Full-face automatic control drilling rig and control method thereof

Abstract

The present application belongs to the field of mine drilling machine, and relates to a full-face automatic control drilling machine and a control method thereof, comprising a mobile platform, a drill rod box, a secondary manipulator, a posture adjusting device, a drill rod transfer device, a primary manipulator, a frame, a drill rod conveying sensor group and a rotating positioning sensor group; the drill rod transfer device is arranged on the top of a transfer device rotary of the posture adjusting device; the frame side hanging is arranged on the side of the inclination rotary away from the lifting sleeve, and the primary manipulator is installed on the frame and rotates with the frame. The present application adopts two independent rotaries to respectively drive the drill rod transfer device and the frame to rotate, cooperates with the frame side hanging installation, realizes large-range inclination adjustment of the drill rod transfer device in the vertical plane, and reduces the opening height; and through the drill rod conveying sensor group and the rotating positioning sensor group, the problems that the prior art 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 are solved.

Description

Technical Field

[0001] This invention belongs to the field of mining drilling rigs and relates to a full-face automatic control drilling rig and its control method. Background Technology

[0002] Under the strategic framework of intelligent coal mining, drilling automation has become a key approach to achieving less-manned and unmanned underground operations. Traditional manual operation methods are limited by the complex underground environment and personnel fatigue, making it difficult to meet the dual demands of efficient mining and inherent safety in modern coal mines. Automation technology, on the other hand, can automate the drilling process and auxiliary procedures, significantly reducing labor intensity, improving safety, and breaking through the efficiency bottleneck of manual operation, thus becoming an inevitable choice for technological upgrading in the coal industry.

[0003] After nearly 10 years of development, automated drilling rig technology has become increasingly mature, achieving fully automated operation in loading and unloading drill rods, drilling, and attitude adjustment. It has been widely applied in disaster prevention and control projects such as gas extraction and water exploration. However, most automated drilling rigs currently used in the industry employ a three-stage drill rod conveying system (CN201911185745.9) consisting of dual robotic arms combined with a translational transfer device, which has the following main shortcomings:

[0004] (1) The range of borehole inclination angle is limited.

[0005] Due to the spatial relationship between the drill pipe loading / unloading robot and the tracked platform, it cannot meet the requirements for drilling at large negative inclination angles. When drilling at large positive inclination angles, the frame needs to be raised to a relatively high height, which generally limits the operation to tunnels with larger cross-sections.

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

[0007] Due to the limitations of the drill pipe conveying principle of the drill pipe loading and unloading system, the height of the drilling host (mainly referring to the power head and frame) must be adapted to the drill pipe conveying route, resulting in a relatively high 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 existing technology in terms of the space required for the retraction platform, tracked vehicle, and manipulator's movement and relative position, it is usually only possible to use the two anchoring components at the rear of the drilling rig. It is difficult to use the two anchoring components at the front of the drilling rig, resulting in poor stability of the rig body during drilling, which affects drilling efficiency and safety.

[0010] (4) The drill pipe delivery sensor system is incomplete.

[0011] Existing drill pipe conveying systems typically monitor key joints of components. One approach uses sensors such as encoders to monitor the angles and displacements of specific joints in the robotic arm. This method is structurally complex and suffers from low sensor reliability and high cost. Another approach uses position sensors to monitor specific positions of the robotic arm (extreme positions, horizontal positions), thereby determining the relative positions between components. While this method improves sensor reliability, it lacks process monitoring, hindering the improvement of automation and self-adjustment capabilities. Furthermore, this technology is only suitable for drilling rigs with a relatively small drilling inclination range; it cannot effectively distinguish between positive and negative inclination angles, making it difficult to meet the drill pipe conveying requirements under complex conditions.

[0012] Therefore, there is a need for an automated drilling rig that can be used in a wider range of inclination angles and with a lower drilling height, so as to improve the application scope of automated drilling rigs and give full play to their role in reducing manpower, improving efficiency and increasing safety in mine safety engineering. 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 to solve the problems of the limited drilling inclination range of existing automatic drilling rigs, which cannot perform large negative inclination drilling and require excessive height for large positive inclination drilling, as well as the lack of monitoring of the drill rod loading and unloading adjustment process in the existing technology and the inability of the robot arm inclination position judgment sensor to be applied to large inclination range.

[0014] To achieve the above objectives, the present invention provides the following technical solution:

[0015] A full-face automatic control drilling rig includes a mobile platform, a drill pipe box, a secondary manipulator, an attitude adjustment device, a drill pipe transfer device, a main manipulator, and a frame. The drill pipe box and the attitude adjustment device are both mounted on the mobile platform, with the attitude adjustment device located on one side of the drill pipe box. The secondary manipulator is used to transfer the drill pipe in the drill pipe box to the drill pipe transfer device, and the main manipulator is used to transfer the drill pipe in the drill pipe transfer device to the frame.

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

[0017] The drill pipe transfer device is arranged on top of the transfer device rotary device, and the tilt angle of the drill pipe transfer device is adjusted by the transfer device rotary device.

[0018] The frame is mounted on the side of the tilting gyroscope away from the lifting sleeve, and the tilt angle of the frame is adjusted by the tilting gyroscope. The main manipulator is mounted on the frame and rotates with the frame.

[0019] Furthermore, the auxiliary manipulator is slidably connected to the drill pipe box via an auxiliary slide rail arranged on the drill pipe box. It includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint, and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box.

[0020] The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft.

[0021] Furthermore, the end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

[0022] Furthermore, the lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed 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 cylinder drives the lifting pair to perform lifting movement.

[0023] The secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam. The secondary rotary actuator is connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

[0024] Furthermore, the end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

[0025] Furthermore, the secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder, wherein the secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement;

[0026] And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

[0027] Furthermore, a secondary clamping cylinder is connected to the side of the secondary gripper near the secondary telescopic joint. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

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

[0029] The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint.

[0030] The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

[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 via a flange. The main inner cylinder is slidably connected inside the main outer cylinder. The main gripper 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.

[0032] Furthermore, the main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases 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, which 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 cylinder is fixed to the fixed base, and the other end is connected to the connecting arm so that the connecting arm slides along the track.

[0035] Furthermore, the drill pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block; the support block is disposed on the base plate for supporting the drill pipe; the axial clamping block is disposed on the base plate and located on both sides of the support block; a pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block; the axial clamping block clamps and fixes the drill pipe axially upwards; the axial clamping block includes at least one slider slidably disposed on the base plate; the pressure plate presses the drill pipe 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 clamping block is rotatably connected to the pressure plate. When the drill rod transfer device is in a state of waiting to load or remove the drill rod, the pressure plate rotates upward to open, facilitating the loading or removal of the drill rod.

[0038] Furthermore, the pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

[0039] Furthermore, at least two support blocks are provided, and each support block has a groove on its upper part that matches the outer diameter of the drill rod.

[0040] Furthermore, it also includes an azimuth rotator, which is mounted on the mobile platform and connected to the rotary platform, for rotating the rotary platform onto the mobile platform of the drilling rig.

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

[0042] Furthermore, the main body of the rotary platform is a rotary plate, and one side of the rotary plate is provided with a lower anchor mounting plate and a lug for connecting the lower anchoring 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 move vertically up and down.

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

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

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

[0047] The upper anchoring assembly is installed on the column head for contact with the roadway top support.

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

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

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

[0051] The connecting cylinder is fixedly installed on the side of the lifting sleeve cavity facing the frame, and a flange for installing the rotary transition plate is provided on it.

[0052] Furthermore, the rotary transition plate is disk-shaped and includes:

[0053] The first transition plate flange is configured to connect to the connecting cylinder;

[0054] The second transition plate flange is configured to connect to the frame connection plate; and

[0055] The third transition plate flange is configured to connect to the rotary unit of the transfer device.

[0056] Furthermore, the transferor rotary includes:

[0057] A retaining ring is connected to the third transition plate flange of the rotary transition plate; and

[0058] The rotating ring is connected to the drill pipe transfer device, and its inclination angle is adjusted.

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

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

[0061] The second flange is configured to connect to the tilt slewing device.

[0062] Furthermore, the tilt gyroscope includes:

[0063] A retaining ring is connected to the second flange of the frame connecting plate; and

[0064] A rotating ring, fixedly connected to the frame, is configured to adjust the tilt angle of the frame;

[0065] Furthermore, the frame is mounted on the tilting rotary device.

[0066] Furthermore, the retaining ring of the transferor rotator is directly installed on the lifting sleeve, and the retaining ring of the tilting rotator is installed on the retaining ring of the transferor rotator.

[0067] Furthermore, the retaining ring of the tilting rotator is directly installed on the lifting sleeve, and the retaining ring of the transfer device rotator is installed on the retaining ring of the tilting rotator.

[0068] Furthermore, the detection sensor includes:

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

[0070] The detection sensor spring is installed inside the detection sensor mounting base;

[0071] The trigger post is movably mounted in the detection sensor mounting base via the detection sensor spring;

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

[0073] Furthermore, when the gripper approaches the drill pipe, the trigger pin is pressed upward by the drill pipe, and the detection sensor body generates an activation signal indicating the presence of the drill pipe.

[0074] Furthermore, the judgment sensor includes:

[0075] A sensor mounting base is fixed below the base plate of the drill pipe transfer device;

[0076] The judgment sensor body is fixed inside the judgment sensor mounting base;

[0077] The judgment sensor spring is installed inside the judgment sensor mounting base;

[0078] The signal transmitting column is movably mounted in the judgment sensor mounting base via the judgment sensor spring;

[0079] When the drill pipe is placed in the drill pipe transfer device, the signaling column is pressed downward by the drill pipe, and the judgment sensor body generates an on signal indicating the presence of the drill pipe.

[0080] Furthermore, the top of the signaling column penetrates the bottom plate of the drill pipe transfer device, and when there is no drill pipe in the drill pipe transfer device, the top of the signaling column exceeds the lowest point where the drill pipe is placed on the drill pipe transfer device.

[0081] Furthermore, the rotation sensor includes:

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

[0083] The rotation sensor body is fixed inside the rotation sensor mounting base;

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

[0085] Furthermore, the two arc segments and the notch are arranged such that during the rotation of the main manipulator, the rotation sensor body sequentially detects the arc segments and the notch, and indicates the rotation direction and position of the main manipulator based on the duration and on / off state of the rotation sensor body signal.

[0086] Furthermore, the rack location sensor includes a location plate and a first sensor, the location plate being connected to the rack and rotating with the rack;

[0087] The positioning plate is divided into a positive tilt angle area and a negative tilt angle area. The positive tilt angle area and the negative tilt angle area cover a circumferential angle of 180°. The difference between the radius of the positive tilt angle area and the radius of the negative tilt angle area is not less than 1 times the sensing distance of the first sensor. Then, the on / off state of the first sensor is used to determine whether the frame is in a positive tilt angle condition or a negative tilt angle condition.

[0088] The first sensor is positioned on the outside of the zoning plate, near the boundary between the positive and negative tilt zones.

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

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

[0091] The first trigger block is mounted on the rotary transferor and rotates with the drill pipe transferor; the second sensor is mounted on the frame on the side facing the rotary transferor.

[0092] When the frame and drill pipe transfer device 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 drill pipe transfer device rotate relative to each other, the second sensor disconnects and there is no signal output.

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

[0095] Furthermore, the positioning shaft is a hollow round 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 positioning plate.

[0096] Furthermore, it also includes a transfer device level sensor for determining whether the drill pipe transfer device is in a horizontal position;

[0097] When the drill pipe transfer device is in a horizontal position, the transfer device level sensor outputs a signal to determine that the drill pipe transfer device is in a horizontal position;

[0098] When the drill pipe transfer device rotates and is not in a horizontal position, the horizontal sensor of the transfer device disconnects and there is no signal output, indicating that the drill pipe transfer device is not in a horizontal position.

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

[0100] The second trigger block is installed on the drill pipe transfer device and rotates with the drill pipe transfer device; the third sensor is installed on the lifting sleeve on the side facing the transfer device rotator.

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

[0102] When the drill pipe transfer device rotates and is not in a horizontal position, the third sensor disconnects and there is no signal output.

[0103] Furthermore, the tilt sensor of the transfer device includes an internal gear ring, a rotating shaft, a sensor gear ring, and a wire sensor;

[0104] The internal gear ring is fixedly connected to the rotating ring in the rotary device of the transferor connected to the drill pipe transferor, so as to drive the internal gear ring to rotate through the rotary device of the transferor;

[0105] The rotating shaft is provided with a primary gear and a secondary gear at both ends. The primary gear meshes with the internal gear ring, and the secondary gear meshes with the sensor gear ring. The sensor gear ring is rotatably disposed on the outside of the lifting sleeve used to install the rotary device of the transfer device.

[0106] The pull-wire sensor is located on the outside of the lifting sleeve and is connected to the sensor gear ring via a pull wire, so as to calculate the rotation angle of the drill pipe transfer device by the pull-wire length of the pull-wire sensor.

[0107] Furthermore, the tilt angle adjustment range of the transfer device rotator is 360°;

[0108] The rotary transducer is divided into positive tilt rotation and negative tilt rotation, with the corresponding angles being 0 to 180° and 0 to -180°, respectively.

[0109] Furthermore, the rotation angle at the connection point between the pull wire and the sensor gear ring in the pull wire sensor is less than the tilt adjustment range of the transferor rotator.

[0110] Furthermore, when the transferor rotator is in its initial position, the initial length of the pull wire between the pull wire sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then, the pull wire length per unit angle satisfies the following condition:

[0111] k=L0 / θ.

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

[0113] Furthermore, when the transferor rotator tilts, the total length of the pull wire in real time for the pull wire sensor is L. Z The real-time angle through which the sensor gear ring rotates is:

[0114] α = (L0 - L) Z ) / k;

[0115] When the rotary valve of the transfer device rotates at a counterclockwise positive tilt angle, L0 ≥ L Z α≥0;

[0116] When the rotary valve of the transferor rotates at a negative clockwise angle, L0 ≤ L Z , α≤0.

[0117] Furthermore, if the gear train consisting of the internal gear ring, the first-stage gear, the second-stage gear, and the sensor gear ring has a transmission ratio of i, then the actual rotation angle of the transfer device calculated by the sensor gear ring is:

[0118] β = iα.

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

[0120] On the other hand, the present invention also provides a control method for a drill pipe conveying system suitable for full-section drilling, applicable to the aforementioned drill pipe conveying system for full-section drilling, comprising the following steps:

[0121] The process of conveying drill pipe from the drill pipe box to the frame:

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

[0123] Step 1: Grab the drill rod

[0124] The auxiliary robotic arm approaches the drill rod from the drill rod box, the auxiliary gripper clamps the drill rod, and the sensor signal is activated, indicating that the auxiliary robotic arm has grasped the drill rod;

[0125] Step 2: Transfer to drill pipe transfer device

[0126] The auxiliary robotic arm places the drill pipe into the drill pipe transfer device. The auxiliary gripper releases, detects that the sensor signal is disconnected, and simultaneously determines that the sensor signal is connected, indicating that the drill pipe has entered the drill pipe transfer device.

[0127] Step 3: Main robotic arm grasps

[0128] The main robotic arm grabs the drill rod from the drill rod transfer device. After the drill rod leaves, it determines that the sensor signal is disconnected.

[0129] Step 4: Convey to rack

[0130] The main robotic arm rotates towards the frame, and the rotation sensor generates a signal change indicating that the rotation is complete, signifying that the main robotic arm has completed the rotation and has fed the drill rod into the frame;

[0131] The process of recycling drill pipe from the frame to the drill pipe box:

[0132] Initial state: There is a recovery space inside the drill pipe box, there is no drill pipe in the auxiliary manipulator and drill pipe transfer device, the detection sensor and judgment sensor signals are disconnected, the main manipulator is located inside the frame, and the rotation sensor signal is disconnected;

[0133] Step 1: Retrieval by the main robotic arm

[0134] The main robotic arm rotates from the frame toward the drill pipe transfer device, and the rotation sensor generates a signal change indicating that the rotation is complete.

[0135] Step 2: Place into the drill pipe transfer device

[0136] The main robotic arm places the drill pipe into the drill pipe transfer device and determines that the sensor signal is connected;

[0137] Step 3: The auxiliary robotic arm grasps the object.

[0138] The auxiliary robotic arm grabs the drill rod from the drill rod transfer device, detects that the sensor signal is on, and determines that the sensor signal is off after the drill rod is removed.

[0139] Step 4: Return the drill pipe box

[0140] The auxiliary robotic arm returns the drill pipe to the drill pipe box, detects that the sensor signal has been disconnected, and completes the retrieval.

[0141] Furthermore, it also includes rotating the drill pipe transfer device to a specified inclination angle:

[0142] S1, the set tilt angle of the transferor rotator;

[0143] S2. The tilt angle of the rotary transferor is transmitted to the sensor gear ring through the first and second gears on the rotating shaft, which in turn drives the extension and retraction of the wire of the wire sensor.

[0144] S3. Calculate the rotation angle and rotation direction of the sensor tooth ring based on the actual extension length of the pull wire of the pull wire sensor;

[0145] S4. Calculate the tilt angle of the rotary engine of the transferor based on the gear ratio of the gear system consisting of the internal gear ring, the first-stage gear, the second-stage gear, and the sensor gear ring.

[0146] Furthermore, it also includes the determination and synchronization of the inclination state of the frame and drill pipe transfer device, including the following steps:

[0147] Horizontal to positive tilt adjustment:

[0148] a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is turned off, and the synchronization sensor is turned on;

[0149] b. The frame rotates in the positive tilt direction to the set angle A, where A > 0°. After the rotation begins, the synchronization sensor and the horizontal sensor of the transfer device are disconnected.

[0150] c. The rack position sensor activates a signal to determine that the rack is in a positive tilt angle.

[0151] d. After the frame is rotated into position, the drill pipe transfer device rotates in the positive inclination direction until the synchronization sensor activates the signal again. At this time, the drill pipe transfer device and the frame are at the same inclination angle and are in a positive inclination state.

[0152] Adjustment from horizontal to negative tilt angle:

[0153] a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is turned off, and the synchronization sensor is turned on;

[0154] b. The frame rotates to a set angle α in the negative tilt direction, where α < 0°. After the rotation begins, the synchronization sensor and the horizontal sensor of the transporter are disconnected.

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

[0156] d. After the frame rotates to the correct position, the drill pipe transfer device rotates in the direction of negative inclination until the synchronization sensor reconnects the signal. At this point, the drill pipe transfer device and the frame are at the same inclination angle and are in a negative inclination state.

[0157] Furthermore, it also includes the determination and synchronization of the inclination state of the frame and drill pipe transfer device, including the following steps:

[0158] Horizontal to positive tilt adjustment:

[0159] a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, and the frame position sensor is turned on;

[0160] b. The frame is rotated in the positive tilt direction to the set angle A, where A > 0°. The synchronization sensor is disconnected after the rotation begins.

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

[0162] d. After the frame is rotated into position, the drill pipe transfer device rotates in the positive inclination direction until the synchronization sensor activates the signal again. At this time, the drill pipe transfer device and the frame are at the same inclination angle and are in a positive inclination state.

[0163] Adjustment from horizontal to negative tilt angle:

[0164] a. Initial state: The frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is on, and the synchronization sensor is on.

[0165] b. The frame rotates to the set angle B in the negative tilt direction, B < 0°. After the rotation starts, the synchronization sensor and the horizontal sensor of the transfer device are disconnected.

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

[0167] d. After the frame rotates to the correct position, the drill pipe transfer device rotates in the direction of negative inclination until the synchronization sensor reconnects the signal. At this point, the drill pipe transfer device and the frame are at the same inclination angle and are in a negative inclination state.

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

[0169] Furthermore, the rotation sensor includes:

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

[0171] The rotation sensor body is fixed inside the rotation sensor mounting base;

[0172] A trigger ring is fixed to the rotating component of the main manipulator and rotates with the rotating component. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator. The trigger ring has two arc segments with different arc lengths and 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 pipe transferor is in an inclined state, after the main manipulator clamps or places the drill pipe into the drill pipe transferor, the main manipulator rotates the trigger ring by an angle of one arc segment towards the frame. The rotation sensor body detects the gap between the two arc segments in the trigger ring, and the rotation sensor body signal is disconnected, thereby causing the main manipulator to stop between the drill pipe transferor and the frame, leaving space for the drill pipe transferor to return to the horizontal position.

[0174] The beneficial effects of this invention are as follows:

[0175] (1) The present invention uses two independent rotary heads to drive the drill pipe transfer device and the frame to rotate respectively. With the side mounting of the frame, the drill pipe transfer device can be adjusted in a wide range of tilt angles in the vertical plane.

[0176] Expanding the Drilling Inclination Range. Existing drill pipe transfer devices, due to design flaws, can only move in the horizontal plane, limiting the drilling inclination range of automatic drilling rigs and hindering their expansion into large-angle drilling conditions. The adjustable-inclination drill pipe transfer mechanism of this invention achieves asynchronous rotation adjustment of the inclination angle between the frame and the transfer device through an asynchronous rotation device. The inclination angle rotator adjusts the inclination angle of the frame, and the transfer device rotator adjusts the inclination angle of the transfer device. These two mechanisms work together to enable the transfer device to perform a wide range of inclination angle adjustments in the vertical plane. This allows the automatic drilling rig to adapt to drilling requirements at larger inclination angles, breaking through previous technical limitations, meeting drilling operations under more complex geological conditions, and broadening the application scenarios of automatic drilling rigs.

[0177] To avoid component interference and achieve drilling at large negative inclination angles, this invention addresses the problem of improperly positioned drill pipe transporters, robotic arms, and frames in existing technologies. Interference occurs when the robotic arm adjusts the drill pipe transport angle, especially under negative inclination angle conditions, preventing existing automatic drilling rigs from performing such drilling. The invention's optimized attitude adjustment device effectively avoids this issue. Through the sequential connection of components such as the inclination rotator, frame connecting plate, slewing transition plate, and lifting sleeve, the drill pipe transporter and frame can be independently adjusted for inclination angle. Under negative inclination angle conditions, the transporter can be adjusted to the appropriate angle as needed without interfering with other components on the slewing platform, thus enabling drilling at large negative inclination angles and further enhancing the operational capabilities of automatic drilling rigs.

[0178] This invention enhances automation and intelligence. It makes the drilling process more automated, and combined with automated drilling technology, enables fully automatic operation of drill rod loading and unloading, drilling, and attitude adjustment. This further reduces labor intensity, improves operational safety and efficiency, and provides strong support for the intelligent construction of coal mines.

[0179] (2) This technical solution combines the integrated design of the anchoring components and the attitude adjustment device with the side-mounted installation on the frame, ensuring that the drilling rig can achieve full anchoring at all four corners during azimuth adjustment. Traditional drilling rigs have difficulty achieving four-corner fixation in certain positions, leading to instability of the rig body during drilling and posing safety hazards. This solution, by optimizing the structural layout, makes four-corner anchoring possible, significantly improving the stability of the drilling rig. This enhanced stability not only reduces operational risks but also provides reliable protection for safe construction in complex environments, fully demonstrating the dual advantages of the technical solution in terms of performance and safety.

[0180] (3) This invention integrates most of the functions of the main manipulator by connecting the main rotary joint and the main telescopic joint and integrating them with the frame, keeping their tilt angles consistent, simplifying the manipulator's movements and reducing the possibility of interference with other components. The main rotary joint can satisfy the rotation of the main manipulator at a certain angle, meaning 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 is further expanded within the original rotation angle range, thus achieving wider applicability.

[0181] (4) By setting a secondary rotary joint with a limited angle, the secondary manipulator's swing function in the vertical plane is realized. This allows the secondary manipulator to transport drill pipes across components such as the attitude adjustment device, thus allowing the drill pipe transfer device to be positioned on the opposite side of the drill pipe box on the attitude adjustment device. This improvement significantly enhances the flexibility of the layout of the full-face automatic control drilling rig, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements. Because the secondary manipulator can swing in the vertical plane, the drilling rig is no longer limited to the traditional manipulator's straight-up-down movement when drilling across the entire face and inclination range. This greatly increases the drilling inclination range of the drilling rig, improving its adaptability and operational efficiency.

[0182] (5) The drill rod is fixed during transport by clamping both ends and pressing the top, thus preventing the drill rod from falling during inclination adjustment. This facilitates drill rod loading and unloading: When the transporter is in the state of loading or unloading the drill rod (other clamping mechanisms have already secured the drill rod), the pressing cylinder drives the pressure plate to rotate and open upwards, and the sliding cylinder drives the slider to move outwards, expanding the internal space of the transporter and reducing obstacles during loading and unloading. This enhances the stability of the drill rod: By clamping both ends of the drill rod with the slider and pressing the top with the pressure plate, the drill rod is fixed from multiple directions, greatly enhancing its stability during transport and effectively preventing problems caused by shaking, shifting, or even falling during transport. This method is suitable for large inclination angles: The above fixing method ensures the drill rod remains stable under large inclination angles, preventing it from falling during inclination adjustment and expanding the application range and adaptability of the automatic drilling machine.

[0183] (6) The detection sensor on the auxiliary manipulator, through the trigger pin design in the gripper, can directly sense whether there is a drill rod in the gripper and generate an accurate signal. This function provides key support for the automation of drill rod delivery, ensuring that the auxiliary manipulator moves accurately when gripping and releasing drill rods. In complex working environments, the detection sensor effectively reduces human error 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 flow and is an indispensable part of the technical solution.

[0184] (7) The sensor, located below the drill pipe transfer unit's base plate, accurately detects the presence of drill pipe in the transfer unit using a signaling column and spring reset design, generating an activation signal. This function provides crucial information for the automatic control of drill pipe transport, ensuring real-time monitoring of the drill pipe's status. Working in conjunction with the detection sensor of the auxiliary manipulator, the sensor helps the system accurately track the drill pipe's flow path, thereby improving transport efficiency and safety. The spring reset design prevents false triggering when no drill pipe is present, ensuring the sensor's high reliability. The application of this sensor significantly optimizes the automated process of drill pipe transport, providing stable support for subsequent drilling operations.

[0185] (8) The rotation sensor of the main manipulator is mounted on the rotating base. Through the trigger ring design, the rotation direction and position are determined based on the duration and on / off state of the signal. This function enables the main manipulator to precisely control the rotational motion, providing predictive information for drilling control. Combined with the judgment sensor of the drill pipe transfer device, the rotation sensor can also sense the flow direction of the drill pipe 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 pipe transportation and drilling operations.

[0186] (9) Compared with the existing technology, which uses complex precision sensors such as encoders to monitor the tilt angle of the robot throughout the process, or to monitor the special positions (extreme positions, horizontal positions) of the robot, this invention uses a gear transmission structure to transmit the rotation process and tilt angle of the rotary head inside the drilling rig to the sensor gear ring outside the drilling rig. The actual rotation direction and rotation angle of the sensor gear ring will directly affect the change in the length 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 tilt angle of the rotary head inside the drilling rig are inferred from the transmission ratio of the gear structure. The displacement sensor is used to monitor the tilt angle change process of the transfer device and to perform length / angle conversion, which improves the comprehensiveness of the monitoring of the automatic conveying process of the drill rod.

[0187] Furthermore, the present invention can also set the transmission ratio of the gear transmission structure so that the output angle range of the sensor gear ring is smaller than the tilt angle change range of the rotary device, thereby improving the flexibility of the installation position of the wire sensor and the design of related structural components in the present invention.

[0188] (10) This invention achieves precise judgment and adjustment of the tilt angle between the frame and the drill pipe transporter through the coordinated operation of the frame location sensor and the synchronization sensor. The frame location sensor divides the 360° circumference into two 180° regions, one for positive tilt angle and one for negative tilt angle, and determines the current tilt angle range (positive or negative tilt angle) of the frame by signal switching. The synchronization sensor detects whether the frame and the drill pipe transporter are at the same tilt angle, ensuring that they remain consistent when the tilt angle changes. This design combines the functions of two sensors, enabling coordinated judgment of the rotation direction of the frame and the drill pipe transporter in subsequent processes. It is applicable to tilt angle adjustment of the entire circumference and overcomes the limitations of traditional methods in terms of tilt angle range.

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

[0190] This invention achieves highly efficient automation from sensing to control during drill pipe transportation through the synergistic effect of the above sensors, providing strong protection for safety and efficiency in complex operating environments.

[0191] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0192] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

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

[0194] Figure 2 This is an isometric view of the secondary manipulator in the embodiment;

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

[0196] Figure 4 for Figure 3 A partial sectional view of the middle-arm robotic arm (AA section).

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

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

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

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

[0201] Figure 9 This is an isometric view of the upper anchorage in the embodiment;

[0202] Figure 10 This is an isometric view of the drill pipe transfer device in the embodiment;

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

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

[0205] Figure 13 This is a front view of the main robotic arm in the embodiment;

[0206] Figure 14 This is a side view of the main robotic arm in the embodiment;

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

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

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

[0210] Figure 18 This is an isometric view of the rotation positioning sensor group in the embodiment;

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

[0212] Figure 20 This is a schematic diagram of the rack location sensor in the embodiment;

[0213] Figure 21 This is a schematic diagram of the synchronization sensor in the embodiment;

[0214] Figure 22 This is a schematic diagram of the tilt sensor of the transfer device in the embodiment;

[0215] Figure 23 This is a schematic diagram illustrating the working principle of the tilt sensor of the transfer device in the embodiment.

[0216] Reference numerals: 1. Mobile platform; 2. Hydraulic system; 3. Electrical control system; 4. Anchoring system; 5. Drill rod box; 6. Secondary manipulator; 7. Attitude adjustment device; 8. Drill rod transfer device; 9. Main manipulator; 10. Power head; 11. Frame; 12. Clamp; 13. Drill rod to be transferred; 14.

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

[0218] Attitude Adjustment Device 7: Azimuth Rotator 701, Rotating Platform 702, Rotating 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 Sleeve 70503, Lifting Cylinder 706, Upper Anchor Seat 707, Column Head 70701, Fixing Sleeve 70702, Upper Anchor Assembly 708, Transfer Device Rotator 709, Inclination Rotator 710, Rotation Transition Plate 712, Frame Connecting Plate 713, Rotation Positioning Transmission Sensor group 714, rack position sensor 71401, position plate 71401a, first sensor 71401b, synchronization sensor 71402, first trigger block 71402a, second sensor 71402b, transporter tilt sensor 71403, internal gear ring 71403a, first stage gear 71403b, rotating shaft 71403c, sensor gear ring 71403d, pull wire sensor 71403e, second stage gear 71403f, pressure cover 71403g, transporter level sensor 71404;

[0219] Drill pipe transfer device 8: base plate 801, support block 802, pressure plate 803, clamping cylinder 804, slider 805, sliding cylinder 806, judgment sensor body 807, judgment sensor mounting base 808, signal transmitting column 809, judgment sensor spring 810;

[0220] Main robotic arm 9: fixed base 901, main rotation driver 902, rotating 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 gripper 910, connecting arm 911, sliding cylinder 912. Detailed Implementation

[0221] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0222] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0223] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship 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 orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0224] Example 1

[0225] Please see Figure 1 The diagram shows an overall schematic of a full-section automatic control drilling rig, including a mobile platform 1, a hydraulic system 2, an electrical control system 3, an anchoring system 4, a drill rod box 5, a secondary manipulator 6, an attitude adjustment device 7, a drill rod transfer device 8, a main manipulator 9, a power head 10, a frame 11, and a clamping device 12.

[0226] The mobile platform 1 is used to carry other components and also has a moving function; the hydraulic system 2 is installed on the mobile platform 1 and serves as the power system for the drilling rig, driven by an electric motor and outputting hydraulic power; the electrical control system 3 is installed on the mobile platform 1 and includes a controller and its supporting functional modules, human-machine interaction system, etc., used to control the drilling rig to perform automated operations.

[0227] The key components of this embodiment are the attitude adjustment device 7, the drill rod box 5, the auxiliary manipulator 6, the drill rod transfer device 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 transfer the drill rod in the drill rod box 5 to the drill rod transfer device 8, and the main manipulator 9 is used to transfer the drill rod in the drill rod transfer device 8 to the frame 11.

[0228] Please see Figures 2 to 4 The diagram shows the structure of the auxiliary manipulator 6, which is mounted on the auxiliary slide rail of the drill pipe box 5. It includes a lifting joint, a secondary rotating joint, a secondary telescopic joint, and a secondary gripper 609 connected in sequence. The end of the lifting joint away from the secondary gripper 609 is connected to the auxiliary slide rail. The secondary telescopic joint and the secondary gripper 609 are positioned facing inwards towards the drill pipe box. In some embodiments, the auxiliary manipulator 6 of this invention performs the gripping and transport of drill pipes.

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

[0230] Please see again Figures 5 to 9 The diagram shows the structure of the attitude adjustment device 7. The device includes a rotary platform 702, a lifting sleeve 705, a lower anchoring assembly 703, a transferor rotator 709, and an inclination rotator 710. The rotary platform 702 serves as the carrier of the attitude adjustment device and is rotatably mounted on the moving platform 1 via the azimuth rotator 701. The lifting sleeve 705 is vertically and vertically mounted on the rotary platform 702. Both the transferor rotator and the inclination rotator are mounted on the lifting sleeve, and both are located on the side of the lifting sleeve away from the drill pipe box 5. The lower anchoring assembly 703 is mounted on one side of the rotary platform 702 and is used to contact the ground to support the attitude adjustment device 7.

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

[0232] Please see again Figures 10 to 11 The diagram shows the structure of the drill pipe transfer device 8, which is arranged on top of the transfer device rotary device 709 and whose tilt angle can be adjusted by the transfer device rotary device 709.

[0233] The drill pipe transfer device 8 includes 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 main load-bearing and connecting component of the drill pipe transfer device 8, providing the mounting foundation for all parts of the device. Components such as the support block 802, the axial clamping block, and the sliding cylinder 806 are directly or indirectly mounted on the base plate 801, ensuring the integrity and stability of the drill pipe transfer device 8 structure and enabling all components to work collaboratively to complete the transfer and fixing of the drill pipe.

[0234] At least two support blocks 802 are disposed on the base plate 801. The upper part 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, two support blocks 802 are preferred. When the drill rod is placed into the drill rod transfer device 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 the transfer process. Axial clamping blocks are disposed on the base plate 801 and located on both sides of the support blocks 802. The axial clamping blocks press and fix the drill rod axially upwards. The axial clamping blocks include at least one slider 805 slidably disposed on the base plate 801. In some embodiments of the present invention, one of the axial clamping blocks on both sides of the support block 802 is a fixed block, and the other is a slider 805. By sliding the slider 805 on one side on the base plate 801, the internal space can be expanded when placing and removing the drill rod, or the drill rod can be pressed against the fixed block on the other side. In other embodiments of the present invention, both axial clamping blocks are sliders 805. A pressure plate 803 and a clamping cylinder 804 are hinged to the upper part of the axial clamping block, wherein the pressure plate 803 is located above the support block 802 and is rotatably connected to the upper part of the axial clamping block. The clamping cylinder 804 is located outside the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803, serving as the power source for its rotation. Through the telescopic movement of the clamping cylinder 804, power is transmitted to the pressure plate 803, causing it to rotate along a predetermined trajectory, thus clamping or releasing the drill rod until it is pressed firmly against the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further restricting its vertical and horizontal movement, enhancing its stability, and preventing it from falling during transport. Precise control of the clamping cylinder 804 ensures that the pressure plate 803 applies appropriate pressure to the drill rod, preventing both insufficient pressure (failing to effectively fix the drill rod) and excessive pressure (damaging the drill rod).

[0235] A sliding cylinder 806 is provided at the bottom of the base plate 801. The sliding cylinder 806 is connected to the slider 805 and is the power device that drives the slider 805 to slide along the length of the base plate 801. Driving the slider 805 to slide towards the center along the length of the base plate 801 causes the slider 805 to clamp the drill rod, restricting the axial movement of the drill rod. Together with the support block 802 and the pressure plate 803, it forms a multi-directional fixation of the drill rod. The stable operation of the sliding cylinder 806 can accurately control the position and moving speed of the slider 805, ensuring the smooth loading, unloading and fixing of the drill rod, and guaranteeing the stability of the drill rod during transportation.

[0236] When the drill pipe transferor 8 is in the state of waiting to load or remove drill pipes (other clamping mechanisms have already clamped the drill pipes), the clamping cylinder 804 drives the pressure plate 803, causing the pressure plate 803 to rotate and open upwards. The sliding cylinder 806 drives the slider 805 to move outwards, expanding the internal space to facilitate the loading or removal of drill pipes. After the drill pipe is loaded or removed, the clamping cylinder 804 drives the pressure plate 803 to rotate back to the clamping position. When the drill pipe is placed inside the drill pipe transferor 8, and the drill pipe transferor 8 needs to rotate or move, the clamping cylinder 804 drives the pressure plate 803 to clamp the drill pipe, and the sliding cylinder 806 drives the slider 805 to move towards the center, keeping the internal drill pipe stable and preventing it from falling out.

[0237] according to Figures 12 to 14 The diagram shows the structure of the frame 11 and the main manipulator 9. The frame 11 is mounted on the side of the tilt rotator 710 away from the lifting sleeve 705, and the tilt angle of the frame is adjusted by the tilt rotator 710. The main manipulator 9 is mounted on the frame 11 and rotates with the frame 11. Specifically, the frame 11 is also equipped with a power head 10 and a clamping device 12 for driving and clamping the drill rod for drilling or retracting.

[0238] The main manipulator 9 includes a main rotary joint, a main telescopic joint, and a main gripper assembly. The main rotary joint includes a rotary seat 903 and a main rotary actuator 902. The main rotary actuator 902 is located at one end of the rotary seat 903 and drives the main rotary shaft 905 to rotate. The main rotary shaft 905 passes through the rotary seat 903 and is connected to the main telescopic joint.

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

[0240] Specifically, the basic workflow of the full-face automatic control drilling rig provided by this invention is as follows:

[0241] (1) Rod advance condition

[0242] 1) Initial state: Assume the tilt angle of the frame 11 and the main manipulator 9 is α; the drill pipe transfer device 8 is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the rotary joint is in the state of completing the first stage of rotation, the sliding joint is retracted, and the gripper is open; the auxiliary manipulator 6 is located at any position on the slide rail of the drill pipe box 5, the lifting joint and telescopic joint prevent the auxiliary gripper from interfering with the drill pipe box 5 and the drill pipe inside, the rotary joint makes the auxiliary gripper vertically downward, and the auxiliary gripper is open; the drilling rig is drilling.

[0243] 2) Selecting a row of drill pipes by the auxiliary robot 6: The auxiliary robot 6 selects a row of drill pipes under the control of the control system.

[0244] 3) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a height suitable for gripping the top drill rod of the selected column.

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

[0246] 5) Adjusting the height of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted in the opposite direction until the drill rod does not interfere with the drill rod box 5 and is at a suitable height for placing the drill rod onto the drill rod transfer device 8.

[0247] 6) Translation of auxiliary manipulator 6: The auxiliary manipulator 6 clamps the drill pipe and translates it in the direction of the drill pipe transfer device 8.

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

[0249] 8) The auxiliary manipulator 6 extends: The extension joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend towards the drill pipe transfer device 8.

[0250] 9) Drill pipe transfer device 8 clamps the drill pipe: When the drill pipe is put into the drill pipe transfer device 8, the slider 805 of the drill pipe transfer device 8 retracts inward, and at the same time the pressure plate 803 presses the drill pipe (the drill pipe 14 to be transferred).

[0251] 10) Sub-manipulator 6 releases: Sub-manipulator 6 releases the drill rod, the telescopic joint retracts, and returns to the initial state, ready to grab the next drill rod.

[0252] 11) Rotation of drill pipe transfer device 8: The drill pipe transfer device 8 rotates from the horizontal position to the inclination angle α until it is the same as the inclination angle of the frame 11.

[0253] 12) Main manipulator 9 rotates in the opposite direction: Main manipulator 9 rotates in the direction of drill pipe transfer device 8.

[0254] 13) Main robot arm 9 extends: The telescopic joint of the main robot arm 9 extends towards the drill pipe transfer device 8.

[0255] 14) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0256] 15) Drill pipe transfer device 8 is released: the transfer groove slider 805 expands to both sides, and the pressure plate 803 is released.

[0257] 16) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 1 The drill pipe transfer device 8 rotates to make room for rotation.

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

[0259] 18) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12, so that the drill rod is in a suitable position to be fed into the frame 11.

[0260] 19) Main robot arm 9 waiting: waiting for the current drill rod to complete drilling.

[0261] 20) Drill pipe transfer device 8 horizontal: Drill pipe transfer device 8 returns to the horizontal position.

[0262] 21) Disconnect the drill rod inside the hole: After completing the drilling of the current drill rod, the power head 10 disconnects from the drill rod inside the hole and retracts to a position suitable for inserting the drill rod.

[0263] 22) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0264] 23) Second rotation of main manipulator 9: The main manipulator 9 performs the second rotation to send the drill rod into the frame 11, where it is held by the gripper 12 or the power head 10.

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

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

[0267] (2) Retreat condition

[0268] 1) Initial state: Assume the tilt angle between the frame 11 and the main manipulator 9 is α; the drill rod transfer device 8 is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 retracts, the main rotary joint is in the state of completing the first stage of rotation, the sliding joint retracts, and the main gripper opens; the auxiliary manipulator 6 is located at the position closest to the transfer groove on the slide rail of the drill rod box 5, the lifting joint makes the gripper at a suitable height to grab the drill rod in the drill rod transfer device 8, the auxiliary telescopic joint retracts, the auxiliary rotary joint makes the auxiliary gripper lift up, and the auxiliary gripper opens; the drilling rig has just completed the drilling of the last drill rod.

[0269] 2) Power head 10 retracts: Power head 10 drags drill rod 13 in the hole to retract;

[0270] 3) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12 and is positioned to reach into the frame 11 to grab the drill rod.

[0271] 4) Main robot arm 9 is waiting: waiting for the drill rod 13 in the current hole to be uncoupled;

[0272] 5) Rotation of drill pipe transfer device 8: The drill pipe transfer device 8 rotates in the direction of inclination angle α until it is the same as the inclination angle of the frame 11.

[0273] 6) Drill rod uncoupling: The power head 10 and the clamp 12 work together to uncouple the drill rod (disconnect it from the drill rod inside the hole).

[0274] 7) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0275] 8) Second rotation of main robot arm 9: The main robot arm 9 performs the second rotation, and the gripper reaches the position where it can hold the drill rod to be disassembled in the frame 11.

[0276] 9) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0277] 10) Clamp 12 or power head 10 released: Clamp 12 or power head 10 completely disengaged from the drill pipe to be disassembled.

[0278] 11) Main robot arm 9 rotates in reverse: The main robot arm 9 rotates in reverse to put the drill rod into the drill rod transfer device 8.

[0279] 12) Drill pipe transfer device 8 clamping: When the drill pipe is put into the drill pipe transfer device 8, the slider 805 of the drill pipe transfer device 8 retracts inward, and at the same time the pressure plate 803 presses the drill pipe.

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

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

[0282] 15) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 1 The drill pipe transfer device 8 rotates to make room for rotation.

[0283] 16) Drill pipe transfer device 8 horizontal: Drill pipe transfer device 8 returns to the horizontal position.

[0284] 17) The auxiliary manipulator 6 extends: The extension joint of the auxiliary manipulator 6 drives the auxiliary gripper to extend towards the drill pipe transfer device 8.

[0285] 18) Clamping by auxiliary manipulator 6: The auxiliary jaws of auxiliary manipulator 6 clamp the drill pipe.

[0286] 19) Drill pipe transfer device 8 is released: the transfer groove slider 805 expands to both sides, and the pressure plate 803 is released.

[0287] 20) Sub-manipulator 6 retracts: The telescopic joint of sub-manipulator 6 retracts, and the drill pipe is removed from the drill pipe transfer device 8.

[0288] 21) The auxiliary manipulator 6 swings downward: the gripper of the auxiliary manipulator 6 swings downward away from the drill pipe transfer device 8.

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

[0290] 23) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a suitable height for placing the current drill rod into the drill rod box 5.

[0291] 24) Sub-manipulator 6 releases: After the drill rod is placed, the gripper of sub-manipulator 6 releases the drill rod.

[0292] Example 2

[0293] This embodiment further defines the main telescopic joint based on Embodiment 1. The main telescopic joint includes a vertically arranged outer main cylinder 907 and an inner main cylinder 908. The outer main cylinder 907 is connected to the main rotating shaft 905, and the inner main cylinder 908 is slidably connected inside the outer main cylinder 907. The main gripper assembly is connected to the bottom of the inner main cylinder 908. In implementation, the inner main cylinder 908 and the outer main cylinder 907 maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the main rotating shaft 905 in the main rotating joint. This extends the radius of the original main manipulator 9 and expands its grasping range. Furthermore, during installation, the inner main cylinder 908 and the outer main cylinder 907 should be equipped with limiting rings or retaining rings to ensure that the inner main cylinder 908 does not slide outside the outer main cylinder 907.

[0294] Furthermore, the main outer cylinder 907 and the main rotating shaft 905 are detachably connected via flanges. In implementation, the main telescopic joint in this invention is suspended from one end of the main rotating shaft 905. Combined with the weight of the main gripper assembly, sufficient connection strength is required between the main rotating shaft 905 and the main outer cylinder 907. A flange connection involves fixing two pipes, fittings, or equipment to separate flanges, placing a gasket between the two flanges, and then tightening them together with bolts. Flange connections are an important connection method in pipeline construction; they are convenient to use and can withstand significant pressure. Therefore, this invention uses a flange connection to ensure sufficient connection strength between the main rotating shaft 905 and the main outer cylinder 907. The flange connection, secured with multiple bolts, allows for disassembly of the main rotating shaft 905 and the main outer cylinder 907, facilitating later maintenance or replacement of various components.

[0295] In addition, both the outer main cylinder 907 and the inner main cylinder 908 in this invention are hollow cylindrical structures, which reduces the weight of the main telescopic joint to a certain extent and further ensures the connection strength between the outer main cylinder 907 and the main rotating shaft 905.

[0296] Furthermore, the main telescopic joint also includes a main telescopic 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 cylinder 906. This invention intelligently controls the relative movement between the main outer cylinder 907 and the main inner cylinder 908 through the main telescopic cylinder 906, allowing the main gripper assembly located at the bottom of the main inner cylinder 908 to stop at a set position and perform a gripping action. The extension and retraction process of the main telescopic 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 limit displacement between the main outer cylinder 907 and the main inner cylinder 908 to prevent collisions between them.

[0297] Furthermore, the main gripper assembly includes a main gripper 910 and a main clamping cylinder 909. The main clamping cylinder 909 is fixed to the lower part of the main inner cylinder 908, and the main gripper 910 is fixed to the main clamping cylinder 909, clamping or releasing under the drive of the main clamping cylinder 909. In implementation, after the main rotary joint drives the main gripper 910 to rotate to a set angle, the main gripper 910 is extended to a designated position through the telescopic function of the main telescopic joint. Finally, the main clamping cylinder 909 executes the gripping command to complete the gripping process. Then, the main telescopic joint controls the main gripper 910 to retract. After the main rotary joint drives the main telescopic joint and the main gripper 910 to rotate to a designated position, the main clamping cylinder 909 executes the releasing command to release the gripped drill rod to the designated position.

[0298] Example 3:

[0299] Then according to Figure 13 As shown, the frame-fixed main manipulator 9 provided by the present invention also includes a sliding joint, and a rotating seat 903 is fixed on the sliding joint to drive the main manipulator 9 to move horizontally as a whole. The difference from Embodiment 2 is that this embodiment adds a sliding joint, while the remaining main rotation joints and main telescopic joints are consistent with Embodiment 2.

[0300] As mentioned above, the combination of the main rotary joint and the main telescopic joint expands the grasping range of the main manipulator 9. In this embodiment, the sliding joint 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 base 901 and a connecting arm 911. The fixed base 901 is connected to the frame 11 and has a horizontally arranged main slide rail. The bottom of the connecting arm 911 has 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. In implementation, the horizontal displacement between the connecting arm 911 and the fixed base 901 is limited by the cooperation between the track and the sliding groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. In this invention, both the main rotating joint and the main telescopic joint are fixed on the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the main manipulator 9 to move as a whole. The specific horizontal displacement direction needs to be determined according to the initial position of the drill rod, the position to be transported, and the initial position of the main manipulator 9 under actual conditions. That is to say, the track in the sliding joint of this invention can be set in any direction to ensure that the main manipulator 9 can effectively complete the gripping process.

[0302] Furthermore, as mentioned in Embodiment 3, the main telescopic joint is suspended at one end of the main rotation shaft 905, meaning the connecting arm 911 also needs to support the main manipulator 9. Therefore, according to the lever principle, without interfering with the normal extension and retraction of the main telescopic joint, the connecting arm 911 and the rotating seat 903 should have sufficient connection area, and the distance between the connecting arm 911 and the main telescopic joint should be minimized as much as possible to ensure sufficient connection strength between the two and avoid damage to the main rotation shaft 905 due to excessive suspension weight of the main telescopic joint. Similarly, the rotating seat 903 should also have sufficient coverage area for the main rotation shaft 905, distributing the weight of the main telescopic joint and the main gripper assembly to every part of the rotating seat 903 through the transmission shaft, and then transmitting it as a whole to the fixed seat 901 via the connecting arm 911.

[0303] Furthermore, the sliding joint also includes a sliding cylinder 912, one end of which is fixed to the fixed base 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. This invention uses the sliding cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed base 901, allowing the main robot arm 9 to stop at a set position and perform a grasping action. The displacement of the sliding cylinder 912 represents the distance that the connecting arm 911 and the fixed base 901 can move relative to each other, and this distance should be less than the limit displacement between the connecting arm 911 and the fixed base 901 to prevent collisions between them.

[0304] Example 4

[0305] Please see again Figures 2 to 4As shown, in the secondary manipulator 6, the lifting joint and the secondary rotary joint are connected by a crossbeam 603. The lifting joint is connected to the lower part of the crossbeam 603, and the secondary rotary 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 connected to each other. The lifting outer cylinder 602 is sleeved and installed with the lifting inner cylinder below the crossbeam 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 movements.

[0307] The secondary rotary joint includes a secondary rotary actuator 604 connected to the crossbeam 603 and a secondary rotary shaft 605 connected to the secondary rotary actuator 604. The secondary rotary shaft 605 rotates under the drive of the secondary rotary actuator 604. The end of the secondary rotary shaft 605 away from the crossbeam 603 is connected to the secondary telescopic joint. The rotation of the secondary rotary shaft 605 drives the secondary telescopic joint and the secondary gripper 609 to swing.

[0308] The secondary telescopic joint includes a secondary telescopic cylinder 606 connected to the secondary rotating shaft 605. A secondary outer cylinder 607 and a secondary inner cylinder 608 are connected below the secondary telescopic 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 cylinder 606.

[0309] The auxiliary rotating shaft 605 is installed in the inner cavity of the crossbeam 603. The inner cavity of the crossbeam 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] The secondary gripper 609 is connected to a secondary clamping cylinder 610 on the side near the secondary telescopic joint. Driven by the secondary clamping cylinder 610, the secondary gripper 609 clamps or releases.

[0311] This invention enables the auxiliary manipulator 6 to swing in the vertical plane by setting a secondary rotary joint with a limited angle. This allows the manipulator to transport drill pipe over components such as the attitude adjustment device, thereby allowing the transfer device to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of the layout of the full-face automatic control drilling rig, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0312] Example 5

[0313] Please see again Figures 5 to 9As shown, the attitude adjustment device includes an azimuth rotator 701, a rotatable platform 702, a lower anchoring assembly 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchoring seat 707, an upper anchoring assembly 708, a transfer device rotator 709, an inclination rotator 710, a rotatable transition plate 712, and a frame connecting plate 713.

[0314] The rotary platform 702 comprises:

[0315] Rotary plate 70201: As the main structure, it has an interface on the left side for connecting to the drill rod box in the drilling rig.

[0316] Lower anchor mounting plate 70202: Located on the right side, used for installing 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 anchoring assembly 703 consists of a hydraulic cylinder and a stabilizing component. The hydraulic cylinder is responsible for lifting the device from the muddy ground underground, and the stabilizing component is connected to the lower end of the hydraulic cylinder via a ball joint hinge, which can adjust the support angle to adapt to ground conditions and ensure the stability of the bottom of the device.

[0319] Lifting column 704: Two lifting columns are fixed to the top of the lower anchoring component 703 and are vertically set on both sides of the frame tilt angle rotation axis, serving as guide rails for the up and down movement of the lifting sleeve 705.

[0320] Lifting sleeve 705: A cavity is formed by two side plates 70501 and a top sealing plate, housing a lifting cylinder 706. One end of the lifting cylinder 706 is connected to the lifting sleeve via a pin, and the other end is fixed to a lug 70203, driving the lifting sleeve to move up and down along the lifting column. Sleeves 70502, slidably fitted onto the lifting column on both sides of the lifting sleeve, serve as guides. A connecting cylinder 70503 is located on the side facing the frame, and the connecting cylinder is equipped with a flange for installing a rotary transition plate 712 (see...). Figure 8 ).

[0321] Upper anchoring seat 707: Installed on the lifting column, including a fixing cylinder 70702 sleeved on the lifting column, and a column head 70701 fixedly installed on the outside of the fixing cylinder 70702 for connecting the upper anchoring assembly 708 (see...). Figure 9 ).

[0322] Upper anchoring assembly 708: Composed of a hydraulic cylinder and a stabilizing component. The stabilizing component is hinged to the piston rod of the hydraulic cylinder via a ball joint, pressing against the top of the tunnel, and adapting to the top angle through the ball joint to ensure the stability of the top of the device.

[0323] Rotary transition plate 712: A disc-shaped part, the rotary transition plate 712 is a disc-shaped part with three sets of flanges arranged from the inside to the outside, namely the first transition plate flange, the second transition plate flange, and the third transition plate flange. The inner first transition plate flange matches the flange of the connecting cylinder 70503 and fixes itself to the lifting sleeve 705; the two outer flanges are used to install the transfer device rotary device 709 and the frame connecting plate 713, respectively.

[0324] Specifically, the transferor rotary 709 is installed on the side of the rotary transition plate 712 near the lifting sleeve 705 and is connected to the third transition plate flange, while the frame connecting plate 713 is installed on the side of the rotary transition plate 712 away from the lifting sleeve 705 and is connected to the second transition plate flange.

[0325] Rotary transducer 709: Rotary transducer 709 is a drive element used to adjust the drill pipe transducer (the drill pipe transducer is mounted on top of rotary transducer 709).

[0326] The fixed ring (preferably the outer ring in this application) of the transferor rotator 709 is bolted to the third transition plate flange of the rotary transition plate 712, thereby indirectly fixing it to the lifting sleeve. Preferably, the inner ring is a rotating ring and is fixedly connected to the outer shell of the transferor rotator 709. The drill pipe transferor is fixedly installed on the top of the outer shell of the transferor rotator 709, allowing the tilt angle to be adjusted as the outer shell rotates. The transferor 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 connecting to the rotary transition plate and the other set connecting to the tilt swivel 710.

[0328] Inclined rotator 710: Also a worm gear rotary reducer, preferably with the fixed ring as the outer ring, connected to one set of flange bolts on the frame connecting plate 713, thereby indirectly fixed to the lifting sleeve 705; the rotating ring is the inner ring, and is fixedly connected to the frame 11 to drive the frame 11 to rotate circumferentially. Specifically, the frame 11 is arranged on the side of the inclined rotator 710 away from the lifting sleeve 705, and is arranged in a side-mounted form.

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

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

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

[0332] Therefore, the fixed rings of the transferor rotary 709 and the tilt angle rotary 710 are both fixedly installed on the lifting sleeve 705, while the rotating rings respectively carry the drill pipe transferor and the frame, and are not restricted by the lifting sleeve to rotate, and can rotate independently and freely, thus forming an asynchronous rotating transpose that drives the frame and the drill pipe transferor to adjust their tilt angles separately, thereby allowing the tilt angles of the frame and the drill pipe transferor to be adjusted independently.

[0333] Through two disc-shaped transition parts, the rotary transition plate and the frame connecting plate, the rotary 709 and the tilt 710 that drive the drill rod transfer device and the frame tilt rotation are respectively fixed on the same side of the lifting sleeve. In the narrow space between the frame and the lifting sleeve, the tilt angle of the drill rod transfer device can be adjusted independently of the frame, so that the tilt angle of the drill rod transfer device (i.e. the drill rod to be transported) can be adjusted within a wide range along with the frame, which helps to expand the drilling tilt angle range of the automatic drilling machine to the entire circumference.

[0334] In operation, the transferor rotator 709 and the tilt rotator 710 can be independently controlled by their respective motors (or hydraulic motors). The operator can adjust the tilt angle of the drill pipe transferor or the frame 11 individually according to drilling requirements. For example, when adjusting the angle of the drill pipe transferor, only the transferor rotator 709 needs to be activated, while the angle of the frame 11 remains unchanged; conversely, the angle can be adjusted. This asynchronous adjustment design improves the flexibility of the drilling rig. Alternatively, the transferor rotator 709 and the tilt rotator 710 can be activated simultaneously to synchronously adjust the tilt angle of the drill pipe transferor and the tilt angle of the frame 11, making them the same or different tilt angles.

[0335] The operation process of this attitude 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 anchoring assembly 703 to bring the stabilizing member into contact with the ground and adjust the angle, lift the device and provide stable support.

[0338] 3. Top anchoring: Extend the hydraulic cylinder of the upper anchoring assembly 708 to make the stabilizing member press against the top of the tunnel, forming a four-corner anchoring.

[0339] 4. Azimuth adjustment: Rotate the rotary platform 702 by rotating the azimuth rotary head 701 to set the horizontal direction of the borehole.

[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. Transfer device tilt angle adjustment: Independently rotate the transfer device 709 to align the tilt angle of the drill pipe transfer device to ensure smooth drill pipe delivery.

[0343] This embodiment integrates anchoring and attitude adjustment into one unit, and uses a vertical frame connecting plate to side-mount the frame, enabling the frame tilt angle adjustment range to reach the full cross-section (0 to ±180°), effectively solving the problem of limited tilt angle in traditional drilling rigs. Simultaneously, the side-mounting installation effectively reduces the frame axis height, thus reducing the opening height and enhancing the range of motion of the drill rod conveying robot. Furthermore, the four-corner anchoring structure (upper and lower anchoring components) ensures the stability of the device under various postures, improving the safety and efficiency of the drilling process. Moreover, the fixed rings of the transferor rotator 709 and the tilt angle rotator 710 are both fixedly mounted on the lifting sleeve 705, while their respective rotating rings support the transferor 8 and the frame 11, and are not restricted by the lifting sleeve 705, allowing for independent and free rotation. This forms an asynchronous rotation device that independently adjusts the tilt angles of the frame 11 and the transferor 8.

[0344] Furthermore, the mobile platform 1 is also provided with two upper anchoring components arranged at the end of the drill rod box 5 away from the frame 11. The two upper anchoring components on the mobile platform 1 and the lower anchoring components and upper anchoring components 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 demonstrates a simplified attitude adjustment device. Compared to Embodiment 5, it eliminates the rotary transition plate 712 and the frame connecting plate 713, reducing complexity by directly installing the rotating device while retaining all functions. The following description, in conjunction with the accompanying drawings (…), further illustrates this. Figures 5 to 8 )illustrate.

[0347] Similar to Embodiment 5, the rotary platform 702 is connected to the mobile platform via the azimuth rotator 701 and is equipped with a lower anchoring component 703, a lifting column 704, a lifting sleeve 705, a lifting cylinder 706, an upper anchoring seat 707, and an upper anchoring component 708. The layout is the same, and the specific configuration is described in Embodiment 5.

[0348] The difference from Embodiment 1 is that the transferor rotary 709 is directly installed on the connecting cylinder 70503 of the lifting sleeve 705. The fixed ring (outer ring) is connected to the connecting cylinder, and the rotating ring (inner ring) is connected to the drill pipe transferor, which is used to adjust the inclination angle of the transferor.

[0349] Inclination rotator 710: Installed on the transferor rotator 709, the fixed ring (outer ring) is connected to the fixed ring of the transferor rotator, and the rotating ring (inner ring) is fixed to the frame, used to adjust the tilt angle of the frame.

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

[0351] This embodiment reduces the number of parts and manufacturing complexity by omitting the rotary transition plate 712 and the frame connecting plate 713, thereby lowering costs, while retaining the full-section tilt angle adjustment range (0 to ±180°) and a lower opening height. The four-corner anchoring design still ensures the stability of the device in various positions, making it suitable for complex downhole environments.

[0352] Alternatively, another method can be used:

[0353] Installation of the tilt slewing mechanism 710:

[0354] A mounting base is welded onto the connecting cylinder 70503 of the lifting sleeve 705, and the fixing ring of the tilting rotator 710 is directly fixed to the mounting base by bolts. The rotating ring of the tilting rotator 710 is connected to the frame 11, and the tilting angle of the frame 11 is adjusted by a motor.

[0355] Installation of the transfer rotary 709:

[0356] The fixed ring of the rotary transferor 709 is bolted to the fixed ring of the tilting rotary transferor 710. The rotating ring is connected to the drill pipe transferor, and the tilting angle of the drill pipe transferor is adjusted by a motor drive.

[0357] In both alternative structures described above, the transferor rotator 709 and the tilt rotator 710 remain located on the same side of the lifting sleeve 705 and can be operated independently. Operators can adjust the tilt angle of the drill pipe transferor and the frame 11 separately by controlling their respective motors, achieving asynchronous adjustment. This design simplifies the structure while maintaining functional flexibility, making it suitable for different drilling rig configurations.

[0358] In another embodiment, the transferor rotator 709 or the tilt rotator 710 is directly mounted on the lifting sleeve 705, that is, the rotatable transition plate 712, the frame connecting plate 713 and the lifting sleeve 705 are manufactured as a single unit.

[0359] Example 7:

[0360] like Figures 15-23 As shown, this embodiment, based on embodiment 4, also provides a drill rod conveying sensor group and a rotation positioning sensor group 714 for a fully automated drilling rig. This drill rod conveying sensor group is applied to the drill rod conveying process in the automated drilling rig. The system achieves precise monitoring of the drill rod position and status through sensors installed on the auxiliary manipulator 6, the drill rod transfer device 8, and the main manipulator 9, 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 secondary gripper 609 of the secondary manipulator 6 and is used to detect whether a drill rod is present in the secondary manipulator 6.

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

[0364] Sensor mounting bracket 61101: It is radially fixed to one side of the gripper and is used to support other components.

[0365] Detection sensor spring 61102: Located inside the detection sensor mounting base 61101, it provides elastic restoring force.

[0366] Trigger pin 61103: It is movably mounted in the sensor mounting base 61101 via the sensor spring 61102 and is in direct contact with the drill pipe.

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

[0368] The working principle is as follows: When there is no drill rod in the secondary gripper 609 of the secondary manipulator 6, the trigger pin 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 secondary gripper 609 of the secondary manipulator 6 approaches and clamps the drill pipe, the trigger pin 61103 is pressed upward by the drill pipe, overcoming the elastic force of the detection sensor spring 61102 and moving upward into the detection range of the detection sensor body 61104. The detection sensor body 61104 then generates an on signal indicating the presence of the drill pipe. When the secondary gripper 609 leaves the drill pipe, the detection sensor spring 61102 resets the trigger pin 61103, and the signal from the detection sensor body 61104 is disconnected.

[0370] 2. Determine the sensor

[0371] The sensor is installed on the drill pipe transfer device 8 to detect whether there is a drill pipe in the drill pipe transfer device 8.

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

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

[0374] Judgment sensor body 807: Fixed inside judgment sensor mounting base 808, used to generate detection signals.

[0375] Judgment sensor spring 810: It is installed in the judgment sensor mounting base 808 to provide reset force.

[0376] Signal column 809: It is movably mounted in the sensor mounting base 808 by the sensor spring 810, and its top end penetrates the base plate for contact with the drill pipe.

[0377] The working principle is as follows: When there is no drill rod in the drill rod transfer device 8, under the elastic force of the spring 810 of the sensor and the signal column 809, the bottom end of the signal column 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 pipe is placed in the drill pipe transfer device 8, the signaling column 809 is pressed downward by the drill pipe, 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 pipe is removed, the sensor spring 810 resets the signal pin 809, and the signal is disconnected.

[0380] The top of the signal column 809 is designed to extend beyond the lowest point where the drill rod is placed on the base plate, so as to ensure that the signal column 809 can be pressed down when there is a drill rod in the drill rod transfer device 8.

[0381] 3. Rotation sensor

[0382] A rotation sensor 904 is mounted on the main manipulator 9 to detect the rotational position and direction of the main manipulator 9. The rotating shaft 905 and the main outer cylinder 907 in the main manipulator 9 are both rotating components 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] Rotary sensor mounting base 90401: Fixed on the rotating base of the main robot arm 9, supporting the sensor body.

[0385] Rotation sensor body 90402: Fixed inside rotation sensor mounting base 90401, it detects rotation signals.

[0386] Trigger ring 90403: Fixed on the rotating shaft or outer cylinder of the main manipulator 9, it rotates with the rotating shaft or outer cylinder and interacts with the rotation sensor body 90402 to generate a corresponding signal. 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 with different arc lengths and a notch. When the main robot arm 9 rotates, the rotation sensor body 90402 detects the arc segments and the notch sequentially, indicating the rotation direction and position of the main robot arm based on the duration and on / off state of the signals. For example, a short arc segment corresponds to a short-term on signal, a long arc segment corresponds to a long-term on signal, and the notch corresponds to a signal off.

[0388] Specifically, in this embodiment, the arc segments of different arc lengths and the notch are respectively the first arc segment 90403a, the notch 90403b, and the second arc segment 90403c. 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 (defined as the initial state when the main manipulator is on the side of the drill pipe transfer device). The arc length of the first arc segment 90403a is less than the arc length of the second arc segment 90403c. Thus, during the process of the main manipulator rotating from the drill pipe transfer device to the frame, a signal change process of "disconnection-short-circuit-disconnection-long-circuit-disconnection" is formed.

[0389] In actual use of automatic drilling rigs, after the main robotic arm removes a drill rod from the drill rod transferor, the transferor needs to return to a horizontal position to receive the next drill rod. The main robotic arm must allow sufficient space to avoid movement interference with the drill rod transferor. However, since the drilling rig is still in the drilling process at this time, the main robotic arm cannot be directly inserted into the frame; therefore, it needs to remain positioned between the drill rod transferor and the frame.

[0390] Therefore, the circumferential angle of the trigger ring is divided into two segments. After the main manipulator picks up the drill rod from the drill rod transfer device, the rotating sensor body 90402 is in the off state. It first detects the first arc segment 90403a, generating a short-circuit signal, and then enters the notch 90403b, returning to the off state. It stays there for a specific time or waits for a signal from the control system before continuing to rotate. The rotating sensor body 90402 detects the second arc segment 90403c, generating a long-circuit signal, until the signal of the rotating sensor body 90402 is disconnected again. The main manipulator then sends the drill rod into the frame.

[0391] Since the arc length of the first arc segment is less than that of the second arc segment, the control system can determine the direction of the robot's rotation by observing the change in the duration of the sensor signal connection, either "from short to long or from long to short," and thus record the state of the main robot in the system.

[0392] Through the coordinated operation of the three sensors mentioned above, the drill pipe conveying sensor group in this embodiment can monitor the position and status of the drill pipe in real time between the auxiliary manipulator 6, the drill pipe transfer device 8, and the main manipulator 9, ensuring the smoothness and safety of the conveying process.

[0393] The rotation positioning sensor group 714 includes a transferor tilt sensor 71403, a frame position sensor 71401, a synchronization sensor 71402, and a transferor level sensor 71404, which are used to locate and detect the rotation direction during the drill pipe conveying process.

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

[0395] The location plate 71401a is divided into a positive tilt angle area and a negative tilt angle area. The positive tilt angle area and the negative tilt angle area cover a circumferential angle of 180°. The difference between the radius of the positive tilt angle area and the radius of the negative tilt angle area 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 near the boundary between the positive tilt angle zone and the negative tilt angle zone, so that when the frame changes between the positive and negative tilt angle states, the first sensor 71401b can send a corresponding signal in a timely manner.

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

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

[0399] The frame 11 is connected to the positioning plate via the positioning shaft 711. When the frame 11 rotates at a certain tilt angle, the positioning plate 71401a rotates by the same angle under the drive of the positioning shaft. Therefore, when the frame switches between positive and negative tilt angle states, the alignment area between the first sensor signal and the positioning plate 71401a also switches between the positive and negative tilt angle areas, thereby switching the on / off state of the first sensor 71401b signal to determine the positive and negative tilt angle state of the frame, so that the frame and the drill pipe transfer device remain at the same tilt angle state.

[0400] The synchronization sensor 71402 consists of a first trigger block 71402a and a second sensor 71402b. The first trigger block 71402a is mounted on the housing (rotating ring) of the transferor rotary 709 and rotates with the housing. The second sensor 71402b is mounted on the side of the frame facing the transferor rotary 709 via a mounting bracket.

[0401] The working principle of the synchronization sensor 71402 is as follows: When the frame and the drill pipe transfer device are at the same inclination angle, the first trigger block 71402a and the second sensor 71402b are aligned, and the second sensor outputs a signal; 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 there is no signal output.

[0402] The principle of the horizontal sensor 71404 of the transfer device is the same as that of the synchronous sensor 71402. The difference is that the second trigger block of the sensor is installed on the drill pipe transfer device 8 and rotates accordingly, and the third sensor is installed at an appropriate position on the side of the lifting sleeve facing the rotary device of the transfer device via a mounting base.

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

[0404] When the drill pipe transfer device rotates and is not in a horizontal position, the third sensor is misaligned with the second trigger block, the third sensor disconnects, and there is no signal output.

[0405] The frame and drill pipe transferor rotation positioning sensor system also includes an angle rotator 710, a positioning shaft 711, and a frame 11;

[0406] The tilting rotator 710 is mounted on the lifting sleeve 705, and the frame 11 is mounted on the tilting rotator 710, so that the transfer device rotator and the tilting rotator can respectively adjust the tilt angle of the drill pipe transfer device and the tilt angle of the adjusting frame;

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

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

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

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

[0411] Positioning plate 71401a: Fixedly connected to frame 11 via positioning shaft 711, and rotates with it. The positioning plate is divided into positive tilt angle area and negative tilt angle area, each covering a 180° circumferential angle. The radius of the positive tilt angle area is larger than that of the negative tilt angle area, 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, employs a Hall effect proximity switch and is mounted on the outside of the positioning plate, located in the negative tilt zone and near the boundary between the positive and negative tilt zones. When the positioning plate rotates, the first sensor outputs an on or off signal based on the radius difference between the positive and negative tilt zones.

[0413] by Figure 21 For example, the synchronization sensor 71402:

[0414] Function: Used to determine whether the frame 11 and the drill pipe transfer device 8 are at the same inclination angle.

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

[0416] Trigger block 71402a: Fixed on the housing of the rotary transferor 709, it rotates with the drill pipe transferor 8.

[0417] The second sensor 71402b is a photoelectric sensor, fixed to the side of the frame 11 facing the rotary transferor via a mounting bracket. When the trigger block aligns with the second sensor, the second sensor outputs an on signal, indicating that the frame and the drill pipe transferor are at the same tilt angle; when the two rotate relative to each other, the signal is disconnected.

[0418] The principle of the horizontal sensor 71404 of the transfer device is the same as that of the synchronous sensor 71402. The difference is that the second trigger block of the sensor is mounted on the drill pipe transfer device 8 and rotates accordingly, and the third sensor is mounted on the side of the lifting sleeve facing the transfer device rotator via a mounting base. In this application, this position is preferably the middle position of the top of the lifting sleeve.

[0419] The tilting rotator 710 has an outer ring fixed to the lifting sleeve and an inner ring that drives the frame 11 to rotate circumferentially to adjust its tilt angle.

[0420] Location axis 711: A hollow round tube with connecting flanges at both ends, one end is fixedly connected to the frame, and the other end is connected to the location plate.

[0421] This embodiment also provides a method for determining the tilt angle of the frame and drill pipe transfer device, so as to keep the drill pipe transfer device and the frame at the same tilt angle or to determine the subsequent rotation direction of the drill pipe transfer device. The specific steps are as follows:

[0422] 1. Initial state: The horizontal sensor 71404 of the transfer device is turned on, and both the frame 11 and the drill pipe transfer device 8 are in a horizontal position. At this time, the first sensor 71401b is located near the boundary of the negative dip angle zone and does not sense the positive dip angle zone, so the frame position sensor is turned off; the first trigger block is aligned with the second sensor, and the synchronization sensor is turned on.

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

[0424] 3. Signal Judgment: When the frame rotates, the positive tilt angle area of ​​the positioning plate enters the sensing range of the first sensor, and the frame positioning sensor is activated, indicating that the frame is in the positive tilt angle working condition.

[0425] 4. Drill pipe transfer device synchronization: After the frame rotates to the correct position, the transfer device rotator 709 drives the drill pipe transfer device to rotate in the positive inclination direction until the trigger block aligns with the second sensor again, and the synchronization sensor is activated. At this time, the drill pipe transfer device and the frame have the same inclination angle (both are 15°) and are in the positive inclination angle working condition.

[0426] Adjustment from horizontal to negative tilt angle:

[0427] 1. Initial state: The level sensor 71404 of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is turned off, and the synchronization sensor is turned on.

[0428] 2. Frame rotation: The tilt gyroscope drives the frame to rotate in the negative tilt direction to a set angle B (e.g., B = -10°). After rotation begins, the synchronization sensor disconnects, and the transporter level sensor 71404 disconnects.

[0429] 3. Signal Judgment: The frame rotates so that the negative tilt angle area of ​​the positioning plate is aligned with the first sensor. Because the radius of the negative tilt angle area is small, it does not enter the sensing range, and the frame positioning sensor remains disconnected, indicating that the frame is in a negative tilt angle condition.

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

[0431] like Figures 22-23 As shown, the drill pipe transfer device tilt sensor 71403 includes an internal gear ring 71403a, a rotating shaft 71403c, a sensor gear ring 71403d, and a wire sensor 71403e.

[0432] The internal gear ring 71403a is fixedly connected to the rotating ring in the rotary transducer 709 connected to the drill pipe transducer 8, so that the internal gear ring 71403a can be rotated by the rotary transducer 709.

[0433] The rotating shaft 71403c is rotatably connected through the lifting sleeve 705 for installing the transfer device rotary device 709. The two ends of the rotating shaft 71403c are respectively provided with a primary gear 71403b and a secondary gear 71403f. The primary gear 71403b meshes with the internal gear ring 71403a, and the secondary gear 71403f meshes with the sensor gear ring 71403d. The sensor gear ring 71403d is rotatably disposed on the outside of the lifting sleeve 705.

[0434] The wire sensor 71403e is located on the outside of the lifting sleeve 705 (on the side away from the rotary engine 709) and is connected to the sensor gear ring 71403d by a wire to calculate the rotation angle of the drill pipe transferor 8 by the length of the wire of the wire sensor 71403e.

[0435] The drill pipe transferor 8 is the second-stage actuator of the drill pipe conveying system, realizing the transfer of drill pipe between the main manipulator and the auxiliary manipulator, and changing the drill pipe inclination angle from horizontal to parallel with the frame. The lifting sleeve 705 is the main connecting component for the transferor rotary unit 709, the lifting cylinder, the lifting column, and other parts. The lifting sleeve cavity is formed by the front and rear side plates and the top sealing plate. The cavity is used to install the lifting cylinder. One end of the lifting cylinder is connected to the lifting sleeve 705 via a pin or other means, and the other end is fixedly installed on the rotary platform, thereby driving the lifting sleeve 705 to move up and down along the lifting column. The rotating shaft 71403c and the transferor rotary unit 709 can both rise and fall synchronously with the lifting sleeve 705.

[0436] In addition, a pressure cap 71403g is provided on the outer side of the lifting sleeve 705, and the sensor gear ring 71403d is wrapped inside the pressure cap 71403g to protect the sensor gear ring 71403d. The direction of rotation of the sensor gear ring 71403d can be displayed by the extension and retraction of the pull wire of the pull wire sensor 71403e. The angle can be calculated based on the change in the length of the pull wire of the pull wire sensor 71403e. The pressure cap 71403g can be made transparent to visually display the rotation direction of the sensor gear ring 71403d and the wear degree of the gear, so as to facilitate timely maintenance or replacement of the drill pipe transfer device tilt sensor 71403 and avoid large errors in the detection of the drill pipe transfer device tilt sensor 71403.

[0437] This invention achieves high-precision and high-reliability full-process monitoring of tilt angles under complex working conditions through an integrated design of gear transmission, wire measurement, and mechanical protection. When converting rotary motion into linear displacement, the nonlinear error between the wire extension / retraction and the actual angle is reduced by 92% through gear transmission ratio optimization.

[0438] Furthermore, the tilt angle adjustment range of the transferor rotator 709 is 360°. The transferor rotator 709 is divided into positive tilt angle rotation and negative tilt angle rotation, and the angles corresponding to the positive tilt angle rotation and negative tilt angle rotation are 0 to 180° and 0 to -180°, respectively.

[0439] The basic working principle of the 71403 tilt sensor for the transducer is as follows: Figure 23 As shown.

[0440] The tilt angle rotation range of the drill pipe transfer device 8 is consistent with that of the drilling rig frame, which is 360°. Based on the drilling rig's hydraulic pipelines and control circuits, the tilt angle adjustment of the frame is actually performed in two semicircles, 0° to ±180°. In specific implementation, compared to unidirectional control from 0° to 360°, this invention effectively solves the problem of hydraulic pipeline and cable entanglement through a limited rotation angle control + bidirectional rotation strategy. That is, the tilt angle rotation range of the drill pipe transfer device 8 is adjusted from unidirectional 0° to 360° to bidirectional 0° to ±180°. Correspondingly, the gear transmission structure and sensor gear ring 71403d also exhibit forward and reverse rotation. The pull wire of the pull wire sensor 71403e, controlled by the limited rotation angle of the drill pipe transfer device 8, avoids failure due to stress damage or even breakage due to excessive stretching.

[0441] Furthermore, when the rotary transducer 709 is in its initial position, i.e., assuming the inclination angle of the drill pipe transducer 8 is 0°, the pull wire crosses the upper semicircle of the sensor gear ring 71403d and is fixed thereto. The initial length of the pull wire between the connection point of the pull wire sensor 71403e and the sensor gear ring 71403d is L0, and the initial angle is θ. Then, the pull wire length per unit angle satisfies the following condition:

[0442] k=L0 / θ.

[0443] Furthermore, the initial angle θ between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is less than 180°. Theoretically, the rotation angle of the transferor tilt sensor 71403 should be consistent with the tilt adjustment range of the drill pipe transferor 8. However, due to factors such as the structural dimensions of the lifting sleeve 705, installation space, and machining and assembly errors, the fixed end of the wire of the wire sensor 71403e is not always able to be installed directly facing 0° or 180° (the horizontal line in the diagram). In reality, there will also be a section of wire that cannot fit the outer edge of the sensor gear ring 71403d. Therefore, the envelope range of the wire with respect to the outer edge of the sensor gear ring 71403d is always less than 180°.

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

[0445] Specifically, in this embodiment, using 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 its 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. The pull wire of the pull-wire sensor 71403e rotates a certain angle from its 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, with the corresponding initial angle being θ. When the transporter rotator 709 tilts, the total real-time pull wire length of the pull-wire sensor 71403e is L. Z The real-time angle rotated by the sensor gear ring 71403d is:

[0446] α = (L0 - L) Z ) / k;

[0447] When the rotary conveyor 709 rotates counterclockwise at a positive tilt angle, the internal gear ring 71403a rotates counterclockwise along with the rotary conveyor 709. The primary gear 71403b meshes with the inner side of the internal gear ring 71403a, therefore the rotation direction of the primary gear 71403b is also counterclockwise. The rotating shaft 71403c is fixedly connected to the primary gear 71403b, and the secondary gear 71403f is fixedly connected to the rotating shaft 71403c. Therefore, both the rotating shaft 71403c and the secondary gear 71403f move synchronously in the same direction as the primary gear 71403b, also rotating counterclockwise. Furthermore, according to... 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 pull wire in the pull wire sensor 71403e gradually retracts under the elastic force of the internal spring, making the initial length L0 of the pull wire between the connection point of the pull wire sensor 71403e and the sensor gear ring 71403d ≥ the real-time total length L of the pull wire sensor 71403e. Z The real-time angle α that the sensor toothed ring 71403d rotates through is ≥0.

[0448] When the rotary transducer 709 rotates clockwise at a negative tilt angle, the internal gear ring 71403a rotates clockwise along with the rotary transducer 709. The primary gear 71403b meshes with the inner side of the internal gear ring 71403a, therefore the rotation direction of the primary gear 71403b is also clockwise. The shaft 71403c is fixedly connected to the primary gear 71403b, and the secondary gear 71403f is fixedly connected to the shaft 71403c. Therefore, both the shaft 71403c and the secondary gear 71403f move synchronously in the same direction as the primary gear 71403b, also rotating clockwise. Furthermore, according to... Figure 22 As shown, the secondary gear 71403f and the sensor gear ring 71403d also have an internal gear meshing relationship. Therefore, the sensor gear ring 71403d also rotates clockwise. As the sensor gear ring 71403d rotates clockwise, the pull wire in the pull wire sensor 71403e is gradually stretched by the sensor gear ring 71403d, so that the initial length L0 of the pull wire between the connection point of the pull wire sensor 71403e and the sensor gear ring 71403d is less than or equal to the real-time total length L of the pull wire sensor 71403e. Z The real-time angle α rotated by the sensor gear ring 71403d is ≤0. However, the sign of the real-time angle α rotated by the sensor gear ring 71403d only indicates the tilting direction of the transferor rotary 709.

[0449] Example 8:

[0450] The difference from Embodiment 7 is that in this embodiment, the pull-wire sensor 71403e is located below the sensor gear ring 71403d. While 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 transferor rotary 709. However, the total real-time pull-wire length L of the pull-wire sensor 71403e is [not specified]. Z Conversely, in Example 1, the formula for calculating the real-time angle rotated by the sensor gear ring 71403d is α = (L Z -L0) / k.

[0451] Specifically, when the rotary transducer 709 rotates counterclockwise at a positive tilt angle, the pull wire in the pull wire sensor 71403e is gradually stretched by the elastic force of the internal spring, so that the initial length L0 of the pull wire between the pull wire sensor 71403e and the sensor gear ring 71403d is less than or equal to the real-time total length L of the pull wire sensor 71403e. Z The real-time angle α that the sensor toothed ring 71403d rotates through is ≥0.

[0452] When the rotary transducer 709 rotates clockwise at a negative tilt angle, the pull wire in the pull wire sensor 71403e gradually retracts due to the elastic force of the internal spring, causing the initial length L0 of the pull wire between the pull wire sensor 71403e and the sensor gear ring 71403d to be greater than or equal to the real-time total length L of the pull wire sensor 71403e. Z The real-time angle α of the sensor toothed ring 71403d rotates is ≤0.

[0453] Furthermore, if the gear train consisting of the internal gear ring 71403a, the first-stage gear 71403b, the second-stage gear 71403f, and the sensor gear ring 71403d has a transmission ratio of i, then the actual rotation angle of the drill pipe transfer device 8 calculated by the sensor gear ring 71403d is:

[0454] β = iα.

[0455] Based on the gear train structure, the expression for the transmission ratio i is:

[0456] i = (Z2 / Z1) (Z4 / Z3), where Z1 is the number of teeth on the internal gear ring 71403a, Z2 is the number of teeth on the first-stage gear 71403b, Z3 is the number of teeth on the second-stage gear 71403f, and Z4 is the number of teeth on the sensor gear ring 71403d. Assuming the gear transmission structure in this embodiment is a transmission chain of internal gear ring 71403a (120 teeth) → first-stage gear 71403b (20 teeth) → second-stage gear 71403f (10 teeth) → sensor gear ring 71403d (300 teeth), the 360° rotation of the transferor rotator 709 is converted into a 72° rotation of the sensor gear ring 71403d (transmission ratio 5:1). Compared with the case where the transmission ratio is 1, the rotation angle of the sensor gear ring 71403d is reduced by 5 times. Based on this, even if the drill pipe transferor 8 rotates to the limit position, the length change of the wire sensor 71403e will not be large. It is only necessary to calculate the length change of the wire sensor 71403e to effectively calculate the actual tilt angle of the transferor rotator 709.

[0457] Furthermore, the gear system consisting of the internal gear ring 71403a, the primary gear 71403b, the secondary gear 71403f, and the sensor gear ring 71403d has a transmission ratio of i ≥ 1. When the transmission ratio i ≥ 1, the rotation angle of the sensor gear ring 71403d is mechanically reduced, which significantly reduces the displacement of the wire sensor 71403e, thereby improving the flexibility of the installation position and related structural component design of the wire sensor 71403e.

[0458] Furthermore, the present invention also provides a control method for a frame and drill pipe transferor rotation positioning sensor system, using the frame and drill pipe transferor rotation positioning sensor system in the above embodiments, and including the following steps:

[0459] S1, the rotation angle setting of the transferor rotary 709;

[0460] S2. The tilt angle of the rotary transducer 709 is transmitted to the sensor gear ring 71403d through the first-stage gear 71403b and the second-stage gear 71403f on the rotating shaft 71403c, and drives the extension and retraction of the pull wire of the pull wire sensor 71403e.

[0461] S3. Based on the actual extension length of the pull wire of the pull wire sensor 71403e, calculate the rotation angle and rotation direction of the sensor tooth ring 71403d; when the pull wire extends, the sensor outputs a positive increment (+ΔL), corresponding to clockwise rotation; when the pull wire retracts, it outputs a negative increment (-ΔL), corresponding to counterclockwise rotation.

[0462] When the pull wire sensor 71403e is located below the horizontal line of the sensor tooth ring 71403d as in Embodiment 2, the sensor outputs a positive increment (+ΔL) when the pull wire extends, corresponding to counterclockwise rotation; and outputs a negative increment (-ΔL) when the pull wire retracts, corresponding to clockwise rotation.

[0463] S4. Based on the gear transmission ratio of the gear system composed of the internal gear ring 71403a, the first-stage gear 71403b, the second-stage gear 71403f, and the sensor gear ring 71403d, calculate the tilt angle of the rotary unit of the transfer device. Furthermore, based on specific embodiment 1, this embodiment optimizes the initial state and some component designs of the frame location sensor 71401 to adapt to different working conditions.

[0464] Rack location sensor 71401:

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

[0466] The structure of the synchronous sensor 71402, the transferor level sensor 71404, the tilt angle rotator, the positioning shaft, the drill pipe transferor, and the frame is the same as in Embodiment 1, but the worm gear reducer of the transferor rotator 709 has a self-locking function to prevent slippage after tilt angle adjustment.

[0467] Based on this, this embodiment also provides a method for determining the tilt angle of the frame and drill pipe transfer device, so as to keep the drill pipe transfer device and the frame at the same tilt angle or to determine the subsequent rotation direction of the drill pipe transfer device. The specific steps are as follows:

[0468] Horizontal to positive tilt adjustment:

[0469] 1. Initial state: The horizontal sensor 71404 of the transfer device is turned on, and both the frame 11 and the drill pipe transfer device 8 are in a horizontal position. At this time, the negative tilt area of ​​the positioning plate is initially aligned with the first sensor, and the frame positioning sensor is turned on; the synchronization sensor is also turned on.

[0470] 2. Frame rotation: The tilt gyroscope drives the frame to rotate in the positive tilt direction to a set angle A (e.g., A=20°). After rotation begins, the synchronization sensor disconnects, and the transfer device level sensor 71404 disconnects.

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

[0472] 4. Drill pipe transfer device synchronization: After the frame rotates to the correct position, the transfer device rotator drives the drill pipe transfer device to rotate to 20° until the synchronization sensor is activated, and the drill pipe transfer device is at the same angle as the frame.

[0473] Adjustment from horizontal to negative tilt angle:

[0474] 1. Initial state: The frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is on, and the synchronization sensor is on.

[0475] 2. Frame rotation: The tilt gyroscope drives the frame to rotate in the negative tilt direction to a set angle B (e.g., B = -15°). After rotation begins, the synchronization sensor is disconnected.

[0476] 3. Signal Judgment: The frame rotates to align the negative tilt angle area with the first sensor, and the frame position sensor remains connected, indicating a negative tilt angle condition.

[0477] 4. Drill pipe transfer device synchronization: After the frame rotates to the correct position, the drill pipe transfer device rotates to -15° until the synchronization sensor is activated, and the drill pipe transfer device is aligned with the inclination angle of the frame.

[0478] Return to horizontal position:

[0479] The process of returning to a horizontal position from a positive or negative dip angle is the reverse of the above adjustment. For example, returning to a horizontal position from a positive dip angle of 20°: the drill pipe transfer device first rotates back to horizontal, the synchronization sensor is disconnected, the transfer device horizontal sensor 71404 is connected, the frame then rotates back to horizontal, the synchronization sensor is connected, and the frame position sensor returns to its initial connected or disconnected state.

[0480] The two embodiments above achieve accurate adjustment of the tilt angle of the drill pipe transfer device and precise determination of the tilt angle of the frame through the transfer device tilt angle sensor and the frame position sensor, so that the frame and the drill pipe transfer device maintain the same tilt angle, which is suitable for various drill pipe conveying 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 region and adjacent to the boundary between the positive tilt region and the negative tilt region, or directly arranged at the boundary between the positive tilt region and the negative tilt region.

[0482] This invention, through a gear transmission structure, transmits the rotation process and rotation angle of the transferor rotator 709 located inside the drilling rig to the sensor gear ring 71403d located outside the drilling rig. The actual rotation direction and rotation angle of the sensor gear ring 71403d directly affect the change in the length of the pull wire of the pull wire sensor 71403e, that is, the envelope angle of the pull wire on the sensor gear ring 71403d. Finally, based on the transmission ratio of the gear structure, the rotation process and rotation angle of the transferor rotator 709 located inside the drilling rig are inferred. The displacement sensor is used to monitor the change in the inclination angle of the drill rod transferor 8 and to perform length / angle conversion, thereby improving the comprehensiveness of the monitoring of the automatic drill rod conveying process.

[0483] Furthermore, the transmission ratio of the gear transmission structure can be set so that the output angle range of the sensor gear ring 71403d is smaller than the tilt angle range of the transferor rotator 709, thereby improving the flexibility of the installation position and related structural design of the wire sensor 71403e in the present invention.

[0484] Example 9:

[0485] This embodiment, based on Embodiment 7, describes the specific application of the drill pipe conveying sensor group in the drill pipe conveying system, combined with... Figure 23 The isometric view of the automatic drilling rig shown details the process of conveying the drill rod from the drill rod box 5 to the frame 11, and the process of retrieving it from the frame to the drill rod box.

[0486] 1. The process of conveying drill pipe from the drill pipe box to the frame.

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

[0488] Step 1: Grab the drill rod

[0489] The auxiliary robotic arm 6 approaches the drill rod from the drill rod box, the grippers clamp the drill rod, the trigger pin 61103 is squeezed, and the detection sensor 611 signal is turned on, indicating that the auxiliary robotic arm 6 has grabbed the drill rod.

[0490] Step 2: Transfer to drill pipe transfer device

[0491] The auxiliary robotic arm 6 places the drill pipe into the drill pipe transfer device 8, the grippers release, and the signal from the detection sensor 611 is disconnected. At the same time, the drill pipe presses against the signal transmitting column 809, indicating that the signal from the sensor body 807 is connected, signifying that the drill pipe has entered the drill pipe transfer device 8.

[0492] Step 3: Main robotic arm grasps

[0493] The main robotic arm 9 grabs the drill rod from the drill rod transfer device 8. After the drill rod leaves, the signal column 809 resets and determines that the sensor body 807 signal is disconnected.

[0494] Step 4: Convey to rack

[0495] The main manipulator 9 rotates toward the frame 11. The rotation sensor 904 detects the trigger ring 90403, and the signal changes sequentially from "off-short-on-off-long-on-off", indicating that the main manipulator 9 has completed the rotation and sent the drill rod into the frame.

[0496] 2. The process of recycling drill pipe from the frame to the drill pipe box.

[0497] Initial state: There is a recovery space inside the drill pipe box; there is no drill pipe in the auxiliary manipulator 6 and drill pipe transfer device 8; the signals of the detection sensor 611 and the judgment sensor 807 are disconnected; the main manipulator 9 is located inside the frame; the signal of the rotation sensor 904 is disconnected.

[0498] Step 1: Retrieval by the main robotic arm

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

[0500] Step 2: Place into the drill pipe transfer device

[0501] The main robotic arm 9 places the drill pipe into the drill pipe transfer device 8, and the signal column 809 is pressed, indicating that the sensor 807 signal is activated.

[0502] Step 3: The auxiliary robotic arm grasps the object.

[0503] The auxiliary manipulator 6 grabs the drill rod from the drill rod transfer device 8, the trigger pin 61103 is squeezed, the detection sensor 611 signal is turned on, and the sensor 807 signal is turned off after the drill rod is removed.

[0504] Step 4: Return the drill pipe box

[0505] The auxiliary robotic arm 6 puts the drill rod back into the drill rod box, the grippers release, the detection sensor 611 disconnects the signal, and the recovery is complete.

[0506] Through the above process, this embodiment demonstrates how the drill pipe conveying sensor group can achieve fully automated conveying and retrieval of drill pipes in an automatic drilling rig, ensuring high efficiency and reliability of operation.

[0507] Furthermore, when the main manipulator 9 rotates toward the frame 11, the first arc segment of rotation can be performed first. The rotation sensor body 904 first connects the signal and then disconnects. The cooperation between the trigger ring 90403 and the rotation sensor body 904 stops at the gap 90403b between the two arc segments. The signal changes to "disconnect-short-connect-disconnect", which causes the main manipulator 9 to stop rotating. While making room for the rotation of the drill pipe transfer device, it also waits for the power head 10 and the gripper 12 in the frame to perform corresponding operations.

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

[0509] Example 10:

[0510] This embodiment, based on Embodiment 7, describes the coordinated application of the drill pipe delivery sensor group and the rotation positioning sensor group 714 in specific drilling conditions within the drill pipe delivery system, combined with... Figure 1 The isometric view of the full-section automatic control drilling rig shown in the diagram details the process of conveying the drill rod from the drill rod box 5 to the frame 11, as well as the process of retrieving it from the frame to the drill rod box.

[0511] (1) Drill rod feeding condition (the process of conveying the drill rod from the drill rod box to the frame)

[0512] 1) Initial state: Assume the tilt angle of the frame 11 and the main robot 9 is α (when the frame tilt angle is positive, the frame position sensor signal is on; when the frame tilt angle is negative, the frame position sensor signal is off); the drill rod transfer device is in a horizontal position, the transfer device horizontal sensor is on, and the synchronization sensor is off; there is no drill rod in the drill rod transfer device, so the sensor is determined to be off; the main robot's rotating joint is in the state of completing the first arc segment rotation, and the rotation sensor body detects the gap between the two arc segments; the auxiliary robot has not grabbed the drill rod, so the sensor is detected to be off; the drilling rig is drilling.

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

[0514] 3) Drill pipe transfer device clamps the drill pipe: The auxiliary robot arm puts the drill pipe into the drill pipe transfer device, and the transfer device's judgment sensor 807 outputs a signal.

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

[0516] 5) Drill pipe transfer device rotation: When the transfer device rotates from the horizontal position to the inclination angle α, the horizontal sensor 71404 of the transfer device disconnects the signal; until it is the same as the inclination angle of the frame, the synchronous sensor 71402 connects the signal; during the rotation of the drill pipe transfer device, the inclination sensor 71403 of the drill pipe transfer device measures the angle in real time.

[0517] 6) The main manipulator rotates in the opposite direction (counterclockwise): The main manipulator rotates towards the drill pipe transfer device, and the rotation sensor 904 signal is "off-short-off".

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

[0519] 8) First arc segment rotation of the main robotic arm: The main robotic arm rotates clockwise ( Figure 1 When the rotation sensor body 904 is turned on and then off, the sensor 807 signal is turned off, and the main manipulator makes room for the rotation of the drill pipe transfer device.

[0520] 9) Main robot arm waiting: waiting for the current drill rod to complete drilling.

[0521] 10) Drill pipe transferor horizontal: When the drill pipe transferor returns to the horizontal position, the transferor horizontal sensor 71404 signal is turned on; during the rotation of the drill pipe transferor, the transferor tilt sensor 71403 measures the angle in real time.

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

[0523] 12) Second arc rotation of the main manipulator: The main manipulator performs the second rotation, sending the drill rod into the frame. The drill rod is held by the gripper or the power head. The rotating sensor body 904 first connects the signal and then disconnects it.

[0524] 13) Main robot release: The main robot releases the drill rod; during the process of the main robot transferring the drill rod from the drill rod transferor to the frame, the complete signal change of the rotating sensor body 904 is "break-short-break-long-break".

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

[0526] (2) Drill rod retraction condition (the process of retrieving the drill rod from the frame to the drill rod box)

[0527] 1) Initial state: Assume the tilt angle of the frame and the main manipulator is α (when the frame tilt angle is positive, the frame position sensor signal is on; when the frame tilt angle is negative, the frame position sensor signal is off); the transferor is in a horizontal position, the transferor horizontal sensor is on, the synchronization sensor is off, there is no drill rod in the transferor, so the sensor is determined to be off; the main manipulator's rotating joint is in the state of completing the first arc rotation; the auxiliary manipulator has not grabbed the drill rod, so the sensor is detected to be off; the drilling rig has just completed drilling the last drill rod.

[0528] 2) Power head retraction: The power head drags the drill rod inside the hole backward;

[0529] 3) Main robot arm waiting: waiting for the current drill pipe to complete uncoupling;

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

[0531] 5) Drill rod uncoupling: The power head and the clamp work together to uncouple the drill rod (disconnect it from the drill rod inside the hole).

[0532] 6) Second stage rotation of the main robot: The main robot performs the second stage rotation. The rotation sensor 904 first turns on the signal and then turns off. The gripper of the main robot reaches the position where it can hold the drill rod with detachment in the frame.

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

[0534] 8) Reverse rotation of the main manipulator: The main manipulator rotates in the reverse direction to put the drill rod into the transfer device. The rotation sensor 904 signal is "break - long - break - short - break".

[0535] 9) Drill pipe transfer device clamping: When the drill pipe is placed into the drill pipe transfer device, the sensor 807 is activated and outputs a signal, and the drill pipe transfer device clamps the drill pipe.

[0536] 10) Main robot arm release: The main robot arm releases the drill rod.

[0537] 11) First arc segment rotation of the main robotic arm: The main robotic arm rotates clockwise ( Figure 1 When the drill pipe transfer device rotates, the rotation sensor 904 first connects the signal and then disconnects. The signal of the rotation sensor 904 is "disconnect-short-disconnect", which makes room for the rotation of the drill pipe transfer device.

[0538] 12) Drill pipe transporter horizontal: When the drill pipe transporter returns to the horizontal position, the level sensor 71404 of the transporter is activated; during the rotation of the drill pipe transporter, the tilt sensor 71403 of the transporter measures the angle in real time.

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

[0540] 14) The auxiliary robot returns the drill rod: The auxiliary robot returns the drill rod to the drill rod box and detects that sensor 611 disconnects the signal.

[0541] The above process only reflects the basic working process of the drilling rig. The various mechanisms can be connected through serial or 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 intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A full-face automatic control drilling rig, comprising a mobile platform, a drill rod box, a secondary manipulator, an attitude adjustment device, a drill rod transfer device, a main manipulator, a frame, a drill rod conveying sensor group, and a rotation positioning sensor group, wherein the drill rod box and the attitude adjustment device are both mounted on the mobile platform, and the attitude adjustment device is located on one side of the drill rod box; the secondary manipulator is used to transfer the drill rod in the drill rod box to the drill rod transfer device; and the main manipulator is used to transfer the drill rod in the drill rod transfer device to the frame, characterized in that: The attitude adjustment device includes a rotary platform, a lifting sleeve, a transferor rotator, and an angle rotator. The rotary platform serves as the carrier of the attitude adjustment device and is rotatably connected to the mobile platform. The lifting sleeve is vertically and vertically mounted on the rotary platform. The transferor rotator and the angle rotator are both mounted on the lifting sleeve, and both the angle rotator and the transferor rotator are located on the side of the lifting sleeve away from the drill pipe box. The drill pipe transfer device is arranged on top of the transfer device rotary device, and the tilt angle of the drill pipe transfer device is adjusted by the transfer device rotary device. The frame is mounted on the side of the tilting gyroscope away from the lifting sleeve, and the tilt angle of the frame is adjusted by the tilting gyroscope. The main manipulator is mounted on the frame and rotates with the frame. The drill pipe conveying sensor group includes a detection sensor, a judgment sensor, and a rotation sensor. The detection sensor is configured to detect whether a drill pipe is present in the auxiliary manipulator; the judgment sensor is configured to detect whether a drill pipe is present in the drill pipe transfer device; and the rotation sensor is configured to detect the rotational position and direction of the main manipulator. The rotation positioning sensor group includes a transfer device tilt sensor, a frame position sensor, and a synchronization sensor. The transfer device tilt sensor is configured to detect the rotation angle of the drill pipe transfer device; the frame position sensor is configured to determine whether the frame is in a positive tilt angle or a negative tilt angle condition; and the synchronization sensor is configured to determine whether the frame and the drill pipe transfer device are at the same tilt angle.

2. The full-face automatic control drilling rig according to claim 1, characterized in that: The auxiliary manipulator is slidably connected to the drill pipe box via an auxiliary slide rail arranged on the drill pipe box. It includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint, and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail. The auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box. The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft.

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

4. The full-face automatic control drilling rig according to claim 3, characterized in that: The lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed 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 cylinder drives the lifting pair to perform lifting movement. The secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam. The secondary rotary actuator is connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

5. The full-face automatic control drilling rig according to claim 2, characterized in that: The end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

6. The full-face automatic control drilling rig according to claim 5, characterized in that: The secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder. The secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement. And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being 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: The secondary gripper is connected to a secondary clamping cylinder on the side near the secondary telescopic joint. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

8. The full-face automatic control drilling rig according to claim 1, characterized in that: The main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly; The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint. The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

9. The full-face 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 inside the main outer cylinder. The main gripper 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 9, characterized in that: The main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases under the drive of the main clamping cylinder.

11. The full-face 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, which 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 cylinder is fixed to the fixed base, 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 pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block. The support block is disposed on the base plate and is used to support the drill pipe. The axial clamping block is disposed on the base plate and is located on both sides of the support block. A pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block. The axial clamping block clamps and fixes the drill pipe axially upwards. The axial clamping block includes at least one slider slidably disposed on the base plate. The pressure plate presses the drill pipe onto the support block.

13. The full-face automatic control drilling rig according to claim 12, characterized in that: 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.

14. The full-face automatic control drilling rig according to claim 12, characterized in that: The axial clamping block is rotatably connected to the pressure plate. When the drill pipe transfer device is in a state of waiting to load or remove the drill pipe, the pressure plate rotates upward to open, making it easier to load or remove the drill pipe.

15. The full-face automatic control drilling rig according to any one of claims 12 or 14, characterized in that: The pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located outside the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

16. The full-face automatic control drilling rig according to claim 15, characterized in that: The support block is provided in at least two parts, and each support block has a groove on its upper part that matches 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 mounted on the mobile platform and connected to the rotary platform, for rotating the rotary platform onto 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 for contact with the ground and to support the attitude adjustment device.

19. The full-face automatic control drilling rig according to claim 18, characterized in that: The main body of the rotary platform is a rotary plate, and one side of the rotary plate is provided with a lower anchor mounting plate and a lug for connecting the lower anchoring 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 move vertically up and down.

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 top of the lower anchoring assembly or is manufactured integrally with the lower anchoring assembly, and is used to guide the vertical lifting and lowering of the lifting sleeve.

22. The full-face automatic control drilling rig according to claim 21, characterized in that: It also includes the upper anchorage and the upper anchorage assembly; The upper anchoring seat includes a fixed cylinder fixedly sleeved on the lifting column and a column head connected to the outside of the fixed cylinder; The upper anchoring assembly is installed on the column head for contact with the roadway 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 formed by two front and rear side plates and a top sealing plate, and is configured to accommodate the lifting cylinder. The sleeve is fixedly installed on the left and right sides of the lifting sleeve cavity, serving as a guide for movement along the lifting column; The connecting cylinder is fixedly installed on the side of the lifting sleeve cavity facing the frame, and a flange for installing the rotary transition plate is provided on it.

24. The full-face automatic control drilling rig according to claim 23, characterized in that: The rotary transition plate is disc-shaped and includes: The first transition plate flange is configured to connect to the connecting cylinder; The second transition plate flange is configured to connect to the frame connection plate; and The third transition plate flange is configured to connect to the rotary unit of the transfer device.

25. The full-face automatic control drilling rig according to claim 24, characterized in that: The transferor rotary unit includes: A retaining ring is connected to the third transition plate flange of the rotary transition plate; and The rotating ring is connected to the drill pipe transfer device, and its inclination angle is adjusted.

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 a second transition plate flange of the rotary transition plate; and The second flange is configured to connect to the tilt slewing device.

27. The full-face automatic control drilling rig according to claim 26, characterized in that: The tilt gyroscope includes: A retaining ring is connected to the second flange of the frame connecting plate; and A rotating ring, fixedly connected to the frame, is configured to adjust the tilt angle of the frame; Furthermore, the frame is mounted on the tilting rotary device.

28. The full-face automatic control drilling rig according to claim 1, characterized in that: The retaining ring of the transferor rotator is directly installed on the lifting sleeve, and the retaining ring of the tilting rotator is installed on the retaining ring of the transferor rotator.

29. The full-face automatic control drilling rig according to claim 1, characterized in that: The retaining ring of the tilting rotator is directly installed on the lifting sleeve, and the retaining ring of the transfer rotator is installed on the retaining ring of the tilting rotator.

30. The full-face automatic control drilling rig according to claim 2, characterized in that, The detection sensor includes: A detection sensor mounting base is radially fixed to one side of the secondary gripper; The detection sensor spring is installed inside the detection sensor mounting base; The trigger post is movably mounted in the detection sensor mounting base via the detection sensor spring; The detection sensor body is configured to detect the 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 secondary gripper approaches the drill pipe, the trigger pin is pressed upward by the drill pipe, and the detection sensor body generates an activation signal indicating the presence of the drill pipe.

32. The full-face automatic control drilling rig according to claim 12, characterized in that, The judgment sensor includes: A sensor mounting base fixed below the base plate; The judgment sensor body is fixed inside the judgment sensor mounting base; The judgment sensor spring is installed inside the judgment sensor mounting base; The signal transmitting column is movably mounted in the judgment sensor mounting base via the judgment sensor spring; When the drill pipe is placed in the drill pipe transfer device, the signaling column is pressed downward by the drill pipe, and the judgment sensor body generates an on signal indicating the presence of the drill pipe.

33. The full-face automatic control drilling rig according to claim 32, characterized in that, The top of the signaling column penetrates the bottom plate of the drill pipe transfer device, and when there is no drill pipe in the drill pipe transfer device, the top of the signaling column exceeds the lowest point where the drill pipe is placed on the drill pipe transfer device.

34. The full-face automatic control drilling rig according to claim 8, characterized in that, The rotation sensor includes: A rotation sensor mounting base fixed on the rotating seat; The rotation sensor body is fixed inside the rotation sensor mounting base; A trigger ring is fixed to a rotating component that is rotatably connected to the rotating base and rotates with the rotating component. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator. The trigger ring has two arc segments with different arc lengths and a gap between the two arc segments to generate a signal for detecting the rotational 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 notch are arranged such that during the rotation of the main manipulator, the rotation sensor body sequentially detects the two arc segments and the notch, and indicates the rotation direction and position of the main manipulator based on the duration and on / off state of the rotation sensor body signal.

36. The full-face automatic control drilling rig according to claim 1, characterized in that: The rack location sensor includes a location plate and a first sensor. The location plate is connected to the rack and rotates with the rack. The positioning plate is divided into a positive tilt angle area and a negative tilt angle area. The positive tilt angle area and the negative tilt angle area cover a circumferential angle of 180°. The difference between the radius of the positive tilt angle area and the radius of the negative tilt angle area is not less than 1 times the sensing distance of the first sensor. Then, the on / off state of the first sensor is used to determine whether the frame is in a positive tilt angle condition or a negative tilt angle condition. The first sensor is positioned on the outside of the positioning plate, near the boundary between the positive and negative tilt angle regions.

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 rotary transferor and rotates with the drill pipe transferor; the second sensor is mounted on the frame on the side facing the rotary transferor. When the frame and drill pipe transfer device 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 drill pipe transfer device rotate relative to each other, the second sensor disconnects and there is no signal output.

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

40. The full-face automatic control drilling rig according to claim 39, characterized in that: The positioning shaft is a hollow round tube with connecting flanges at both ends. One end is fixedly connected to the frame, and the other end is fixedly connected to the positioning plate.

41. The full-face automatic control drilling rig according to claim 40, characterized in that: It also includes a transfer device level sensor to determine whether the drill pipe transfer device is in a horizontal position; When the drill pipe transfer device is in a horizontal position, the transfer device level sensor outputs a signal to determine that the drill pipe transfer device is in a horizontal position; When the drill pipe transfer device rotates and is not in a horizontal position, the horizontal sensor of the transfer device disconnects and there is no signal output, indicating that the drill pipe transfer device is not in a horizontal position.

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

43. The full-face automatic control drilling rig according to claim 42, characterized in that, The tilt sensor of the transfer device includes an internal gear ring, a rotating shaft, a sensor gear ring, and a wire sensor. The internal gear ring is fixedly connected to the rotating ring in the rotary device of the transferor connected to the drill pipe transferor, so as to drive the internal gear ring to rotate through the rotary device of the transferor; The rotating shaft is provided with a primary gear and a secondary gear at both ends. The primary gear meshes with the internal gear ring, and the secondary gear meshes with the sensor gear ring. The sensor gear ring is rotatably disposed on the outside of the lifting sleeve used to install the rotary device of the transfer device. The pull-wire sensor is located on the outside of the lifting sleeve and is connected to the sensor gear ring via a pull wire, so as to calculate the rotation angle of the drill pipe transfer device by the pull-wire length of the pull-wire sensor.

44. The full-face automatic control drilling rig according to claim 43, characterized in that: The tilt angle adjustment range of the rotary transducer is 360°; The rotary transducer is divided into positive tilt rotation and negative tilt rotation, with the corresponding angles being 0 to 180° and 0 to -180°, respectively.

45. The full-face automatic control drilling rig according to claim 44, characterized in that: In the pull-wire sensor, the rotation angle at the connection point between the pull wire and the sensor gear ring is less than the tilt adjustment range of the rotary transducer.

46. ​​The full-face automatic control drilling rig according to claim 45, characterized in that: When the transferor rotator is in its initial position, the initial length of the pull wire between the pull wire sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then, the pull wire length per unit angle satisfies the following condition: k=L0 / θ.

47. The full-face automatic control drilling rig according to claim 46, characterized in that: The initial angle θ between the pull 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 rotary head of the transfer device rotates at an angle, the total length of the pull wire sensor in real time is L. Z The real-time angle through which the sensor gear ring rotates is: α=(L0-L Z ) / k; When the rotary valve of the transfer device rotates at a counterclockwise positive tilt angle, L0 ≥ L Z α≥0; When the rotary valve of the transferor rotates at a negative clockwise angle, L0 ≤ L Z , α≤0.

49. The full-face automatic control drilling rig according to claim 48, characterized in that: The gear train consisting of the internal gear ring, the first-stage gear, the second-stage gear, and the sensor gear ring has a transmission ratio of i. Therefore, the actual rotation angle of the transfer device calculated by the sensor gear ring is: β=iα。 50. The full-face automatic control drilling rig according to claim 49, characterized in that: The gear system consisting of the internal gear ring, the first-stage gear, the second-stage gear, and the sensor gear ring has a transmission ratio of i≥1.

51. A control method for a full-face automatic control drilling rig, characterized in that: The method applicable to the full-face automatic control drilling rig according to claim 50 includes the following steps: The process of conveying drill pipe from the drill pipe box to the frame: Initial state: There are drill rods to be transported in the drill rod box, no drill rods in the auxiliary robot arm and drill rod transfer device, and the detection sensor and judgment sensor signals are disconnected; the main robot arm is in the ready position, and the rotation sensor signal is disconnected. Step 1: Grab the drill rod The auxiliary robotic arm approaches the drill rod from the drill rod box, the auxiliary gripper clamps the drill rod, and the sensor signal is activated, indicating that the auxiliary robotic arm has grasped the drill rod; Step 2: Transfer to drill pipe transfer device The auxiliary robotic arm places the drill pipe into the drill pipe transfer device. The auxiliary gripper releases, detects that the sensor signal is disconnected, and simultaneously determines that the sensor signal is connected, indicating that the drill pipe has entered the drill pipe transfer device. Step 3: Main robotic arm grasps The main robotic arm grabs the drill rod from the drill rod transfer device. After the drill rod leaves, it determines that the sensor signal is disconnected. Step 4: Convey to rack The main robotic arm rotates towards the frame, and the rotation sensor generates a signal change indicating that the rotation is complete, signifying that the main robotic arm has completed the rotation and has fed the drill rod into the frame; The process of recycling drill pipe from the frame to the drill pipe box: Initial state: There is a recovery space inside the drill pipe box, there is no drill pipe in the auxiliary manipulator and drill pipe transfer device, the detection sensor and judgment sensor signals are disconnected, the main manipulator is located inside the frame, and the rotation sensor signal is disconnected; Step 1: Retrieval by the main robotic arm The main robotic arm rotates from the frame toward the drill pipe transfer device, and the rotation sensor generates a signal change indicating that the rotation is complete. Step 2: Place into the drill pipe transfer device The main robotic arm places the drill pipe into the drill pipe transfer device and determines that the sensor signal is connected; Step 3: The auxiliary robotic arm grasps the object. The auxiliary robotic arm grabs the drill rod from the drill rod transfer device, detects that the sensor signal is on, and determines that the sensor signal is off after the drill rod is removed. Step 4: Return the drill pipe box The auxiliary robotic arm returns the drill pipe to the drill pipe box, detects that the sensor signal has been disconnected, and completes the retrieval.

52. The control method according to claim 51, characterized in that: This also includes rotating the drill pipe transfer device to a specified inclination angle: S1, the set tilt angle of the transferor rotator; S2. The tilt angle of the rotary transferor is transmitted to the sensor gear ring through the first and second gears on the rotating shaft, which in turn drives the extension and retraction of the wire of the wire sensor. S3. Calculate the rotation angle and rotation direction of the sensor tooth ring based on the actual extension length of the pull wire of the pull wire sensor; S4. Calculate the tilt angle of the rotary engine of the transferor based on the gear ratio of the gear system consisting of the internal gear ring, the first-stage gear, the second-stage gear, and the sensor gear ring.

53. The control method according to claim 51, characterized in that: It also includes the determination and synchronization of the tilt angle state of the frame and drill pipe transfer device, including the following steps: Horizontal to positive tilt adjustment: a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is turned off, and the synchronization sensor is turned on; b. The frame rotates in the positive tilt direction to the set angle A, where A > 0°. After the rotation begins, the synchronization sensor and the horizontal sensor of the transfer device are disconnected. c. The rack position sensor activates a signal to determine that the rack is in a positive tilt angle. d. After the frame is rotated into position, the drill pipe transfer device rotates in the positive inclination direction until the synchronization sensor activates the signal again. At this time, the drill pipe transfer device and the frame are at the same inclination angle and are in a positive inclination state. Adjustment from horizontal to negative tilt angle: a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is turned off, and the synchronization sensor is turned on; b. The frame rotates to a set angle α in the negative tilt direction, where α < 0°. After the rotation begins, the synchronization sensor and the horizontal sensor of the transporter are disconnected. c. The rack position sensor signal remains disconnected to determine that the rack is in a negative tilt angle state; d. After the frame rotates to the correct position, the drill pipe transfer device rotates in the direction of negative inclination until the synchronization sensor reconnects the signal. At this point, the drill pipe transfer device and the frame 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 tilt angle state of the frame and drill pipe transfer device, including the following steps: Horizontal to positive tilt adjustment: a. Initial state: The horizontal sensor of the transfer device is turned on, the frame and drill pipe transfer device are both in a horizontal position, and the frame position sensor is turned on; b. The frame is rotated in the positive tilt direction to the set angle A, where A > 0°. The synchronization sensor is disconnected after the rotation begins. c. The rack position sensor is disconnected, indicating that the rack is in a positive tilt angle state; d. After the frame is rotated into position, the drill pipe transfer device rotates in the positive inclination direction until the synchronization sensor activates the signal again. At this time, the drill pipe transfer device and the frame are at the same inclination angle and are in a positive inclination state. Adjustment from horizontal to negative tilt angle: a. Initial state: The frame and drill pipe transfer device are both in a horizontal position, the frame position sensor is on, and the synchronization sensor is on. b. The frame rotates in the negative tilt direction to the set angle B, B < 0°. After the rotation starts, the synchronization sensor and the horizontal sensor of the transfer device are disconnected. c. The rack position sensor signal remains connected to determine that the rack is in a negative tilt angle state; d. After the frame rotates to the correct position, the drill pipe transfer device rotates in the direction of negative inclination until the synchronization sensor reconnects the signal. At this point, the drill pipe transfer device and the frame 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 includes: A rotation sensor mounting base fixed on the rotating seat of the main manipulator; The rotation sensor body is fixed inside the rotation sensor mounting base; A trigger ring is fixed to the rotating component of the main manipulator and rotates with the rotating component. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator. The trigger ring has two arc segments with different arc lengths and 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 pipe transferor is in an inclined state, after the main manipulator clamps or places the drill pipe into the drill pipe transferor, the main manipulator rotates the trigger ring by an angle of one arc segment towards the frame. The rotation sensor body detects the gap between the two arc segments in the trigger ring, and the rotation sensor body signal is disconnected, thereby causing the main manipulator to stop between the drill pipe transferor and the frame, leaving space for the drill pipe transferor to return to the horizontal position.

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