Rack and pipe handler rotational positioning sensor system and control method

Abstract

The present application belongs to the field of mine drilling machine, and relates to a rack and drill rod transfer device rotating positioning sensor system and a control method. The system comprises a transfer device inclination sensor, a rack position sensor and a synchronous sensor. The transfer device inclination sensor comprises an inner gear ring, a rotating shaft, a sensor gear ring and a pull wire sensor. The inner gear ring is fixedly connected with a rotating ring in a transfer device slewing ring connected with the drill rod transfer device, so as to drive the inner gear ring to rotate through the transfer device slewing ring. The rotating shaft is provided with a primary gear and a secondary gear at two ends respectively. The primary gear is engaged with the inner gear ring, and the secondary gear is engaged with the sensor gear ring. The pull wire sensor is connected with the sensor gear ring through a pull wire, so as to calculate the rotating angle of the drill rod transfer device through the pull wire length of the pull wire sensor. The rack position sensor is used to determine whether the rack is in a positive inclination working condition or a negative inclination working condition. The synchronous sensor is used to determine whether the rack and the drill rod transfer device are at the same inclination.

Description

Technical Field

[0001] This invention belongs to the field of mining drilling rigs and relates to a rotation positioning sensor system and control method for a frame and drill rod transfer device. Background Technology

[0002] Against the backdrop of the in-depth advancement of the intelligent coal mining strategy, drilling rig automation has become a key breakthrough in achieving less-manned and unmanned underground operations. Traditional manual operation methods face numerous challenges in the complex environment of underground coal mines. On the one hand, the underground space is narrow, dusty, noisy, and contains harmful gases such as methane, creating a harsh working environment. On the other hand, manual operation is susceptible to operator fatigue; prolonged high-intensity work reduces operational accuracy and reaction speed. This makes the traditional model unable to meet the dual demands of efficient mining and inherent safety in modern coal mines. The introduction of automation technology has brought new solutions to coal mine drilling operations. Through automation, the drilling process and auxiliary procedures can be automated, significantly reducing the labor intensity of operators and greatly improving operational safety. Simultaneously, automated operation breaks through the efficiency bottleneck of manual operation, becoming an inevitable choice for technological upgrading in the coal industry.

[0003] In the automated drill pipe conveying process, accurately monitoring the relative angle between the frame and the actuators of the drill pipe conveying system (such as drill pipe transfer devices and robotic arms) is crucial. Only by accurately determining the relative position between the frame and these drill pipe conveying components can the accurate and error-free conveying of drill pipes be ensured, thereby guaranteeing the stable operation of the entire drilling rig system.

[0004] However, current relative angle monitoring technologies have significant shortcomings, mainly falling into the following two categories:

[0005] One type is the full-process monitoring technology. This technology uses sensors such as encoders to monitor the inclination angles of the rig and drill pipe transfer device. However, in practical applications, this method has many drawbacks. Its system structure is complex, requiring the installation of multiple sensors and corresponding signal transmission and processing equipment, increasing system complexity and maintenance difficulty. Moreover, the sensors have low reliability in the harsh downhole environment and are easily affected by factors such as dust, humidity, and vibration, leading to inaccurate or even malfunctioning measurement data. Furthermore, the sensors used in full-process monitoring are expensive, further increasing the manufacturing cost of the drilling rig and limiting its large-scale application.

[0006] Another type is specific position monitoring technology. This technology uses position sensors to monitor specific positions (such as extreme positions, horizontal positions, etc.) of the frame, robot, or drill pipe transfer device to determine the relative positions between components, such as a positioning device and method for loading and unloading drill pipe robots (application number CN201911185721.3). Compared to full-process monitoring technology, the reliability of sensors for specific position monitoring is improved, but it also has significant drawbacks. This method completely lacks process monitoring, cannot grasp the movement status and position changes of components in real time, and is difficult to improve the automation level and self-adjustment capability of the operation process. At the same time, this technology is only applicable to drilling rigs with a small drilling inclination angle range. It cannot effectively distinguish between different working conditions with positive and negative inclination angles, making it difficult to meet the drill pipe transportation needs under complex working conditions.

[0007] In summary, existing automatic drilling rigs lack reliable and effective technical means for monitoring the relative angle between the frame and the drill rod delivery system, and there is an urgent need to develop a new relative angle monitoring technology to solve the above problems. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a frame and drill pipe transporter rotation positioning sensor system and control method to solve the problems of lack of monitoring of the tilt adjustment process of the drill pipe transport system in the prior art and the problem that the existing frame and drill pipe transporter relative tilt angle sensors cannot be applied to a large tilt angle range.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A frame and drill pipe transfer device rotation positioning sensor system includes a transfer device tilt sensor, a frame position sensor, and a synchronization sensor;

[0011] The tilt sensor of the transfer device includes an internal gear ring, a rotating shaft, a sensor gear ring, and a wire sensor.

[0012] 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;

[0013] 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.

[0014] 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;

[0015] The rack position sensor is used to determine whether the rack is in a positive tilt angle or a negative tilt angle condition;

[0016] The synchronization sensor is used to determine whether the frame and the drill pipe transfer device are at the same inclination angle.

[0017] 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;

[0018] 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.

[0019] The first sensor is positioned on the outside of the positioning plate, near the boundary between the positive and negative tilt angle regions.

[0020] Furthermore, the first sensor is a Hall proximity switch, a photoelectric sensor, or a laser sensor.

[0021] Furthermore, the synchronization sensor includes a first trigger block and a second sensor;

[0022] 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.

[0023] 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.

[0024] When the frame and drill pipe transfer device rotate relative to each other, the second sensor disconnects and there is no signal output.

[0025] Furthermore, it also includes a lifting sleeve, a transfer rotator, an inclination rotator, a positioning shaft, a drill pipe transfer device, and a frame;

[0026] The lifting sleeve serves as a connecting component between the transfer device rotary and the tilting rotary;

[0027] Both the transferor rotator and the tilt rotator are mounted on the lifting sleeve, and the drill pipe transferor is mounted on the transferor rotator. The frame is mounted on the tilt rotator, so that the transferor rotator and the tilt rotator can respectively adjust the tilt angle of the drill pipe transferor and the tilt angle of the frame.

[0028] The two ends of the positioning shaft are connected to the frame and the positioning plate, so that the positioning plate rotates with the frame.

[0029] 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.

[0030] Furthermore, it also includes a transfer device level sensor for determining whether the drill pipe transfer device is in a horizontal position;

[0031] 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;

[0032] 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.

[0033] Furthermore, the level sensor of the transporter includes a second trigger block and a third sensor;

[0034] 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.

[0035] When the drill pipe transfer device is in a horizontal position, the third sensor outputs a signal;

[0036] When the drill pipe transfer device rotates and is not in a horizontal position, the third sensor disconnects and there is no signal output.

[0037] Furthermore, the tilt angle adjustment range of the transfer device rotator is 360°;

[0038] 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.

[0039] 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.

[0040] 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:

[0041] k = L0 / θ.

[0042] Furthermore, the initial angle θ between the pull wire sensor and the connection point of the sensor gear ring is less than 180°.

[0043] 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:

[0044] α=(L0-L Z ) / k;

[0045] When the rotary valve of the transfer device rotates at a counterclockwise positive tilt angle, L0 ≥ L Z α≥0;

[0046] When the rotary valve of the transferor rotates at a negative clockwise angle, L0 ≤ L Z , α≤0.

[0047] 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:

[0048] β = iα.

[0049] 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.

[0050] On the other hand, the present invention also provides a control method for a frame and drill pipe transferor rotation positioning sensor system, applicable to the frame and drill pipe transferor rotation positioning sensor system, and includes the following steps:

[0051] Rotate the drill pipe transfer device to the specified inclination angle:

[0052] S1, the set tilt angle of the transferor rotator;

[0053] 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.

[0054] 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;

[0055] 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.

[0056] Furthermore, it also includes determining the inclination state of the frame and drill pipe transfer device, including the following steps:

[0057] Horizontal to positive tilt adjustment:

[0058] 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;

[0059] 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.

[0060] c. The rack position sensor activates a signal to determine that the rack is in a positive tilt angle.

[0061] 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.

[0062] Tilt adjustment from horizontal to negative angle:

[0063] 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;

[0064] b. The frame rotates to the set angle α in the negative tilt direction, where α < 0°. After the rotation begins, the synchronization sensor is disconnected, the horizontal sensor of the transporter is disconnected, and the synchronization sensor is connected.

[0065] c. The rack position sensor signal remains disconnected to determine that the rack is in a negative tilt angle state;

[0066] 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.

[0067] Furthermore, it also includes determining the inclination state of the frame and drill pipe transfer device, including the following steps:

[0068] Horizontal to positive tilt adjustment:

[0069] 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;

[0070] 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.

[0071] c. The rack position sensor is disconnected, indicating that the rack is in a positive tilt angle state;

[0072] 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.

[0073] Tilt adjustment from horizontal to negative angle:

[0074] 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.

[0075] 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.

[0076] c. The rack position sensor signal remains connected to determine that the rack is in a negative tilt angle state;

[0077] 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.

[0078] 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.

[0079] The beneficial effects of this invention are as follows:

[0080] 1. Compared to existing technologies that use complex precision sensors such as encoders to monitor the tilt angle of the robot arm throughout the entire process, or to specifically monitor the robot arm's special positions (extreme positions, horizontal positions), this invention uses a gear transmission structure to transmit the rotation process and tilt angle of the rotary head located inside the drilling rig to a sensor gear ring located outside the drilling rig. The actual rotation direction and angle of the sensor gear ring directly affect the change in the length of the wire of the wire sensor, i.e., the envelope angle of the wire on the sensor gear ring. Finally, based on the transmission ratio of the gear structure, the rotation process and tilt angle of the rotary head located inside the drilling rig are inferred. A displacement sensor is used to monitor the tilt angle change of the transfer device and perform length / angle conversion, thus improving the comprehensiveness of monitoring the automatic drill rod delivery process.

[0081] 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.

[0082] 2. This invention achieves precise judgment and adjustment of the tilt angle between the frame and the drill pipe transporter through the coordinated operation of a frame position sensor and a synchronization sensor. The frame position 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) 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 consistency 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 across the entire circumference, overcoming the limitations of traditional methods in terms of tilt angle range.

[0083] 3. In the drill pipe conveying system, this technical solution significantly improves the accuracy and efficiency of operations. The frame position sensor, used in conjunction with the synchronization sensor, can achieve precise synchronization between the frame and the drill pipe conveyor under a wide range of working conditions, including positive and negative inclination angles, ensuring stability during drill pipe conveying. For example, in complex environments with large inclination angles, the system can accurately distinguish the inclination direction, avoiding misjudgment or misalignment, thereby improving conveying efficiency and safety. This precise inclination control provides technical support for the automation of drill pipe conveying, and is particularly suitable for demanding scenarios such as coal mines.

[0084] 4. This technical solution boasts a simple structure, low cost, and high reliability, achieving full-circumferential tilt angle monitoring and adjustment with only three sensors. Its innovation lies in overcoming the limitations of traditional tilt angle judgment, making it suitable for diverse working conditions, and simultaneously enhancing the intelligence level of the drill pipe delivery system. With its ease of implementation and high cost-effectiveness, this solution not only optimizes existing work processes but also demonstrates broad application prospects, providing reliable support for the development of automated equipment.

[0085] 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

[0086] 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:

[0087] Figure 1 This is an isometric view of a frame and drill pipe transfer device rotation positioning sensor system in one embodiment;

[0088] Figure 2 This is a front view of the rack location sensor in the embodiment;

[0089] Figure 3This is a schematic diagram of the rack location sensor in the embodiment;

[0090] Figure 4 This is a schematic diagram of the synchronization sensor in the embodiment;

[0091] Figure 5 This is a schematic diagram of the tilt sensor of the transfer device in the embodiment;

[0092] Figure 6 This is a schematic diagram illustrating the working principle of the tilt sensor of the transfer device in the embodiment.

[0093] Reference numerals: Lifting sleeve 705, Transferr rotary 709, Inclination rotary 710, Positioning shaft 711, Sensor group 714, Frame positioning sensor 71401, Positioning plate 71401a, First sensor 71401b, Synchronization sensor 71402, First trigger block 71402a, Second sensor 71402b, Transferr 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 cap 71403g, Transferr horizontal sensor 71404, Drill pipe transferr 8, Frame 11. Detailed Implementation

[0094] 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.

[0095] 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.

[0096] 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.

[0097] Please see Figures 1-6 As shown, a frame and drill pipe transfer device rotation positioning sensor system includes a sensor group 714 consisting of a transfer device tilt sensor 71403, a frame position sensor 71401, a synchronization sensor 71402, and a transfer device level sensor 71404.

[0098] Please see Figures 5-6 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] This invention achieves high-precision and high-reliability monitoring of tilt angles throughout the entire process under complex working conditions through an integrated design of gear transmission, wire measurement, and mechanical protection. When converting rotary motion into linear displacement, the optimized gear transmission ratio reduces the nonlinear error between the wire extension / retraction and the actual angle by 92%.

[0105] 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.

[0106] The basic working principle of the 71403 tilt sensor for the transducer is as follows: Figure 6 As shown.

[0107] 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 separate semicircles, from 0° to ±180°. In practical 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 stress damage leading to failure or even breakage due to excessive stretching.

[0108] 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:

[0109] k = L0 / θ.

[0110] 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°.

[0111] Preferably, the envelope of the wire to the outer edge of the sensor tooth ring 71403d is between 120° and 180°.

[0112] Please see Figures 2-3 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] The working principle of the rack location sensor is as follows:

[0117] 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.

[0118] Please see Figure 4 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] The frame and drill pipe transferor rotation positioning sensor system also includes an angle rotator 710, a positioning shaft 711, and a frame 11;

[0124] 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;

[0125] 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.

[0126] Example 1:

[0127] by Figure 5 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:

[0128] α=(L0-L Z ) / k;

[0129] 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 5As 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.

[0130] 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 3 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.

[0131] by Figure 2 and Figure 3 For example, the rack location sensor 71401:

[0132] Function: Used to determine whether the frame 11 is in a positive tilt angle or a negative tilt angle condition.

[0133] Composition: Includes a location plate 71401a and a first sensor 71401b.

[0134] 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.

[0135] 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.

[0136] by Figure 4 For example, the synchronization sensor 71402:

[0137] Function: Used to determine whether the frame 11 and the drill pipe transfer device 8 are at the same inclination angle.

[0138] Composition: Includes trigger block 71402a and second sensor 71402b.

[0139] Trigger block 71402a: Fixed on the housing of the rotary transferor 709, it rotates with the drill pipe transferor 8.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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:

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 4. Drill pipe transfer device synchronization: After the frame rotates to the 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 turned on. 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.

[0149] Tilt adjustment from horizontal to negative angle:

[0150] 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.

[0151] 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 transfer device level sensor 71404 disconnects.

[0152] 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.

[0153] 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.

[0154] Example 2:

[0155] The difference from Embodiment 1 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.

[0156] 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.

[0157] 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.

[0158] 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:

[0159] β = iα.

[0160] Based on the gear train structure, the expression for the transmission ratio i is:

[0161] 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.

[0162] 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.

[0163] 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:

[0164] S1, the rotation angle setting of the transferor rotary 709;

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] Rack location sensor 71401:

[0170] 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.

[0171] 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.

[0172] 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:

[0173] Horizontal to positive tilt adjustment:

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] Tilt adjustment from horizontal to negative angle:

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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 at the same tilt angle as the frame.

[0183] Return to horizontal position:

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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 rotation positioning sensor system for a frame and drill pipe transfer device, characterized in that: This includes a transfer tilt sensor, a rack position sensor, and a synchronization sensor; 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; The rack position sensor is used to determine whether the rack is in a positive tilt angle or a negative tilt angle condition; The synchronization sensor is used to determine whether the frame and the drill pipe transfer device are at the same tilt angle; 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 arranged on the outside of the positioning plate and adjacent to the boundary between the positive tilt angle region and the negative tilt angle region; It also includes lifting sleeves, transfer rotators, tilt rotators, positioning shafts, drill pipe transferors, and frames; The lifting sleeve serves as a connecting component between the transfer device rotary and the tilting rotary; Both the transferor rotator and the tilt rotator are mounted on the lifting sleeve, and the drill pipe transferor is mounted on the transferor rotator. The frame is mounted on the tilt rotator, so that the transferor rotator and the tilt rotator can respectively adjust the tilt angle of the drill pipe transferor and the tilt angle of the frame. The two ends of the positioning shaft are connected to the frame and the positioning plate, so that the positioning plate rotates with the frame.

2. The frame and drill pipe transferor rotation positioning sensor system according to claim 1, characterized in that: The first sensor is a Hall proximity switch, a photoelectric sensor, or a laser sensor.

3. The frame and drill pipe transferor rotation positioning sensor system according to claim 1, 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.

4. The frame and drill pipe transferor rotation positioning sensor system according to claim 3, 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.

5. The frame and drill pipe transferor rotation positioning sensor system according to claim 3, 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.

6. The frame and drill pipe transferor rotation positioning sensor system according to claim 5, 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.

7. The frame and drill pipe transferor rotation positioning sensor system according to claim 5, 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.

8. The frame and drill pipe transferor rotation positioning sensor system according to claim 7, 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.

9. The frame and drill pipe transferor rotation positioning sensor system according to claim 8, 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 k per unit angle satisfies the following condition: k=L0 / θ.

10. The frame and drill pipe transferor rotation positioning sensor system according to claim 9, characterized in that: The initial angle θ between the pull wire sensor and the connection point of the sensor gear ring is less than 180°.

11. The frame and drill pipe transferor rotation positioning sensor system according to claim 10, 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 α 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.

12. The frame and drill pipe transferor rotation positioning sensor system according to claim 11, 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 β of the transporter, calculated from the sensor gear ring, is: β=iα。 13. The frame and drill pipe transferor rotation positioning sensor system according to claim 12, 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.

14. A control method for a frame and drill pipe transfer device rotation positioning sensor system, characterized in that: The frame and drill pipe transferor rotation positioning sensor system according to claim 13 includes the following steps: Rotate the drill pipe transfer device to the 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.

15. The control method for the frame and drill pipe transfer device rotation positioning sensor system according to claim 14, characterized in that: It also includes determining the inclination 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. Tilt adjustment from horizontal to negative 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.

16. The control method for the frame and drill pipe transfer device rotation positioning sensor system according to claim 15, characterized in that: It also includes determining the inclination 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. Tilt adjustment from horizontal to negative 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 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. 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.

17. The control method for the frame and drill pipe transferor rotation positioning sensor system according to any one of claims 15 and 16, 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.

Images