transport the drill rod in the drill rod box 5 to the drill rod transporter 8, and the main manipulator 9 is used to transport the drill rod in the drill rod transporter 8 to the frame 11.

[0228] See also Figures 2 to 4 Figure 2 shows the structure of the auxiliary manipulator 6, which is mounted on the auxiliary slide rail of the drill rod box 5. The auxiliary manipulator 6 includes a sequentially connected lifting joint, a secondary rotation joint, a secondary telescopic joint, and a secondary gripper 609. The lifting joint is connected to the auxiliary slide rail at one end away from the secondary gripper 609, while the secondary telescopic joint and secondary gripper 609 are positioned toward the inside of the drill rod box. In certain embodiments, the auxiliary manipulator 6 of the present invention is used to grasp and transport drill rods.

[0229] The lifting joint and the rotating joint are connected by a crossbeam 603. In some embodiments of the present invention, the auxiliary slide rail is arranged horizontally, and the lifting joint is vertically installed on the auxiliary slide rail. The end of the lifting joint away from the slide rail is connected to the bottom of the crossbeam 603, and the rotating joint is connected to the side of the crossbeam 603. Specifically, the drill rod box 5 is also provided with a drive device (such as a hydraulic cylinder) for driving the auxiliary manipulator 6 to move along the auxiliary slide rail.

[0230] See also Figures 5 to 9 7 is a structural diagram of the attitude adjustment device 7, which includes a rotating platform 702, a lifting sleeve 705, a lower anchoring assembly 703, a transporter rotator 709 and an inclination rotator 710. The rotating platform 702 serves as a carrier of the attitude adjustment device and is arranged on the mobile platform 1 by rotating the azimuth rotator 701. The lifting sleeve 705 is vertically lifted and installed on the rotating platform 702. The transporter rotator and the inclination rotator are both installed on the lifting sleeve, and the inclination rotator and the transporter rotator are both located on the side of the lifting sleeve away from the drill pipe box 5. The lower anchoring assembly 703 is installed on one side of the rotating platform 702 for contacting the ground to support the attitude adjustment device 7.

[0231] The attitude adjustment device 7 is based on a rotating platform 702, the main body of which is a rotating plate 70201. This rotating platform 702 is mounted on the mobile platform of the drilling rig via an azimuth rotator 701. The azimuth rotator 701 adopts a worm gear rotary reducer design, with a fixed ring (inner ring) fixedly connected to the mobile platform and a rotating ring (outer ring) connected to the rotating platform 702, used to adjust the azimuth angle of the attitude adjustment device 7.

[0232] See also Figures 10 and 11 , which is a schematic structural diagram of the drill rod transporter 8. The drill rod transporter 8 is arranged on top of the transporter rotator 709, and the inclination angle of the drill rod transporter 8 is adjusted by the transporter rotator 709;

[0233] The drill rod transporter 8 comprises a base plate 801, a support block 802, a pressure plate 803, a clamping cylinder 804, an axial clamping block, and a sliding cylinder 806. The base plate 801 is the primary load-bearing and connecting member of the drill rod transporter 8, providing a mounting base for all components of the entire drill rod transporter 8. The support block 802, axial clamping block, and sliding cylinder 806 are all directly or indirectly mounted on the base plate 801, ensuring the structural integrity and stability of the drill rod transporter 8 and enabling the various components to work together to transport and secure the drill rods.

[0234] At least two support blocks 802 are provided on the base plate 801, and the upper portion of the support block 802 is provided with a groove matching the outer diameter of the drill rod for supporting the drill rod. In some embodiments of the present invention, there are preferably two support blocks 802. When the drill rod is placed in the drill rod transporter 8, the drill rod can be stably placed in the groove of the support block 802. The support block 802 bears the main weight of the drill rod, providing reliable support for the drill rod, and ensuring that the drill rod will not sink or shake due to its own weight during transportation. The axial clamping block is provided on the base plate 801 and is located on both sides of the support block 802. The axial clamping block presses and fixes the drill rod axially; the axial clamping block includes at least one slider 805 slidably provided on the base plate 801. In some embodiments of the present invention, the axial compression blocks on both sides of the support block 802 are composed of a fixed block and a slider 805. The slider 805 on one side slides on the bottom plate 801 to expand the internal space when placing or removing the drill rod, or to compress the drill rod against the fixed block on the other side. In other embodiments of the present invention, both axial compression blocks are sliders 805. The upper portion of the axial compression block is hingedly connected to a pressure plate 803 and a pressure cylinder 804, wherein the pressure plate 803 is located above the support block 802 and is rotatably connected to the upper portion of the axial compression block. The clamping cylinder 804 is located on the outside of the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803 and is the power source for driving the pressure plate 803 to rotate. Through the telescopic movement of the clamping cylinder 804, power can be transmitted to the pressure plate 803, causing the pressure plate 803 to rotate according to a predetermined trajectory, achieving the action of tightening or loosening the drill rod until the drill rod is pressed against the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further limiting the movement of the drill rod in the vertical and horizontal directions, enhancing the stability of the drill rod fixation, and preventing the drill rod from falling during transportation. The precise control of the clamping cylinder 804 can ensure that the pressure plate 803 applies appropriate pressure to the drill rod, neither effectively fixing the drill rod due to too little pressure nor damaging the drill rod due to excessive pressure.

[0235] A sliding cylinder 806 is installed at the bottom of base plate 801. Connected to slider 805, it acts as the power unit that drives slider 805 along the length of base plate 801. This drives slider 805 toward the center of base plate 801, clamping the drill rod and limiting its axial movement. Working together with support block 802 and pressure plate 803, this provides multi-directional securement of the drill rod. The stable operation of sliding cylinder 806 precisely controls the position and speed of slider 805, ensuring smooth loading, unloading, and securing of the drill rod, and guaranteeing its stability during transport.

[0236] When the drill rod transporter 8 is in a state of waiting for the insertion or removal of a drill rod (other clamping mechanisms have already firmly clamped the drill rod), the pressing cylinder 804 drives the pressing plate 803, which rotates upward and opens, and the sliding cylinder 806 drives the slide block 805 to move outward, expanding the internal space to facilitate the insertion or removal of the drill rod; after the drill rod is inserted or removed, the pressing cylinder 804 drives the pressing plate 803 to rotate back to the pressing position. When the drill rod is placed in the drill rod transporter 8 and the drill rod transporter 8 needs to be rotated or moved, the pressing cylinder 804 drives the pressing plate 803 to press the drill rod, and the sliding cylinder 806 drives the slide block 805 to move toward the center to keep the internal drill rod stable and not easy to fall.

[0237] according to Figures 12 to 14 FIG. 1 is a schematic diagram of the structure of the frame 11 and the main manipulator. The frame 11 is mounted sideways on the side of the inclination rotator 710 away from the lifting sleeve 705, and the inclination of the frame is adjusted by the inclination rotator 710. The main manipulator 9 is mounted on the frame 11 and rotates with the frame 11. Specifically, the frame 11 is also provided with a power head 10 and a clamp 12 for driving and clamping the drill rod for drilling forward or retracting.

[0238] The main manipulator 9 includes a main rotation joint, a main telescopic joint, and a main gripper assembly. The main rotation joint includes a rotating base 903 and a main rotation driver 902. The main rotation driver 902 is disposed at one end of the rotating base 903 and drives the main rotation shaft 905 to rotate. The main rotation shaft 905 passes through the rotating base 903 and is connected to the main telescopic joint.

[0239] The main clamping jaw assembly is connected to the bottom of the main telescopic joint, and drives the main clamping jaw assembly to extend and retract in the vertical direction through the main telescopic joint. The main clamping jaw assembly is used for grasping.

[0240] Specifically: The basic working process of the full-section automatic control drilling rig provided by the present invention is as follows:

[0241] (1) Rod feeding condition

[0242] 1) Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the drill rod transporter 8 is in a horizontal position, the slider 805 is extended to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamping jaw is open; the auxiliary manipulator 6 is located at any position on the slide rail of the drill rod box 5, the lifting joint and the telescopic joint prevent the auxiliary clamping jaw from interfering with the drill rod box 5 and the drill rod therein, and the rotating joint makes the auxiliary clamping jaw vertically downward, and the auxiliary clamping jaw is open; the drilling rig is drilling.

[0243] 2) Auxiliary manipulator 6 selects a row of drill rods: The auxiliary manipulator 6 selects a row of drill rods under the control of the control system.

[0244] 3) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for grabbing the top drill rod of the selected column.

[0245] 4) The auxiliary manipulator 6 grabs the drill rod: the auxiliary gripper of the auxiliary manipulator 6 clamps the drill rod.

[0246] 5) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is reversely adjusted to a height at which the drill rod does not interfere with the drill rod box 5 and is suitable for placing the drill rod into the drill rod transporter 8.

[0247] 6) The auxiliary manipulator 6 moves horizontally: the auxiliary manipulator 6 holds the drill rod and moves horizontally toward the drill rod transporter 8 .

[0248] 7) The auxiliary manipulator 6 swings upward: the auxiliary gripper of the auxiliary manipulator 6 swings upward and lifts up.

[0249] 8) The auxiliary manipulator 6 extends: the telescopic joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend toward the drill rod transporter 8.

[0250] 9) The drill rod transporter 8 clamps the drill rod: After the drill rod is placed in the drill rod transporter 8, the slider 805 of the drill rod transporter 8 contracts inwards, and at the same time, the pressing plate 803 presses the drill rod (the drill rod to be transported 14).

[0251] 10) The auxiliary manipulator 6 releases the drill rod, and the telescopic joint retracts to return to the initial state, ready to grab the next drill rod.

[0252] 11) Rotation of the drill rod transporter 8: The drill rod transporter 8 rotates from a horizontal position in the direction of the inclination angle α until the inclination angle is the same as that of the frame 11.

[0253] 12) The main manipulator 9 rotates in the opposite direction: the main manipulator 9 rotates toward the drill pipe transporter 8.

[0254] 13) The main manipulator 9 extends: the main manipulator 9 extends toward the drill pipe transporter 8 through its telescopic joint.

[0255] 14) Main manipulator 9 clamping: The main manipulator 9 clamps the drill rod.

[0256] 15) The drill pipe transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0257] 16) The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates to make room for the drill rod transporter 8 to rotate.

[0258] 17) The main manipulator 9 retracts: the telescopic joint of the main manipulator 9 retracts.

[0259] 18) Main manipulator 9 slides: The main manipulator 9 slides toward the gripper 12 so that the drill rod is in a position suitable for being sent into the frame 11.

[0260] 19) Main manipulator 9 waits: waits for the current drill rod to complete drilling.

[0261] 20) Drill rod transporter 8 is horizontal: the drill rod transporter 8 returns to a horizontal position.

[0262] 21) Disconnecting the drill rod in the hole: After completing the drilling of the current drill rod, the power head 10 is disconnected from the drill rod in the hole and retreats to a position suitable for installing the drill rod.

[0263] 22) The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0264] 23) Second stage rotation of the main manipulator 9: The main manipulator 9 performs the second stage rotation, sending the drill rod into the frame 11, and the drill rod is clamped by the clamper 12 or the power head 10.

[0265] 24) Main manipulator 9 releases: Main manipulator 9 releases the drill rod.

[0266] 25) Drill rod connection: The power head 10 and the clamp 12 cooperate to complete the drill rod connection and continue drilling.

[0267] (2) Rod withdrawal condition

[0268] 1) Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the drill rod transporter 8 is in a horizontal position, the slider 805 is expanded to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the main rotation joint is in the state of completing the first rotation, the sliding joint is retracted, and the main gripper is open; the auxiliary manipulator 6 is located at the position where the slide rail of the drill rod box 5 is closest to the transfer trough, the lifting joint makes the gripper at a height suitable for grabbing the drill rod in the drill rod transporter 8, the auxiliary telescopic joint is retracted, the auxiliary rotation joint makes the auxiliary gripper rise, and the auxiliary gripper is open; the drilling rig has just completed drilling the last drill rod.

[0269] 2) The power head 10 retreats: the power head 10 drags the drill rod 13 in the hole backward;

[0270] 3) The main manipulator 9 slides: The main manipulator 9 slides toward the gripper 12 and is in a position suitable for extending into the frame 11 to grab the drill rod.

[0271] 4) The main manipulator 9 waits: waits for the drill rod 13 in the current hole to complete the shackle;

[0272] 5) Rotation of the drill rod transporter 8: The drill rod transporter 8 rotates in the direction of the inclination angle α until the inclination angle is the same as that of the frame 11.

[0273] 6) Drill pipe shackle: The power head 10 and the clamp 12 cooperate to complete the drill pipe shackle (disconnection with the drill pipe in the hole).

[0274] 7) The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0275] 8) Second stage rotation of the main manipulator 9: The main manipulator 9 performs the second stage rotation, and the gripper reaches a position where it can grip the drill rod to be removed in the frame 11.

[0276] 9) Main manipulator 9 clamping: The main manipulator 9 clamps the drill rod.

[0277] 10) The clamp 12 or the power head 10 is released: the clamp 12 or the power head 10 is completely disconnected from the drill pipe to be removed.

[0278] 11) The main manipulator 9 rotates in the opposite direction: The main manipulator 9 rotates in the opposite direction to place the drill rod into the drill rod transporter 8.

[0279] 12) Clamping of the drill rod transporter 8: After the drill rod is placed in the drill rod transporter 8, the slider 805 of the drill rod transporter 8 contracts inwards, and at the same time, the pressure plate 803 presses the drill rod.

[0280] 13) Main manipulator 9 releases: Main manipulator 9 releases the drill rod.

[0281] 14) The main manipulator 9 retracts: the telescopic joint of the main manipulator 9 retracts.

[0282] 15) The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates to make room for the drill rod transporter 8 to rotate.

[0283] 16) Drill rod transporter 8 is horizontal: the drill rod transporter 8 returns to the horizontal position.

[0284] 17) The auxiliary manipulator 6 extends: the telescopic joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend toward the drill rod transporter 8.

[0285] 18) Auxiliary manipulator 6 clamping: The auxiliary clamping claws of the auxiliary manipulator 6 clamp the drill rod.

[0286] 19) The drill pipe transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0287] 20) The auxiliary manipulator 6 retracts: the telescopic joint of the auxiliary manipulator 6 retracts and takes out the drill rod from the drill rod transporter 8.

[0288] 21) The auxiliary manipulator 6 swings down: the jaws of the auxiliary manipulator 6 swing downward and away from the drill rod transporter 8.

[0289] 22) Auxiliary manipulator 6 selects a column: Under the control of the control system, the auxiliary manipulator 6 selects a column of space where the drill rod can be placed.

[0290] 23) Height adjustment of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for placing the current drill rod into the drill rod box 5.

[0291] 24) Auxiliary manipulator 6 releases: After the drill rod is placed, the auxiliary manipulator 6 releases the drill rod.

[0292] Example 2

[0293] This embodiment further defines the main telescopic joint as comprising 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 provided with structures such as limit rings or retaining rings to ensure that the main inner cylinder 908 does not slide outside the main outer cylinder 907.

[0294] 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.

[0295] 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.

[0296] 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.

[0297] 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.

[0298] Example 3:

[0299] Based on Figure 13 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 Example 2 is that this embodiment adds a sliding joint, while the remaining main rotating joints and main telescopic joints remain the same as Example 2.

[0300] 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.

[0301] 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.

[0302] In addition, in Example 3, it is 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 principle of leverage, without interfering with the normal extension and contraction of the main telescopic joint, there should be sufficient connection area between the connecting arm 911 and the rotating base 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 problem of damage to the main rotating shaft 905 due to excessive suspension of the main telescopic joint. Similarly, the rotating base 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 base 903 through the transmission shaft, and then transmit it as a whole to the fixed base 901 through the connecting arm 911.

[0303] 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.

[0304] Example 4

[0305] See also Figures 2 to 4As shown, in the auxiliary manipulator 6 , 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 .

[0306] 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.

[0307] 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.

[0308] 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.

[0309] 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.

[0310] 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 .

[0311] The present invention achieves vertical swinging of the auxiliary manipulator 6 by providing a secondary rotational joint with a limited angle. This allows the manipulator to transport drill pipe across components such as the attitude adjustment device, thereby 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 full-face automatic control drilling rig layout, enabling the rig to adapt to more complex downhole environments and drilling requirements.

[0312] Example 5

[0313] See also Figures 5 to 9As shown, the posture adjustment device includes an azimuth rotator 701, a rotating platform 702, a lower anchor assembly 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchor seat 707, an upper anchor assembly 708, a transporter rotator 709, an inclination rotator 710, a rotating transition plate 712 and a frame connecting plate 713;

[0314] The rotary platform 702 is composed of:

[0315] Rotating plate 70201: As the main structure, the left side is equipped with an interface for connecting to the drill rod box in the drilling rig.

[0316] Lower anchor mounting plate 70202: located on the right side, used for mounting the lower anchor assembly (703).

[0317] Ear seat 70203: Also located on the right side, used to fix the lifting cylinder 706 (see Figure 5 ).

[0318] The lower anchor assembly 703 consists of a hydraulic cylinder and a stabilizer. The hydraulic cylinder is responsible for supporting the device from the muddy ground underground. The stabilizer is connected to the lower end of the hydraulic cylinder through a ball joint. The support angle can be adjusted to adapt to ground conditions to ensure the stability of the device bottom.

[0319] Lifting columns 704: Two lifting columns are fixed on the top of the lower anchor assembly 703 and are vertically arranged on both sides of the frame inclination rotation axis to serve as guide rails for the lifting sleeve 705 to move up and down.

[0320] Lifting sleeve 705: It is enclosed by two front and rear side panels 70501 and a top cover plate to form a cavity, which contains the lifting cylinder 706. One end of the lifting cylinder 706 is connected to the lifting sleeve through a pin shaft, and the other end is fixed to the ear seat 70203, driving the lifting sleeve to move up and down along the lifting column. The lifting sleeve is provided with a sliding sleeve 70502 on the lifting column as a guide on both sides, and a connecting tube 70503 is provided on the side facing the frame. The connecting tube is equipped with a flange for mounting the rotary transition plate 712 (see Figure 8 ).

[0321] Upper anchor seat 707: installed on the lifting column, including a fixed cylinder 70702 sleeved on the lifting column, and a column head 70701 fixedly installed on the outside of the fixed cylinder 70702, used to connect the upper anchor assembly 708 (see Figure 9 ).

[0322] Upper anchoring assembly 708: It consists of a hydraulic cylinder and a stabilizing member. The stabilizing member is hinged to the piston rod of the hydraulic cylinder through a ball head to support the top of the tunnel and adapts to the top angle through the ball head hinge to ensure the stability of the top of the device.

[0323] Rotating transition plate 712: A disc-shaped component with three sets of flanges: the first, second, and third transition plate flanges. The inner first transition plate flange mates with the flange of the connecting tube 70503, securing it to the lifting sleeve 705. The outer two sets of flanges are used to mount the transporter rotator 709 and the frame connecting plate 713, respectively.

[0324] Specifically, the transporter rotator 709 is installed on the side of the rotating transition plate 712 close to the lifting sleeve 705 and is connected to the third transition plate flange. The frame connecting plate 713 is installed on the side of the rotating transition plate 712 away from the lifting sleeve 705 and is connected to the second transition plate flange.

[0325] Transporter Rotator 709: The transporter rotator 709 is a driving element used to adjust the drill rod transporter (the drill rod transporter is mounted on top of the transporter rotator 709).

[0326] The fixed ring (preferably the outer ring in this application) of the transporter rotator 709 is bolted to the third transition plate flange of the rotary transition plate 712, thereby indirectly securing it to the lifting sleeve. The inner ring is preferably a rotating ring and is fixedly connected to the outer shell of the transporter rotator 709. The drill pipe transporter is fixedly mounted on the top of the outer shell of the transporter rotator 709, allowing the inclination angle to be adjusted as the outer shell rotates. The transporter rotator 709 is preferably a worm gear reducer.

[0327] Frame connecting plate 713: a disc-shaped part equipped with two sets of flanges, one set connected to the rotary transition plate, and the other set connected to the inclination rotator 710.

[0328] Inclinometer 710: Also a worm gear reducer, the fixed ring is preferably the outer ring, bolted to one set of flanges on the frame connecting plate 713, thereby indirectly securing it to the lifting sleeve 705. The rotating ring is the inner ring, fixedly connected to the frame 11 to drive its circular rotation. Specifically, the frame 11 is positioned on the side of the inclination rotator 710 away from the lifting sleeve 705, in a side-mounted arrangement.

[0329] The working principles of the transporter rotator 709 and the tilt rotator 710 in this embodiment are as follows:

[0330] The fixed ring of the transporter rotator 709 is bolted to the third transition plate flange of the rotary transition plate 712, thereby indirectly fixed to the lifting sleeve. The rotating ring of the transporter rotator 709 is fixedly connected to the drill pipe transporter to adjust the inclination angle of the drill pipe transporter;

[0331] The frame connecting plate 713 is fixedly mounted on the rotary transition plate 712, thereby indirectly fixed to the lifting sleeve. The rotating circle of the inclination rotator 710 is connected to the frame 11, and the fixed circle of the inclination rotator 710 is fixedly mounted on the frame connecting plate 713, thereby indirectly fixed to the lifting sleeve.

[0332] Therefore, the fixed ring of the transporter rotator 709 and the fixed ring of the inclination rotator 710 are both fixedly mounted on the lifting sleeve 705, while the rotating rings carry the drill rod transporter and the frame respectively, and are not restricted in rotation by the lifting sleeve, and can rotate independently and freely, thereby forming an asynchronous rotation transposition that drives the frame and the drill rod transporter to adjust the inclination angles separately, and thus the inclination angles of the frame and the drill rod transporter can be adjusted separately and independently.

[0333] Through the two disc-shaped transition parts of the rotary transition plate and the frame connecting plate, the transporter rotator 709 and the inclination rotator 710 that drive the drill rod transporter and the frame to rotate are fixed on the same side of the lifting sleeve respectively. In the narrow space between the frame and the lifting sleeve, the drill rod transporter can be adjusted independently of the inclination of the frame, so that the inclination of the drill rod transporter (that is, the drill rod to be transported) can be adjusted in a wide range along with the frame, which helps to expand the drilling inclination range of the automatic drilling rig to the entire circumference.

[0334] During use, the transporter rotator 709 and the inclination rotator 710 can be independently controlled by their respective motors (or hydraulic motors). The operator can adjust the inclination of the drill rod transporter or the inclination of the frame 11 separately according to the drilling requirements. For example, when the angle of the drill rod transporter needs to be adjusted, only the transporter rotator 709 needs to be started, while the angle of the frame 11 remains unchanged; and vice versa. This asynchronous adjustment design improves the flexibility of the drilling rig; or the transporter rotator 709 and the inclination rotator 710 can be started at the same time to synchronously adjust the inclination of the drill rod transporter and the inclination of the frame 11, so that the two have the same or different inclinations.

[0335] The operation process of the posture adjustment device is as follows:

[0336] 1. Positioning: Transport the drilling rig mobile platform to the drilling site.

[0337] 2. Bottom anchoring: Extend the hydraulic cylinder of the lower anchor assembly 703 to make the stabilizing member contact the ground and adjust the angle, lift the device and stabilize the support.

[0338] 3. Top anchoring: Extend the hydraulic cylinder of the upper anchoring assembly 708 so that the stabilizing member presses against the top of the tunnel to form four-corner anchoring.

[0339] 4. Azimuth adjustment: Rotate the rotary platform 702 via the azimuth rotator 701 to set the horizontal direction of the drilling.

[0340] 5. Height adjustment: Start the lifting cylinder 706 to drive the lifting sleeve 705 to move up and down along the lifting column 704 to adjust the drilling height.

[0341] 6. Frame tilt adjustment: Rotate the tilt rotator 710 to set the frame tilt angle within the range of 0 to ±180°.

[0342] 7. Adjust the inclination of the transporter: Rotate the transporter rotator 709 independently to align the inclination of the drill pipe transporter to ensure smooth transport of the drill pipe.

[0343] This embodiment integrates anchoring and posture adjustment into one, and combines the vertical frame connecting plate to install the frame side-mounted, so that the frame inclination adjustment range reaches the full section (0 to ±180°), which effectively solves the problem of limited inclination of traditional drilling rigs. At the same time, the side-mounted installation effectively reduces the height of the frame axis, that is, reduces the height of the hole, and enhances the range of motion of the drill rod conveying manipulator. In addition, the four-corner anchoring structure (upper and lower anchoring components) ensures the stability of the device in various postures, and improves the safety and efficiency of the drilling process. In addition, the fixed ring of the transporter rotator 709 and the fixed ring of the inclination rotator 710 are fixedly mounted on the lifting sleeve 705, and their respective rotating rings carry the transporter 8 and the frame 11 respectively, and are not restricted by the lifting sleeve 705 in rotation. They can rotate independently and freely, thereby forming an asynchronous rotation device that drives the frame 11 and the transporter 8 to adjust the inclination angles of the two components respectively.

[0344] Furthermore, two upper anchoring assemblies are arranged on the end of the drill rod box 5 away from the frame 11 on the mobile platform 1. The two upper anchoring assemblies arranged on the mobile platform 1 and the lower anchoring assembly and upper anchoring assembly in the attitude adjustment device 7 together form an anchoring system, which further enhances the stability of the drilling rig during drilling.

[0345] Example 6

[0346] This embodiment shows a simplified structure of the posture adjustment device. Compared with the embodiment 5, the rotary transition plate 712 and the frame connecting plate 713 are omitted. The complexity is reduced by directly installing the rotating device while retaining all functions. Figures 5 to 8 )illustrate.

[0347] Similar to Example 5, the rotating platform 702 is connected to the mobile platform through the azimuth rotator 701, and is equipped with a lower anchoring assembly 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchoring seat 707 and an upper anchoring assembly 708. The layout is consistent, and the specific structure can be found in Example 5.

[0348] The difference from Example 1 is that the transporter rotator 709 is directly installed on the connecting tube 70503 of the lifting sleeve 705, the fixed ring (outer ring) is connected to the connecting tube, and the rotating ring (inner ring) is connected to the drill pipe transporter for adjusting the inclination angle of the transporter.

[0349] Inclination rotator 710: installed on the transporter rotator 709, the fixed ring (outer ring) is connected to the fixed ring of the transporter rotator, and the rotating ring (inner ring) is fixedly connected to the frame, which is used to adjust the inclination of the frame.

[0350] Features: This stacking design integrates the rotating device directly into the lifting sleeve, simplifying the connection structure.

[0351] This embodiment eliminates the need for the rotary transition plate 712 and the frame connection plate 713, reducing the number of parts, manufacturing complexity, and costs while retaining the full cross-section tilt adjustment range (0 to ±180°) and a low hole height. The four-corner anchor design still ensures stability in various positions, making it suitable for complex underground environments.

[0352] Or, another alternative is:

[0353] Installation of the inclinometer 710:

[0354] A mounting base is welded on the connecting tube 70503 of the lifting sleeve 705, and the fixing ring of the inclinometer 710 is directly fixed to the mounting base by bolts. The rotating ring of the inclinometer 710 is connected to the frame 11, and the inclination angle of the frame 11 is adjusted by the motor drive.

[0355] Installation of the Transshipper Rotator 709:

[0356] The fixed ring of the transporter rotator 709 is mounted on the fixed ring of the inclination rotator 710 by means of bolts. The rotating ring is connected to the drill rod transporter and the inclination of the drill rod transporter is adjusted by a motor drive.

[0357] In both of these alternative configurations, the transporter rotator 709 and the inclination rotator 710 remain located on the same side of the lifting sleeve 705 and can be operated independently. Operators can independently adjust the inclination of the drill pipe transporter and the frame 11 by controlling their respective motors, achieving asynchronous adjustment. This design simplifies the structure while maintaining functional flexibility, adapting to the needs of various drilling rig configurations.

[0358] In another embodiment, the transporter rotator 709 or the tilt rotator 710 is directly installed on the lifting sleeve 705, that is, the rotary transition plate 712, the frame connecting plate 713 and the lifting sleeve 705 are manufactured integrally.

[0359] Example 7:

[0360] like Figures 15 to 23 As shown, this embodiment, based on Example 4, further provides a drill rod conveying sensor group and a rotation positioning sensor group 714 for full-face automatic control drilling rigs. This drill rod conveying sensor group is applied to the drill rod conveying process in the automatic drilling rig. The system uses sensors installed on the auxiliary manipulator 6, the drill rod transporter 8, and the main manipulator 9 to accurately monitor the position and status of the drill rod, thereby improving the automation level and safety of drill rod conveying. The drill rod conveying sensor group includes:

[0361] 1. Detection sensor

[0362] The detection sensor 611 is installed on the auxiliary gripper 609 of the auxiliary manipulator 6 and is used to detect whether there is a drill rod in the auxiliary manipulator 6.

[0363] like Figure 15 As shown, the detection sensor 611 includes the following components:

[0364] Detection sensor mounting base 61101: radially fixed on one side of the clamping jaw to support other components.

[0365] Detection sensor spring 61102: set in the detection sensor mounting seat 61101 to provide elastic reset force.

[0366] Trigger column 61103: movably mounted in the detection sensor mounting seat 61101 through the detection sensor spring 61102, and in direct contact with the drill pipe.

[0367] Detection sensor body 61104: fixed in the detection sensor mounting base 61101, configured to detect whether the trigger column 61103 enters the coverage range.

[0368] The working principle is as follows: when there is no drill rod in the auxiliary gripper 609 of the auxiliary manipulator 6, the trigger column 61103 is initially positioned below the detection range of the detection sensor body 61104 under the elastic force of the detection sensor spring 61102, and the signal of the detection sensor body 61104 is disconnected;

[0369] When the auxiliary gripper 609 of the auxiliary manipulator 6 approaches and grips the drill rod, the trigger pin 61103 is pressed upward by the drill rod, overcoming the elastic force of the detection sensor spring 61102 and moving upward, entering the detection range of the detection sensor body 61104. The detection sensor body 61104 generates an on signal indicating the presence of the drill rod. When the auxiliary gripper 609 leaves the drill rod, the detection sensor spring 61102 resets the trigger pin 61103, and the signal from the detection sensor body 61104 is disconnected.

[0370] 2. Judgment sensor

[0371] The determination sensor is installed on the drill rod transporter 8 and is used to detect whether there is a drill rod in the drill rod transporter 8.

[0372] like Figure 16 As shown, the judgment sensor includes the following components:

[0373] Judgment sensor mounting base 808: fixed below the bottom plate 801 of the drill pipe transporter 8, serving as a support structure for the judgment sensor.

[0374] Judgment sensor body 807: fixed in the judgment sensor mounting seat 808, used to generate a detection signal.

[0375] Judgment sensor spring 810: set in the judgment sensor mounting seat 808 to provide a reset force.

[0376] The signal post 809 is movably mounted in the sensor mounting seat 808 through the sensor spring 810, and its top end penetrates the bottom plate for contacting the drill rod.

[0377] The working principle is as follows: when there is no drill rod in the drill rod transporter 8, under the elastic force of the sensor spring 810 of the signal post 809, the bottom end of the signal post 809 does not enter the sensing range of the sensor body 807, and the signal of the sensor body 807 is disconnected;

[0378] When the drill rod is placed in the drill rod transporter 8, the signal post 809 is pressed downward by the drill rod, overcoming the elastic force of the judgment sensor spring 810, and the bottom end enters the sensing range of the judgment sensor body 807, generating a connection signal;

[0379] When the drill rod is removed, the sensor spring 810 resets the signal post 809 and the signal is disconnected.

[0380] The top of the signal post 809 is designed to exceed the lowest point of the bottom plate where the drill rod is placed, so as to ensure that the signal post 809 can be pressed down when there is a drill rod in the drill rod transporter 8.

[0381] 3. Rotation sensor

[0382] The rotation sensor 904 is mounted on the main manipulator 9 and is used to detect the rotation position and direction of the main manipulator 9. The rotation shaft 905 and the main outer cylinder 907 in the main manipulator 9 are both rotating parts that are rotatably connected to the rotating base 903.

[0383] like Figure 13 and Figure 17 As shown, the rotation sensor 904 includes the following components:

[0384] Rotation sensor mounting base 90401: fixed on the rotation base of the main manipulator 9 to support the sensor body.

[0385] Rotation sensor body 90402: fixed in the rotation sensor mounting base 90401 to detect the rotation signal.

[0386] Trigger ring 90403: fixed on the rotating shaft or outer cylinder of the main manipulator 9, rotates along with the rotating shaft or outer cylinder, interacts with the rotation sensor body 90402 to generate a corresponding signal, and the circumferential angle of the trigger ring 90403 covers the rotation angle range of the main manipulator 9.

[0387] The trigger ring 90403 includes two arc segments of different lengths and a gap. As the main manipulator 9 rotates, the rotation sensor body 90402 sequentially detects the arc segments and gap. Based on the duration and on / off state of the signal, it indicates the main manipulator's rotation direction and position. For example, a short arc segment corresponds to a short-duration on signal, a long arc segment corresponds to a long-duration on signal, and a gap corresponds to an off signal.

[0388] Specifically, in this embodiment, the arc segments of different arc lengths and one notch are respectively the first arc segment 90403a, the notch 90403b and the second arc segment 90403c, wherein the first arc segment 90403a is the arc segment close to the rotation sensor body 90402 in the initial state of the trigger ring 90403 (the main manipulator is defined as the initial state when it is on the side of the drill rod transporter), and the arc length of the first arc segment 90403a is smaller than the arc length of the second arc segment 90403c, thereby forming a signal change process of "off-short on-off-long on-off" in the process of the main manipulator rotating the drill rod transporter toward the frame.

[0389] During the actual operation of an automated drilling rig, after the main manipulator removes a drill rod from the drill rod transporter, the transporter must return to a horizontal position to receive the next drill rod. The main manipulator must leave a certain amount of space to avoid interfering with the transporter's movement. However, since the rig is still drilling, the main manipulator cannot be directly positioned within the gantry. Therefore, it must remain between the transporter and the gantry.

[0390] Therefore, the circumferential angle of the trigger ring is divided into two segments. After the main manipulator grabs the drill rod from the drill rod transporter, the rotation sensor body 90402 switches from the disconnected state to first detect the first arc segment 90403a, generating a short-circuit signal. It then enters the gap 90403b and switches from the disconnected state. After remaining in the disconnected state for a specified period of time or until a signal from the control system is received, it continues to rotate, with the rotation sensor body 90402 detecting the second arc segment 90403c and generating a long-circuit signal. The signal from the rotation sensor body 90402 is disconnected again, at which point the main manipulator delivers the drill rod into the rack.

[0391] Since the arc length of the first arc segment is smaller than that of the second arc segment, the control system can determine the direction of rotation of the manipulator by the change in the duration of the sensor signal connection "from short to long or from long to short", thereby recording the status of the main manipulator in the system.

[0392] Through the coordinated work of the above three sensors, the drill rod conveying sensor group of this embodiment can monitor the position and status of the drill rod between the auxiliary manipulator 6, the drill rod transporter 8 and the main manipulator 9 in real time, ensuring a smooth and safe conveying process.

[0393] The rotation positioning sensor group 714 includes a transporter inclination sensor 71403, a rack position sensor 71401, a synchronization sensor 71402, and a transporter level sensor 71404, which are used to locate and detect the rotation direction during the transportation of the drill pipe;

[0394] The rack position sensor 71401 includes a position plate 71401a and a first sensor 71401b. The position plate 71401a is connected to the rack 11 and rotates with the rack 11.

[0395] The zone plate 71401a is divided into a positive inclination zone and a negative inclination zone. The positive inclination zone and the negative inclination zone both cover a circumferential angle of 180°, and the difference between the radius of the positive inclination zone and the radius of the negative inclination zone is not less than 1 times the sensing distance of the sensor.

[0396] The first sensor 71401b is arranged on the outside of the positioning plate 71401a and is adjacent to the junction of the positive inclination area and the negative inclination area, so that when the frame changes between the positive and negative inclination states, the first sensor 71401b can send a corresponding signal in time.

[0397] Furthermore, the location shaft 711 is a hollow circular tube with connecting flanges at both ends, one end of which is fixedly connected to the frame 11, and the other end of which is fixedly connected to the location plate 71401a.

[0398] The working principle of the rack position sensor is as follows:

[0399] Frame 11 is connected to the zone plate via a zone shaft 711. When frame 11 rotates to a certain angle, zone plate 71401a, driven by the zone shaft, rotates by the same angle. Therefore, when the frame switches between positive and negative inclination, the alignment area between the first sensor signal and zone plate 71401a also switches between positive and negative inclination zones, further switching the signal from first sensor 71401b on and off to determine the frame's positive and negative inclination, ensuring that the frame and the drill pipe transporter maintain the same inclination.

[0400] The synchronization sensor 71402 is composed of a first trigger block 71402a and a second sensor 71402b. The first trigger block 71402a is mounted on the outer shell (rotating circle) of the transporter rotor 709 and rotates with the outer shell. The second sensor 71402b is mounted on the side of the frame facing the transporter rotor 709 via a mounting bracket.

[0401] The working principle of the synchronization sensor 71402 is as follows: when the frame and the drill pipe transporter are at the same inclination angle, the first trigger block 71402a and the second sensor 71402b are aligned, and the second sensor has a signal output; when the two rotate relative to each other and the inclination angles are no longer equal, the first trigger block 71402a and the second sensor 71402b are no longer aligned, the second sensor is disconnected, and no signal output.

[0402] The principle of the transporter level sensor 71404 is the same as that of the synchronous sensor 71402. The difference is that it includes a second trigger block installed on the drill pipe transporter 8 and rotates accordingly, and a third sensor is installed at an appropriate position on the side of the lifting sleeve facing the transporter rotator through a mounting seat.

[0403] The working principle of the transporter level sensor 71404 is as follows: when the drill pipe transporter is in a horizontal position, the third sensor outputs a signal;

[0404] When the drill pipe transporter rotates and is not in a horizontal position, the third sensor is not aligned with the second trigger block, the third sensor is disconnected, and no signal is output.

[0405] The frame and drill pipe transporter rotation positioning sensor system also includes an inclination rotator 710, a location axis 711 and a frame 11;

[0406] The inclination rotator 710 is mounted on the lifting sleeve 705, and the frame 11 is mounted on the inclination rotator 710, so that the transporter rotator and the inclination rotator adjust the inclination angle of the drill pipe transporter and the inclination angle of the frame respectively;

[0407] Both ends of the positioning shaft 711 are connected to the frame 11 and the positioning plate 71401 a so that the positioning plate 71401 a rotates along with the frame 11 .

[0408] Specifically, in this embodiment, Figures 18 to 20 For example, the rack position sensor 71401:

[0409] Function: used to determine whether the rack 11 is in a positive tilt angle condition or a negative tilt angle condition.

[0410] Composition: includes a location plate 71401a and a first sensor 71401b.

[0411] Positioning plate 71401a is fixedly connected to the frame 11 via the positioning axis 711 and rotates with it. The positioning plate is divided into a positive and negative tilt zone, each covering a 180° circumference. The radius of the positive tilt zone is larger than that of the negative tilt zone, and the difference between the two is designed to be 1.5 times the sensing distance of the first sensor to ensure clear signal differentiation.

[0412] The first sensor 71401b is a Hall-effect proximity switch installed on the outside of the positioning plate, in the negative tilt zone, near the boundary between the positive and negative tilt zones. As the positioning plate rotates, the first sensor outputs an on / off signal based on the difference in radius between the positive and negative tilt zones.

[0413] by Figure 21 Take the synchronous sensor 71402 as an example:

[0414] Function: used to determine whether the frame 11 and the drill rod transporter 8 are at the same inclination angle.

[0415] Composition: includes a trigger block 71402a and a second sensor 71402b.

[0416] Trigger block 71402a: fixed on the outer shell of the transporter rotator 709 and rotates with the drill pipe transporter 8.

[0417] Second sensor 71402b: A photoelectric sensor, secured to the side of frame 11 facing the transporter rotor via a mounting bracket. When the trigger block aligns with the second sensor, the sensor outputs an on signal, indicating that the frame and drill pipe transporter are aligned. The signal is off when the two rotate relative to each other.

[0418] The principle of the transporter level sensor 71404 is the same as that of the synchronous sensor 71402. The difference is that it includes a second trigger block installed on the drill pipe transporter 8 and rotates accordingly, and a third sensor is installed through a mounting bracket at an appropriate position on the side of the lifting sleeve facing the transporter rotator. In this application, this position is preferably the top middle position of the lifting sleeve.

[0419] The inclination rotator 710 has an outer ring fixed to the lifting sleeve, and an inner ring drives the frame 11 to rotate in a circle to adjust its inclination.

[0420] Zone shaft 711: A hollow circular tube with connecting flanges at both ends, one end of which is fixedly connected to the frame and the other end is connected to the zone plate.

[0421] This embodiment also provides a method for determining the inclination state of a frame and a drill rod transporter, so as to maintain the drill rod transporter and the frame at the same inclination state or to determine the subsequent rotation direction of the drill rod transporter. The specific steps are as follows:

[0422] 1. Initial State: Transporter Level Sensor 71404 is engaged, and both the frame 11 and the drill pipe transporter 8 are horizontal. At this point, the first sensor 71401b, located near the intersection of the negative inclination zone and not sensing the positive inclination zone, disconnects the frame position sensor. The first trigger block aligns with the second sensor, and the synchronization sensor connects.

[0423] 2. Frame rotation: The tilt rotator 710 drives the frame to rotate in the positive tilt direction to the set angle A (e.g., A=15°). After the rotation starts, the trigger block deviates from the second sensor, the synchronization sensor is disconnected, and the transporter level sensor 71404 is disconnected.

[0424] 3. Signal judgment: The rack rotates so that the positive inclination area of the position plate enters the sensing range of the first sensor, and the rack position sensor is turned on, indicating that the rack is in the positive inclination working condition.

[0425] 4. Drill rod transporter synchronization: After the frame rotates into place, the transporter rotator 709 drives the drill rod transporter to rotate in the positive inclination direction until the trigger block is aligned with the second sensor again and the synchronization sensor is connected. At this time, the drill rod transporter and the frame have the same inclination angle (both are 15°) and are in the positive inclination working condition.

[0426] Horizontal to negative tilt adjustment:

[0427] 1. Initial state: The transporter level sensor 71404 is connected, the frame and the drill pipe transporter are both in a horizontal position, the frame position sensor is disconnected, and the synchronization sensor is connected.

[0428] 2. Frame rotation: The inclination rotator drives the frame to rotate in the negative inclination direction to the set angle B (for example, B = -10°). After the rotation starts, the synchronization sensor is disconnected and the transporter level sensor 71404 is disconnected.

[0429] 3. Signal judgment: The rack rotates so that the negative inclination area of the position plate is aligned with the first sensor. Since the radius of the negative inclination area is small and does not enter the sensing range, the rack position sensor remains disconnected, indicating that the rack is in a negative inclination working condition.

[0430] 4. Drill pipe transporter synchronization: After the frame rotates into place, the transporter rotator drives the drill pipe transporter to rotate in the negative inclination direction until the synchronization sensor is connected again. At this time, the drill pipe transporter and the frame have the same inclination angle (both -10°) and are in a negative inclination working condition.

[0431] like Figures 22-23 As shown, the 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.

[0432] The inner gear ring 71403a is fixedly connected to the rotating ring in 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.

[0433] The rotating shaft 71403c is rotatably connected to the lifting sleeve 705 for installing the transporter rotator 709, 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 arranged on the outside of the lifting sleeve 705.

[0434] The pull wire sensor 71403e is arranged on the outside of the lifting sleeve 705 (away from the side of the transporter rotator 709) and is connected to the sensor gear ring 71403d through a pull wire to calculate the rotation angle of the drill pipe transporter 8 through the pull wire length of the pull wire sensor 71403e.

[0435] The drill rod transporter 8 is the second-level actuator of the drill rod conveying system, which realizes the transfer of the drill rod between the main manipulator and the auxiliary manipulator, and converts the inclination angle of the drill rod 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 sealing 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 the like, 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 be raised and lowered synchronously with the raising and lowering of the lifting sleeve 705.

[0436] 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.

[0437] This invention utilizes an integrated design combining gear transmission, cable measurement, and mechanical protection to achieve high-precision, highly reliable full-process inclination angle 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 reduced by 92%.

[0438] Furthermore, the inclination adjustment range of the transporter rotator 709 is 360°, and the transporter rotator 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.

[0439] The basic working principle of the transporter tilt sensor 71403 is as follows Figure 23 shown.

[0440] 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.

[0441] 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:

[0442] k=L0 / θ.

[0443] 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 to the outer edge of the sensor gear ring 71403d is always less than 180°.

[0444] Preferably, the envelope range of the pull wire relative to the outer edge of the sensor gear ring 71403d is between 120° and 180°.

[0445] Specifically, in this embodiment, Figure 23 For example, the pull-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 pull-wire sensor 71403e and the sensor gear ring 71403d rotates to the 0° or 180° horizontal line, and the pull-wire of the pull-wire sensor 71403e rotates a certain angle from its own installation position, which means that the pull-wire of the pull-wire sensor 71403e needs to be stretched to an 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 real-time pull-wire length of the pull-wire sensor 71403e is L Z , then the real-time angle of the sensor ring gear 71403d is:

[0446] α=(L0-L Z ) / k;

[0447] 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 23As 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.

[0448] 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 22 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.

[0449] Example 8:

[0450] The difference from Example 7 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 rotor 709, but the total real-time wire pulling length L of the wire pulling sensor 71403e is Z In contrast to the situation in the first embodiment, the calculation formula for the real-time angle rotated by the sensor gear ring 71403d is α=(L Z -L0) / k.

[0451] 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.

[0452] 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.

[0453] 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:

[0454] β=iα。

[0455] According to the gear train structure, the expression of the transmission ratio i is:

[0456] i=(Z2 / Z1)*(Z4 / Z3), where Z1 is the number of teeth of the inner ring gear 71403a, Z2 is the number of teeth of the first-stage gear 71403b, Z3 is the number of teeth of the second-stage gear 71403f, and Z4 is the number of teeth of the sensor ring gear 71403d. Assume that the gear transmission structure of this embodiment 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), which converts the 360° rotation of the transporter rotator 709 into a 72° rotation of the sensor ring gear 71403d (transmission ratio 5:1). Compared with the case where the transmission ratio is 1, the rotation angle of the sensor ring gear 71403d is reduced by 5 times. 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.

[0457] 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 reducing 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.

[0458] In addition, the present invention also provides a control method for a rack and drill rod transporter rotation positioning sensor system, which uses the rack and drill rod transporter rotation positioning sensor system in the above embodiment and includes the following steps:

[0459] S1, the transporter rotator 709 rotates to set the inclination angle;

[0460] 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.

[0461] 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.

[0462] When the wire sensor 71403e is located below the horizontal line of the sensor gear ring 71403d in Example 2, when the wire is extended, the sensor outputs a positive increment (+ΔL), corresponding to counterclockwise rotation; when the wire is retracted, the sensor outputs a negative increment (-ΔL), corresponding to clockwise rotation.

[0463] S4. Calculate the inclination angle of the transporter rotor based on 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. Furthermore, based on Specific Example 1, this embodiment optimizes the initial state and design of some components of the rack position sensor 71401 to accommodate different operating conditions.

[0464] Rack position sensor 71401:

[0465] Similar to Example 1, the difference in radius between the positive and negative angle zones of the zone plate is adjusted to twice the sensing distance of the first sensor, further improving discrimination accuracy. The radius of the positive angle zone is smaller than that of the negative angle zone. The first sensor is a laser sensor, and its installation position remains unchanged.

[0466] The structures of the synchronization sensor 71402, the transporter level sensor 71404, the inclination rotator, the location axis, the drill pipe transporter and the frame are the same as those in Example 1, but the worm gear reducer of the transporter rotator 709 has a self-locking function to avoid sliding after the inclination adjustment.

[0467] On this basis, this embodiment further provides a method for determining the inclination state of a rack and a drill rod transporter, so as to keep the drill rod transporter and the rack at the same inclination state or determine the subsequent rotation direction of the drill rod transporter. The specific steps are as follows:

[0468] Horizontal to positive tilt adjustment:

[0469] 1. Initial State: Transporter level sensor 71404 is on, and both the frame 11 and the drill pipe transporter 8 are horizontal. At this point, the negative dip area of the position plate is initially aligned with the first sensor, and the frame position sensor is on; the synchronization sensor is also on.

[0470] 2. Frame rotation: The inclination rotator drives the frame to rotate in the positive inclination direction to the set angle A (for example, A = 20°). After the rotation begins, the synchronization sensor is disconnected and the transporter level sensor 71404 is disconnected.

[0471] 3. Signal judgment: After the frame rotates, the positive tilt angle area is located within the sensing range of the first sensor. Because the radius difference exceeds the sensing range, the frame position sensor is disconnected, indicating a positive tilt angle working condition.

[0472] 4. Drill rod transporter synchronization: After the frame rotates into place, the transporter rotator drives the drill rod transporter to rotate to 20° until the synchronization sensor is connected and the inclination angle of the drill rod transporter is consistent with that of the frame.

[0473] Horizontal to negative tilt adjustment:

[0474] 1. Initial state: The rack and drill pipe transporter are both in horizontal position, the rack position sensor is turned on, and the synchronization sensor is turned on.

[0475] 2. Frame rotation: The inclination rotator drives the frame to rotate in the negative inclination direction to the set angle B (for example, B = -15°). After the rotation starts, the synchronization sensor is disconnected.

[0476] 3. Signal judgment: The frame rotates so that the negative inclination area is aligned with the first sensor, and the frame position sensor remains connected, indicating a negative inclination working condition.

[0477] 4. Synchronization of drill rod transporter: After the rack is rotated into place, the drill rod transporter rotates to -15° until the synchronization sensor is connected and the inclination angle of the drill rod transporter is consistent with that of the rack.

[0478] Return to horizontal position:

[0479] The process for returning to a horizontal position from a positive or negative inclination angle is the reverse of the above adjustment. For example, to return to a horizontal position from a positive inclination angle of 20°: first, the drill pipe transporter is rotated back to a horizontal position, the synchronous sensor is disconnected, and the transporter horizontal sensor 71404 is connected. The frame is then rotated back to a horizontal position, the synchronous sensor is connected, and the frame position sensor returns to its initial connected or disconnected state.

[0480] The above two embodiments achieve accurate adjustment of the drill rod transporter's inclination and precise identification of the rack's inclination state through the transporter inclination sensor and the rack position sensor, so that the rack and the drill rod transporter maintain the same inclination state, which is suitable for a variety of drill rod transportation scenarios.

[0481] In another embodiment, the first sensor may also be a photoelectric sensor; similarly, the first sensor may also be arranged in the positive tilt angle zone, adjacent to the junction of the positive tilt angle zone and the negative tilt angle zone, or directly arranged at the junction of the positive tilt angle zone and the negative tilt angle zone.

[0482] 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.

[0483] 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.

[0484] Example 9:

[0485] This embodiment describes the specific application of the drill rod conveying sensor group in the drill rod conveying system based on the embodiment 7. Figure 23 The axonometric view of the automatic drilling rig shown in detail illustrates the process of conveying the drill rods from the drill rod box 5 to the frame 11 and the process of recovering the drill rods from the frame to the drill rod box.

[0486] 1. The process of transporting drill rods from the drill rod box to the rack

[0487] Initial state: There are drill rods to be transported in the drill rod box, there are no drill rods in the auxiliary manipulator 6 and the drill rod transporter 8, the detection sensor 611 and the judgment sensor 807 signals are disconnected; the main manipulator 9 is in the ready position (initial position, ready to grab the drill rod in the drill rod transporter 8), and the rotation sensor 904 signal is disconnected.

[0488] Step 1: Grab the Drill Pipe

[0489] The auxiliary manipulator 6 approaches the drill rod from the drill rod box, the clamping claws clamp the drill rod, the trigger column 61103 is squeezed, and the detection sensor 611 signal is connected, indicating that the auxiliary manipulator 6 has grasped the drill rod.

[0490] Step 2: Transfer to the Drill Pipe Transporter

[0491] The auxiliary manipulator 6 places the drill rod into the drill rod transporter 8, the gripper is released, and the detection sensor 611 signal is disconnected. At the same time, the drill rod presses the signal post 809, and the sensor body 807 signal is connected, indicating that the drill rod has entered the drill rod transporter 8.

[0492] Step 3: Main robot grasps

[0493] The main manipulator 9 grabs the drill rod from the drill rod transporter 8. After the drill rod leaves, the signal post 809 is reset, and it is determined that the signal of the sensor body 807 is disconnected.

[0494] Step 4: Transport to the rack

[0495] The main manipulator 9 rotates toward the rack 11, and the rotation sensor 904 detects the trigger ring 90403. The signal changes in sequence to "off-short on-off-long on-off", indicating that the main manipulator 9 completes the rotation and sends the drill rod into the rack.

[0496] 2. The recovery process of drill rods from the rack to the drill rod box

[0497] Initial state: there is recovery space in the drill rod box, there are no drill rods in the auxiliary manipulator 6 and the drill rod transporter 8, the detection sensor 611 and the judgment sensor 807 signals are disconnected; the main manipulator 9 is located in the frame, and the rotation sensor 904 signal is disconnected.

[0498] Step 1: Main robot recovery

[0499] The main manipulator 9 rotates from the frame to the drill pipe transporter 8, and the signal of the rotation sensor 904 changes to "off-long on-off-short on-off", indicating that the rotation is completed.

[0500] Step 2: Place on the drill pipe transporter

[0501] The main manipulator 9 places the drill rod into the drill rod transporter 8, the signal post 809 is pressed, and the signal of the sensor 807 is connected.

[0502] Step 3: Secondary manipulator grasps

[0503] The auxiliary manipulator 6 grabs the drill rod from the drill rod transporter 8, the trigger column 61103 is squeezed, the detection sensor 611 signal is connected, and after the drill rod is removed, the judgment sensor 807 signal is disconnected.

[0504] Step 4: Put the drill box back

[0505] The auxiliary manipulator 6 puts the drill rod back into the drill rod box, the gripper is released, the signal of the detection sensor 611 is disconnected, and the recovery is completed.

[0506] Through the above process, this embodiment demonstrates how the drill rod conveying sensor group can realize the fully automated conveying and recovery of drill rods in an automatic drilling rig, thereby ensuring the efficiency and reliability of the operation.

[0507] Furthermore, when the main manipulator 9 rotates toward the frame 11, it can first rotate in the first arc segment, and the rotation sensor body 904 first connects the signal and then disconnects it. The matching relationship between the trigger ring 90403 and the rotation sensor body 904 stays at the gap 90403b between the two arc segments, and the signal changes to "off-short on-off", thereby causing the main manipulator 9 to pause rotating. While making room for the drill rod transporter to rotate, it also waits for the power head 10 and the clamp 12 in the frame to perform corresponding operations.

[0508] In another embodiment, the arc length of the first arc segment can also be set to be greater than the arc length of the second arc segment, so that a signal change process of "off-long on-off-short on-off" is formed during the rotation of the main manipulator 9 from the drill rod transporter to the frame.

[0509] Example 10:

[0510] This embodiment describes the application of the drill rod conveying sensor group and the rotation positioning sensor group 714 in the specific drilling conditions of the drill rod conveying system based on the embodiment 7. Figure 1 The full-section axonometric view of the automatic control drilling rig is shown, which details the process of conveying the drill rods from the drill rod box 5 to the frame 11, and the process of recovering the drill rods from the frame to the drill rod box.

[0511] (1) Rod feeding condition (the process of conveying drill rods from the drill rod box to the rack)

[0512] 1) Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α (when the frame inclination angle is positive, the frame position sensor signal is connected; when the frame inclination angle is negative, the frame position sensor signal is disconnected); the drill rod transporter is in a horizontal position, the transporter horizontal sensor is connected, and the synchronization sensor is disconnected; there is no drill rod in the drill rod transporter, and the sensor is judged to be disconnected; the main manipulator rotation joint is in the state of completing the rotation of the first arc segment, and the rotation sensor body detects the gap between the two arc segments; the auxiliary manipulator does not grab the drill rod, and the detection sensor is disconnected; the drilling rig is drilling.

[0513] 2) The auxiliary manipulator grabs the drill rod: the auxiliary manipulator clamps the selected drill rod under the control of the system, and the detection sensor 611 contacts the drill rod and sends a signal.

[0514] 3) The drill rod transporter clamps the drill rod: the auxiliary manipulator puts the drill rod into the drill rod transporter, and the transporter determines that the sensor 807 is connected and outputs a signal.

[0515] 4) The auxiliary manipulator releases: The auxiliary manipulator releases the drill rod, the detection sensor 611 is disconnected, and no longer outputs a signal. The auxiliary manipulator returns to the initial state and prepares to grab the next drill rod.

[0516] 5) Rotation of the drill rod transporter: The transporter rotates from the horizontal position to the direction of the inclination angle α, and the transporter horizontal sensor 71404 disconnects the signal; until the inclination angle is the same as the frame, the synchronization sensor 71402 connects the signal; during the rotation of the drill rod transporter, the drill rod transporter inclination sensor 71403 measures the angle in real time.

[0517] 6) The main manipulator rotates in the reverse direction (counterclockwise): The main manipulator rotates toward the drill pipe transporter, and the signal of the rotation sensor 904 is "off-short-off".

[0518] 7) The main manipulator clamps the drill rod: The main manipulator clamps the drill rod in the drill rod transporter, and the drill rod transporter is released.

[0519] 8) The first arc segment of the main manipulator rotates: the main manipulator rotates clockwise ( Figure 1 ) rotates, the rotation sensor body 904 is first connected to the signal and then disconnected, and the signal of the judgment sensor 807 is disconnected, and the main manipulator makes room for the rotation of the drill pipe transporter.

[0520] 9) Main manipulator waits: waits for the current drill rod to complete drilling.

[0521] 10) Drill pipe transporter level: The drill pipe transporter returns to the horizontal position, and the transporter level sensor 71404 signal is connected; during the rotation of the drill pipe transporter, the transporter inclination sensor 71403 measures the angle in real time.

[0522] 11) Disconnect the drill rod in the hole: After completing the drilling of the current drill rod, the power head disconnects from the drill rod in the hole and retreats to a position suitable for installing the drill rod.

[0523] 12) The main manipulator rotates in the second arc segment: The main manipulator performs the second segment rotation, sends the drill rod into the frame, and is clamped by the clamper or power head. The rotation sensor body 904 first connects the signal and then disconnects it.

[0524] 13) Main manipulator releases: the main manipulator releases the drill rod; during the process of the main manipulator transferring the drill rod from the drill rod transferor to the rack, the complete signal of the rotation sensor body 904 changes to “break—short—break—long—break”.

[0525] 14) Drill rod connection: The power head and the clamp work together to complete the drill rod connection and continue drilling.

[0526] (2) Rod withdrawal condition (drill rod recovery process from the rack to the drill rod box)

[0527] 1) Initial state: Assume that the inclination angle of the frame and the main manipulator is α (when the frame inclination angle is positive, the frame position sensor signal is connected; when the frame inclination angle is negative, the frame position sensor signal is disconnected); the transporter is in a horizontal position, the transporter horizontal sensor is connected, the synchronization sensor is disconnected, there is no drill rod in the transporter, and the sensor is judged to be disconnected; the main manipulator's rotation joint is in the state of completing the first arc rotation; the auxiliary manipulator does not grab the drill rod, and the detection sensor is disconnected; the drilling rig has just completed drilling the last drill rod.

[0528] 2) Power head retreat: the power head drags the drill rod in the hole backward;

[0529] 3) Main manipulator waits: waits for the current drill pipe to be broken out;

[0530] 4) Rotation of the drill pipe transporter: The transporter rotates in the direction of the inclination angle α, and the transporter horizontal sensor 71404 disconnects the signal; until the inclination angle is the same as the frame, the synchronization sensor 71402 connects the signal; during the rotation of the drill pipe transporter, the transporter inclination sensor 71403 measures the angle in real time.

[0531] 5) Drill pipe shackle: The power head and the clamp cooperate to complete the drill pipe shackle (disconnection from the drill pipe in the hole).

[0532] 6) Second stage rotation of the main manipulator: The main manipulator performs the second stage rotation, the rotation sensor 904 first connects the signal and then disconnects it, and the gripper of the main manipulator reaches the position where it can clamp the detachable drill rod in the frame.

[0533] 7) Main manipulator clamping: The main manipulator clamps the drill rod, and the clamp or power head is completely disconnected from the drill rod to be disassembled.

[0534] 8) The main manipulator rotates in the opposite direction: The main manipulator rotates in the opposite direction to place the drill pipe into the transporter. The signal of the rotation sensor 904 is "break - long - break - short - break".

[0535] 9) Drill rod transporter clamping: When the drill rod is placed in the drill rod transporter, the sensor 807 is judged to output a signal, and the drill rod transporter clamps the drill rod.

[0536] 10) Main manipulator releases: The main manipulator releases the drill rod.

[0537] 11) The first arc segment of the main manipulator rotates: the main manipulator rotates clockwise ( Figure 1 ) rotates, the rotation sensor 904 is first connected to the signal and then disconnected, and the signal of the rotation sensor 904 is "off-short-off", making room for the rotation of the drill pipe transporter.

[0538] 12) Drill pipe transporter level: The drill pipe transporter returns to the horizontal position, and the transporter level sensor 71404 signal is connected; during the rotation of the drill pipe transporter, the transporter inclination sensor 71403 measures the angle in real time.

[0539] 13) The auxiliary manipulator grabs the drill rod: The auxiliary manipulator grabs the drill rod in the transporter and detects that the sensor 611 sends a signal; the drill rod is taken out of the transporter and it is determined that the sensor 807 is disconnected.

[0540] 14) The auxiliary manipulator puts the drill rod back: The auxiliary manipulator puts the drill rod back into the drill rod box, and the detection sensor 611 disconnects the signal.

[0541] The above process only reflects the basic process of drilling rig operation. The various mechanisms can use serial and parallel processes to improve efficiency and reasonably avoid motion interference.

[0542] 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 full-section automatic control drilling rig, comprising a mobile platform, a drill rod box, an auxiliary manipulator, a posture adjustment device, a drill rod transporter, a main manipulator, a frame, a drill rod conveying sensor group, and a rotation positioning sensor group. The drill rod box and the posture adjustment device are both mounted on the mobile platform, and the posture adjustment device is located on one side of the drill rod box. The auxiliary manipulator is used to transfer drill rods in the drill rod box to the drill rod transporter, and the main manipulator is used to transfer drill rods in the drill rod transporter to the frame. The rig is characterized in that: The attitude adjustment device includes a rotary platform, a lifting sleeve, a transporter rotator and an inclination rotator. The rotary platform serves as a carrier of the attitude adjustment device and is rotatably connected to the mobile platform. The lifting sleeve is vertically lifted and installed on the rotary platform. The transporter rotator and the inclination rotator are both installed on the lifting sleeve, and the inclination rotator and the transporter rotator are both located on the side of the lifting sleeve away from the drill pipe box. The drill rod transporter is arranged on top of the transporter rotator, and the inclination angle of the drill rod transporter is adjusted by the transporter rotator; The frame side hanging is arranged on the side of the inclination rotator away from the lifting sleeve, and the inclination angle of the frame is adjusted by the inclination rotator. The main manipulator is installed on the frame and rotates with the frame; The drill rod conveying sensor group includes a detection sensor, a judgment sensor, and a rotation sensor. The detection sensor is configured to detect whether there is a drill rod in the auxiliary manipulator; the judgment sensor is configured to detect whether there is a drill rod in the drill rod transporter; and the rotation sensor is configured to detect the rotation position and direction of the main manipulator. The rotation positioning sensor group includes a transporter inclination sensor, a rack position sensor and a synchronization sensor. The transporter inclination sensor is configured to detect the rotation angle of the drill rod transporter; the rack position sensor is configured to determine whether the rack is in a positive inclination condition or a negative inclination condition; the synchronization sensor is configured to determine whether the rack and the drill rod transporter are at the same inclination angle.

2. The full-section automatic control drilling rig according to claim 1, characterized in that: The auxiliary manipulator is slidably connected to the drill rod box via an auxiliary slide rail arranged on the drill rod box, and comprises a lifting joint, an auxiliary rotation joint, an auxiliary telescopic joint and an auxiliary clamping claw connected in sequence, wherein one end of the lifting joint away from the auxiliary clamping claw is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary clamping claw are arranged toward the inside of the drill rod box; The auxiliary rotating joint is connected to the lifting joint through a crossbeam; the auxiliary rotating joint includes an auxiliary rotating shaft rotatably arranged in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and the outer side of the auxiliary rotating shaft is provided with a protrusion. When the auxiliary rotating shaft rotates, the protrusion slides circumferentially in the arc groove to achieve rotation limitation of the auxiliary rotating shaft.

3. The full-section automatic control drilling rig according to claim 2, characterized in that: One end of the lifting joint away from the slide rail is connected to the lower side of the crossbeam.

4. The full-section automatic control drilling rig according to claim 3, 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. 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.

5. The full-section automatic control drilling rig according to claim 2, 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.

6. The full-section automatic control drilling rig according to claim 5, characterized in that: 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.

7. The full-face automatic control drilling rig according to claim 2, characterized in that: 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.

8. The full-face automatic control drilling rig according to claim 1, characterized in that: The main manipulator includes a main rotation joint, a main telescopic joint, and a main gripper assembly; 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 clamping jaw assembly is connected to the bottom of the main telescopic joint, and drives the main clamping jaw assembly to telescope in the vertical direction through the main telescopic joint. The main clamping jaw assembly is used for grasping.

9. The full-section automatic control drilling rig according to claim 8, 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.

10. The full-face automatic control drilling rig according to claim 8 or 9, 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.

11. The full-section automatic control drilling rig according to claim 8, 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.

12. The full-face automatic control drilling rig according to claim 1, characterized in that: The drill rod transporter includes a base plate, a support block, a pressure plate, and an axial pressing block; the support block is arranged on the base plate to support the drill rod; the axial pressing block is arranged on the base plate and is located on both sides of the support block; the upper part of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the support block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the support block.

13. The full-face automatic control drilling rig according to claim 12, characterized in that: A sliding oil cylinder is provided at the bottom of the base plate, and the sliding oil cylinder is connected to the sliding block to drive the sliding block to slide along the length direction of the base plate.

14. The full-face automatic control drilling rig according to claim 12, characterized in that: The axial pressing block is rotatably connected to the pressing plate. When the drill rod transporter is in a state of waiting for loading or removing the drill rod, the pressing plate is rotated and opened upward to facilitate loading or removing the drill rod.

15. The full-face automatic control drilling rig according to any one of claims 12 or 14, characterized in that: The pressing plate is further provided with a pressing oil cylinder for driving the rotation of the pressing plate; the pressing oil cylinder is located outside the two axial pressing blocks and is hingedly connected to the upper portion of the axial pressing blocks.

16. The full-face automatic control drilling rig according to claim 15, characterized in that: There are at least two support blocks, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod.

17. The full-face automatic control drilling rig according to claim 1, characterized in that: It also includes an azimuth rotator, which is installed on the mobile platform and connected to the rotary platform, and is used to rotate the rotary platform and arrange it on the mobile platform of the drilling rig.

18. The full-face automatic control drilling rig according to claim 1, characterized in that: It also includes a lower anchoring assembly, which is installed on one side of the rotating platform and is used to contact the ground to support the posture adjustment device.

19. The full-face automatic control drilling rig according to claim 18, characterized in that: The main body of the slewing platform is a slewing flat plate, and one side of the slewing flat plate is provided with a lower anchor mounting plate and an ear seat for connecting the lower anchor assembly and the lifting cylinder respectively.

20. The full-face automatic control drilling rig according to claim 19, characterized in that: The other end of the lifting cylinder is connected to the lifting sleeve to drive the lifting sleeve to rise and fall vertically.

21. The full-face automatic control drilling rig according to claim 19, characterized in that: It also includes a lifting column, which is installed on the top of the lower anchor assembly or manufactured integrally with the lower anchor assembly and is used to guide the vertical lifting of the lifting sleeve.

22. The full-face automatic control drilling rig according to claim 21, characterized in that: Also included are an upper anchor seat and an upper anchor assembly; The upper anchor seat includes a fixing cylinder fixedly sleeved on the lifting column and a column head connected to the outside of the fixing cylinder; The upper anchor assembly is mounted on the column head for contacting the tunnel top support.

23. The full-face automatic control drilling rig according to claim 22, characterized in that: The lifting sleeve includes a lifting sleeve cavity, a sleeve and a connecting sleeve; The lifting sleeve cavity is surrounded by two front and rear side plates and a top cover plate, and is configured to accommodate the lifting cylinder; The sleeve is fixedly mounted on the left and right sides of the lifting sleeve cavity and serves as a guide member for movement along the lifting column; The connecting tube is fixedly mounted on a side of the lifting sleeve cavity facing the frame, and is provided with a flange for mounting a rotary transition plate.

24. The full-face automatic control drilling rig according to claim 23, characterized in that: The rotary transition plate is disc-shaped and comprises: a first transition plate flange configured to be connected to the connecting cylinder; A second transition plate flange configured to connect to the frame connecting plate; and A third transition plate flange is configured to connect to the transshipper rotator.

25. The full-face automatic control drilling rig according to claim 24, characterized in that: The transshipper rotator comprises: a fixing ring connected to the third transition plate flange of the rotary transition plate; and The rotating circle is connected to the drill pipe transporter and adjusts its inclination.

26. The full-face automatic control drilling rig according to claim 24, characterized in that: The frame connecting plate is disc-shaped and includes: a first flange configured to connect to the second transition plate flange of the rotary transition plate; and The second flange is configured to be connected to the inclinometer.

27. The full-face automatic control drilling rig according to claim 26, characterized in that: The inclinometer comprises: a fixing ring connected to the second flange of the frame connecting plate; and a rotating ring, fixedly connected to the frame and configured to adjust the inclination angle of the frame; The frame is arranged to be hung sideways on the inclinometer.

28. The full-face automatic control drilling rig according to claim 1, characterized in that: The fixed ring of the transporter rotator is directly mounted on the lifting sleeve, and the fixed ring of the inclination rotator is mounted on the fixed ring of the transporter rotator.

29. The full-face automatic control drilling rig according to claim 1, characterized in that: The fixing ring of the incline rotator is directly mounted on the lifting sleeve, and the fixing ring of the transporter rotator is mounted on the fixing ring of the incline rotator.

30. The full-face automatic control drilling rig according to claim 1, characterized in that: The detection sensor includes: a detection sensor mounting base radially fixed to one side of the secondary clamping jaw; a detection sensor spring disposed in the detection sensor mounting seat; a trigger post movably mounted in the detection sensor mounting seat via the detection sensor spring; A detection sensor body is configured to detect displacement of the trigger column due to the presence of the drill pipe.

31. The full-face automatic control drilling rig according to claim 30, characterized in that: When the auxiliary clamp approaches the drill rod, the trigger column is pressed upward by the drill rod, and the detection sensor body generates a connection signal indicating the presence of the drill rod.

32. The full-face automatic control drilling rig according to claim 1, characterized in that: The judgment sensor includes: a judgment sensor mounting base fixed below the base plate; A judgment sensor body fixed in the judgment sensor mounting seat; a judgment sensor spring disposed in the judgment sensor mounting seat; A signal-emitting post movably mounted in the judgment sensor mounting seat via the judgment sensor spring; When the drill rod is placed in the drill rod transporter, the signal transmitting column is pressed downward by the drill rod, and the judgment sensor body generates a connection signal indicating the presence of the drill rod.

33. The full-face automatic control drilling rig according to claim 32, characterized in that: The top end of the signal post passes through the bottom plate of the drill rod transporter, and when there is no drill rod in the drill rod transporter, the top end of the signal post exceeds the lowest point of the drill rod transporter where the drill rod is placed.

34. The full-face automatic control drilling rig according to claim 1, characterized in that: The rotation sensor comprises: A rotation sensor mounting base fixed on the rotating base; A rotation sensor body fixed in the rotation sensor mounting base; A trigger ring is fixed on a rotating member rotatably connected to the rotating base and rotates with the rotating member. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator, and the trigger ring has two arc segments with different arc lengths, and a gap is provided between the two arc segments to generate a signal for detecting the rotation position and direction of the main manipulator.

35. The full-face automatic control drilling rig according to claim 34, characterized in that: The two arc segments and the gap are arranged so that during the rotation of the main manipulator, the rotation sensor body detects the two arc segments and the gap in sequence, and indicates the rotation direction and position of the main manipulator according to the duration and on-off of the rotation sensor body signal.

36. The full-face automatic control drilling rig according to claim 1, characterized in that: The rack position sensor includes a position plate and a first sensor, wherein the position plate is connected to the rack and rotates with the rack; The position plate is divided into a positive tilt zone and a negative tilt zone, and the positive tilt zone and the negative tilt zone both cover a circumferential angle of 180°. The difference between the radius of the positive tilt zone and the radius of the negative tilt zone is not less than 1 times the sensing distance of the first sensor, and then the on-off of the first sensor is used to determine whether the rack is in a positive tilt working condition or a negative tilt working condition; The first sensor is arranged outside the zone plate and adjacent to the junction of the positive inclination zone and the negative inclination zone.

37. The full-face automatic control drilling rig according to claim 36, characterized in that: The first sensor is a Hall proximity switch, a photoelectric sensor or a laser sensor.

38. The full-face automatic control drilling rig according to claim 37, characterized in that: The synchronization sensor includes a first trigger block and a second sensor; The first trigger block is mounted on the transporter rotator and rotates with the drill pipe transporter, and the second sensor is mounted on a side of the frame facing the transporter rotator; When the frame and the drill pipe transporter are at the same inclination angle, the first trigger block and the second sensor are aligned, and the second sensor outputs a signal; When the frame and the drill rod transporter rotate relative to each other, the second sensor is disconnected and no signal is output.

39. The full-face automatic control drilling rig according to claim 38, characterized in that: It also includes a location shaft, both ends of which are connected to the frame and the location plate, so that the location plate rotates along with the frame.

40. The full-face automatic control drilling rig according to claim 39, characterized in that: The location axis is a hollow circular tube with connecting flanges at both ends, one end of which is fixedly connected to the frame, and the other end of which is fixedly connected to the location plate.

41. The full-face automatic control drilling rig according to claim 40, characterized in that: Also included is a transporter level sensor for determining whether the drill pipe transporter is in a horizontal position; When the drill rod transporter is in a horizontal position, the transporter level sensor outputs a signal, judging that the drill rod transporter is in a horizontal position; When the drill rod transporter rotates and is not in a horizontal position, the transporter level sensor is disconnected and no signal is output, thereby determining that the drill rod transporter is not in a horizontal position.

42. The full-face automatic control drilling rig according to claim 41, characterized in that: The transporter level sensor includes a second trigger block and a third sensor; The second trigger block is installed on the drill rod transporter and rotates with the drill rod transporter, and the third sensor is installed on the side of the lifting sleeve facing the transporter rotator; When the drill pipe transporter is in a horizontal position, the third sensor outputs a signal; When the drill pipe transporter rotates and is not in a horizontal position, the third sensor is disconnected and no signal is output.

43. The full-face automatic control drilling rig according to claim 42, characterized in that: The transporter inclination sensor 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; 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, 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 for mounting the transporter rotator; The draw wire sensor is arranged on the outside of the lifting sleeve and is connected to the sensor gear ring through a draw wire, so as to calculate the rotation angle of the drill pipe transporter according to the draw wire length of the draw wire sensor.

44. The full-face automatic control drilling rig according to claim 43, characterized in that: The tilt adjustment range of the transporter rotator is 360°; 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.

45. The full-face automatic control drilling rig according to claim 44, 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.

46. The full-face automatic control drilling rig according to claim 45, 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.

47. The full-face automatic control drilling rig according to claim 46, 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°.

48. The full-face automatic control drilling rig according to claim 47, 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.

49. The full-face automatic control drilling rig according to claim 48, 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。 50. The full-face automatic control drilling rig according to claim 49, 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.

51. A control method for a full-section automatic control drilling rig, characterized by: The method is applicable to the full-face automatic control drilling rig according to claim 50, comprising the following steps: The process of transporting drill rods from the drill rod box to the rack: Initial state: There are drill rods to be transported in the drill rod box, there are no drill rods in the auxiliary manipulator and the drill rod transporter, the detection sensor and judgment sensor signals are disconnected; the main manipulator is in the ready position, and the rotation sensor signal is disconnected; Step 1: Grab the Drill Pipe The auxiliary manipulator approaches the drill rod from the drill rod box, the auxiliary gripper clamps the drill rod, and the detection sensor signal is connected, indicating that the auxiliary manipulator has grasped the drill rod; Step 2: Transfer to the Drill Pipe Transporter The auxiliary manipulator puts the drill rod into the drill rod transporter, the auxiliary gripper is released, and the detection sensor signal is disconnected. At the same time, the judgment sensor signal is connected, indicating that the drill rod has entered the drill rod transporter; Step 3: Main robot grasps The main manipulator grabs the drill rod from the drill rod transporter. After the drill rod leaves, it determines that the sensor signal is disconnected; Step 4: Transport to the rack The main manipulator rotates toward the frame, and the rotation sensor generates a signal change indicating that the rotation is completed, indicating that the main manipulator has completed the rotation and sent the drill rod into the frame; The process of recovering drill pipe from the rack to the drill pipe box: Initial state: There is recovery space in the drill rod box, there are no drill rods in the auxiliary manipulator and the drill rod transporter, the detection sensor and judgment sensor signals are disconnected, the main manipulator is inside the rack, and the rotation sensor signal is disconnected; Step 1: Main robot recovery The main manipulator rotates from the frame toward the drill pipe transporter, and the rotation sensor generates a signal change indicating that the rotation is completed; Step 2: Place on the drill pipe transporter The main manipulator places the drill rod into the drill rod transporter and determines that the sensor signal is connected; Step 3: Secondary manipulator grasps The auxiliary manipulator grabs the drill rod from the drill rod transporter and detects that the sensor signal is connected. After the drill rod is removed, it determines that the sensor signal is disconnected; Step 4: Put the drill box back The auxiliary manipulator puts the drill rod back into the drill rod box and detects that the sensor signal is disconnected, completing the recovery.

52. The control method according to claim 51, characterized in that: The invention also includes rotating the drill pipe transporter to a specified inclination angle: 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 degree of inclination of the transporter rotor according to the transmission ratio of the gear train consisting of the inner ring gear, the first gear, the second gear, and the sensor ring gear.

53. The control method according to claim 51, characterized in that: It also includes the determination and synchronization of the inclination states of the frame and the drill pipe transporter, including the following steps: Horizontal to positive tilt adjustment: a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, the rack position sensor is off, and the synchronization sensor is on; b. The frame rotates in the positive inclination direction to the set angle A, A>0°, and after the rotation begins, the synchronization sensor is disconnected and the transporter level sensor is disconnected; c. The rack position sensor receives a signal to determine that the rack is in a positive tilt state; d. After the rack is rotated into place, the drill pipe transporter rotates in the positive inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill pipe transporter and the rack are at the same inclination angle and are in the positive inclination state; Horizontal to negative tilt adjustment: a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, the rack position sensor is off, and the synchronization sensor is on; b. The frame rotates in the negative inclination direction to the set angle α, α < 0°. After the rotation begins, the synchronization sensor is disconnected and the transporter level sensor is disconnected; c. The rack position sensor signal remains disconnected, indicating that the rack is in a negative tilt state; d. After the rack is rotated into place, the drill rod transporter rotates in the negative inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill rod transporter and the rack are at the same inclination angle and are in a negative inclination state.

54. The control method according to claim 51, characterized in that: It also includes the determination and synchronization of the inclination states of the frame and the drill pipe transporter, including the following steps: Horizontal to positive tilt adjustment: a. Initial state: The transporter level sensor is on, the rack and drill pipe transporter are both in a horizontal position, and the rack position sensor is on; b. The frame rotates in the positive inclination direction to the set angle A, A>0°, and the synchronous sensor is disconnected after the rotation starts; c. The rack position sensor is disconnected, and it is determined that the rack is in a positive tilt state; d. After the rack is rotated into place, the drill pipe transporter rotates in the positive inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill pipe transporter and the rack are at the same inclination angle and are in the positive inclination state; Horizontal to negative tilt adjustment: a. Initial state: The rack and drill pipe transporter are both in horizontal position, the rack position sensor is on, and the synchronization sensor is on; b. The frame rotates in the negative inclination direction to the set angle B, B < 0°, and after the rotation begins, the synchronous sensor is disconnected and the transporter level sensor is disconnected; c. The rack position sensor signal remains connected, judging that the rack is in a negative tilt state; d. After the rack is rotated into place, the drill rod transporter rotates in the negative inclination direction until the synchronization sensor is connected to the signal again. At this time, the drill rod transporter and the rack are at the same inclination angle and are in a negative inclination state.

55. The control method according to any one of claims 53 and 54, characterized in that: It also includes the adjustment process from a positive or negative tilt angle back to a horizontal position, which is the opposite of the adjustment process from horizontal to a positive or negative tilt angle.

56. The control method according to claim 55, characterized in that: The rotation sensor comprises: A rotation sensor mounting base fixed on the rotation base of the main manipulator; A rotation sensor body fixed in the rotation sensor mounting base; a trigger ring fixed to a rotating member of the main manipulator and rotating with the rotating member, the trigger ring being configured to interact with the rotation sensor body during rotation of the main manipulator, and the trigger ring having two arc segments of different arc lengths with a gap between the two arc segments to generate a signal for detecting the rotational position and direction of the main manipulator; When the drill rod transporter is in an inclined state, after the main manipulator clamps the drill rod or places the drill rod in the drill rod transporter, the main manipulator rotates toward the frame through an arc segment of the trigger ring, and the rotation sensor body detects the gap between the two arc segments in the trigger ring. The signal of the rotation sensor body is disconnected, thereby causing the main manipulator to stay between the drill rod transporter and the frame, leaving space for the drill rod transporter to return to a horizontal position.

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