Drill rod loading and unloading system and control method thereof

Abstract

The invention relates to a drill rod loading and unloading system and a control method thereof, and belongs to the technical field of mining drilling machines. The system comprises a rack, a rotating platform, an asynchronous rotating device, a transporter and a mechanical arm capable of rotating in a segmented mode. The asynchronous rotating device adjusts inclination angle rotation of the rack and the transporter. The tilt angle sensor monitors the tilt angle of the transporter in real time, and the rotation sensor senses rotation of the manipulator. The rotation sensor comprises a sensor body and a trigger ring, the trigger ring is fixed to the rotation shaft and provided with a notch and an induction face, when the sensor body right faces the induction face, a sensor signal is switched on, and otherwise, the sensor signal is switched off. The manipulator comprises a rotating joint, a telescopic joint and a clamping jaw assembly. Through a sensor with a sectional sensing function on a rotating joint, the rotation of the manipulator is executed in multiple sections, and the manipulator stops at a special position with requirements. And the rotating direction and state of the manipulator are judged according to the change of the signal connection duration of the sensor from short to long or from long to short.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drills and relates to a drill rod loading and unloading system and a control method thereof. Background Art

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

[0003] The drill rod handling system is one of the core systems of an automatic drilling rig, and the manipulator and transporter are key executive components of the drill rod conveying system, responsible for different steps in delivering drill rod from the drill rod box to the main drilling rig for drilling operations. Existing manipulators in automatic drilling rigs generally have a flip joint, which allows the manipulator to flip and deliver the drill rod and other components into the frame. The transporter generally serves as a transitional conveying device, enabling the transfer of drill rod between the two manipulators. The main problems with existing drill rod handling systems are as follows:

[0004] (1) The manipulator is separated from the frame, and the frame is in a certain inclination during drilling. The initial position of the drill rod is generally horizontal. The manipulator needs to frequently switch between the horizontal and inclination states. The inclination joint is easily interfered with by other components, resulting in a complex structure and sensor positioning system.

[0005] (2) The flip joint of the manipulator uses a one-time flip control, that is, the manipulator is turned to a certain angle at one time through the method of electric control or mechanical limit. During the process, it cannot stop at a specific position, which limits the control of the automatic loading and unloading process of the drill rod.

[0006] (3) Existing transporters are available in two forms: translational and horizontal rotation. Both types move in the horizontal plane, clamping the ends of a horizontally placed drill rod to align it with the drill rod box or rack. However, existing transporters lack a mechanism to fix the drill rod in the vertical plane, making them unable to move at large angles. As a result, the existing automatic drilling rigs have a limited drilling angle range, making it difficult to expand to large-angle drilling conditions.

[0007] (4) The existing drill rod transporter lacks a drill rod detection sensor and cannot determine whether a drill rod is placed therein. It can only be indirectly identified through the operation of the drill rod transportation process, which easily leads to safety hazards such as repeated placement.

[0008] The above technical problems limit the efficiency improvement of drill pipe loading and unloading and the drilling inclination range. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a drill rod loading and unloading system and a control method thereof, which solves the problems that the existing drill rod transporter lacks adjustment process monitoring and drill rod sensing sensors, the conveying robot has complex inclination joints, and can only be flipped once and cannot pause during the process.

[0010] In order to achieve the above object, the present invention provides the following technical solutions:

[0011] A drill rod loading and unloading system includes a frame and an attitude adjustment device connected to each other;

[0012] The manipulator is arranged on the frame and includes a rotating joint, a telescopic joint, a gripper assembly and a rotation sensor; the gripper assembly includes a gripper;

[0013] The rotary joint includes a rotary seat and a rotary driver, wherein the rotary driver is arranged at one end of the rotary seat and drives the rotary shaft to rotate, and the rotary shaft passes through the rotary seat and is connected to the telescopic joint;

[0014] The rotation sensor includes a sensor body and a trigger ring; the trigger ring is fixed to the rotation shaft and rotates synchronously and in the same direction as the manipulator rotates; a notch is provided on the trigger ring to divide the arc surface of the trigger ring into two parts, and the end surfaces on both sides of the notch serve as sensing surfaces;

[0015] The sensor body is arranged on the rotating seat and corresponds to the sensing surface on the end face of the trigger ring; when the sensor body is exactly within the sensing surface of the trigger ring, the sensor signal is connected; otherwise, the sensor signal is disconnected;

[0016] The posture adjustment device includes a rotary platform and an asynchronous rotation device installed on the rotary platform;

[0017] The asynchronous rotation device includes an inclination rotator, a frame connecting plate, a slewing transition plate, and a lifting sleeve connected in sequence. The inclination rotator is rotatably connected to the frame, and the transporter is rotatably connected to the slewing transition plate through the transporter rotator. The inclination angle between the frame and the transporter is asynchronously rotated and adjusted by the inclination rotator and the transporter rotator.

[0018] The transporter rotator includes a first fixed ring and a first rotating ring provided thereon, wherein the first fixed ring is connected to the flange of the rotating transition plate; the first rotating ring is fixedly connected to the first outer shell, the transporter is mounted on the first outer shell, and the inclination angle of the transporter is adjusted by rotating the first rotating ring;

[0019] It also includes an inclination sensor for monitoring the inclination adjustment during the transportation of the drill pipe, and the inclination sensor includes an inner gear ring, a rotating shaft, a sensor gear ring and a pull wire sensor; the inner gear ring is fixedly connected to the first rotating ring of the transporter rotator to drive the inner gear ring to rotate through the transporter rotator; the rotating shaft is rotatably connected to the lifting sleeve, and a first-stage gear and a second-stage gear are respectively provided at both ends of the rotating shaft, the first-stage gear and the inner gear ring are meshed with each other, and the second-stage gear and the sensor gear ring are rotatably arranged on the outside of the lifting sleeve; the pull wire sensor is arranged on the outside of the lifting sleeve, and is connected to the sensor gear ring through a pull wire, so as to calculate the rotation angle of the transporter through the pull wire length of the pull wire sensor.

[0020] Optionally, it also includes a sliding joint, the rotating seat is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator; the sliding joint includes a fixed seat, a connecting arm and a sliding cylinder, one end of the sliding cylinder is fixed on the fixed seat, and the other end is connected to the connecting arm so that the connecting arm slides along the track; the fixed seat is connected to the frame, and a horizontally arranged slide rail is provided on the fixed seat, and a sliding groove is provided at the bottom of the connecting arm, and the sliding groove cooperates with the slide rail; the rotating seat in the rotating joint is fixedly connected to the connecting arm.

[0021] Optionally, the transporter includes a base plate, a supporting block, a pressure plate, and an axial pressing block; the supporting block is arranged on the base plate for supporting the drill rod; the axial pressing blocks are arranged on the base plate and are located on both sides of the supporting block; the upper portion of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the supporting block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the supporting block;

[0022] It also includes a drill rod sensing sensor disposed on the bottom plate, the drill rod sensing sensor including a sensing sensor seat disposed below the bottom plate, a sensing sensor element disposed on the sensing sensor seat, a signal transmitting post disposed on the sensing sensor seat via a spring, and an end of the signal transmitting post away from the sensing sensor seat passing through the mounting hole of the bottom plate and protruding from the surface of the bottom plate;

[0023] When the drill rod is put in, the signal post is pressed down, and the other end of the signal post enters the sensing range of the sensing sensor element, generating a connection signal;

[0024] There are at least two support blocks, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod; when the spring is in a free state, the top of the signal post exceeds the lowest point of the support block groove.

[0025] Optionally, a horizontal sensor is provided between the transporter and the lifting sleeve; the horizontal sensor includes a trigger block provided on the side of the transporter bottom plate facing the lifting sleeve, and a horizontal sensor element provided on the lifting sleeve facing the trigger block; when the trigger block is aligned with the horizontal sensor element, a signal is generated.

[0026] Optionally, the sensing surfaces located on both sides of the gap are respectively the first sensing surface and the second sensing surface, and the arc lengths of the arc surfaces corresponding to the first sensing surface and the second sensing surface are not equal, so that when the sensor body is respectively located in the first sensing surface and the second sensing surface, the connection time of the sensor signal is inconsistent; the arc length corresponding to the second sensing surface is greater than the arc length corresponding to the first sensing surface; the trigger ring and the rotation axis of the manipulator are cocentric.

[0027] Optionally, the trigger ring is an open ring structure, and the sensor body is located at one of the end points of the trigger ring.

[0028] Optionally, the arc length angle of the trigger ring is greater than 180°; and the sensing surface covers all end surfaces of the trigger ring except the notch.

[0029] Optionally, a protruding connecting plate is provided on the inner side of the trigger ring, and a connecting hole is provided on the connecting plate for bolt connection between the trigger ring and the rotating shaft of the manipulator; the number of the connecting holes is at least two.

[0030] Optionally, an axially extending rotation sensor seat is further provided on the rotation seat, and the sensor body is fixed on the rotation sensor seat.

[0031] Optionally, the telescopic joint includes a vertically arranged outer cylinder and an inner cylinder, the outer cylinder is detachably connected to the rotating shaft via a flange, and the inner cylinder is slidably connected to the inside of the outer cylinder; the telescopic joint also includes a telescopic cylinder, the telescopic cylinder is fixed on the top of the outer cylinder, and the inner cylinder is connected to the output end of the telescopic cylinder.

[0032] Optionally, the clamping jaw assembly is connected to the bottom of the inner cylinder, and the clamping jaw assembly is driven to extend and retract in the vertical direction through the telescopic joint, and the clamping jaw assembly is used for grasping; the clamping jaw assembly also includes a clamping cylinder, which is fixed to the lower part of the inner cylinder, and the clamping jaw is fixed on the clamping cylinder, and is clamped or released under the drive of the clamping cylinder.

[0033] Optionally, 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; the axial clamping block is rotatably connected to the pressure plate, and when the transporter is in a state of waiting for loading or removing the drill rod, the pressure plate rotates and opens upward to facilitate the loading or removal of the drill rod; a clamping cylinder is also provided on the pressure plate to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hingedly connected to the upper part of the axial clamping block.

[0034] Optionally, the inclination rotator includes a second fixed ring and a second rotating ring arranged thereon, the second fixed ring is connected to the flange of the frame connecting plate; the second rotating ring is fixedly connected to the second outer shell, the frame is mounted on the second outer shell, and the inclination angle of the frame is adjusted by rotating the second rotating ring.

[0035] Optionally, the lifting sleeve includes a cavity enclosed by two side plates and a top sealing plate, sleeves are provided at both ends of the side plates, and a connecting tube is provided on the side plates; two lifting columns are relatively arranged on the rotary platform, and a lifting cylinder is provided between the two lifting columns; the lifting cylinder of the rotary platform is installed in the cavity, and the lifting sleeve moves up and down along the lifting columns under the drive of the lifting cylinder; the sleeve is sleeved on the lifting columns of the rotary platform, and the rotary transition plate is installed on the connecting tube;

[0036] A flange is provided on the connecting cylinder; the rotary transition plate is disc-shaped and includes three groups of flanges arranged side by side, the inner flange is matched with the flange of the connecting cylinder, and the two groups of outer flanges are respectively used to install the transporter rotator and the frame connecting plate; the frame connecting plate is disc-shaped and includes two groups of flanges connected to each other, and the two groups of flanges are respectively connected to the flange of the rotary transition plate and the inclination rotator.

[0037] Optionally, the inclination adjustment range of the transporter revolver is 360°, which is divided into positive inclination rotation and negative inclination rotation. The angles corresponding to the positive inclination rotation and negative inclination rotation are 0~180° and 0~-180° respectively.

[0038] Optionally, the rotation angle of the connection point between the cable in the cable sensor and the sensor gear ring is smaller than the inclination adjustment range of the transporter rotor;

[0039] When the transporter revolver is at the initial position, the initial length of the wire between the wire sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then the wire length corresponding to a unit angle satisfies the following condition: k=L0 / θ;

[0040] The initial angle θ between the cable sensor and the sensor gear ring connection point is less than 180°;

[0041] When the angle of the transporter rotor is rotated, the total length of the wire pulling sensor is L. Z , then the real-time angle of the sensor ring gear is: α=(L0-L Z ) / k;

[0042] When the transporter rotor rotates counterclockwise at a positive angle, L0≥L Z , α≥0; when the transporter rotor rotates clockwise with a negative inclination, L0≤L Z , α≤0.

[0043] Optionally, the gear train transmission ratio of the inner ring gear, the first-stage gear, the second-stage gear and the sensor ring gear is i, and the actual rotation angle of the transporter calculated by the sensor ring gear is: β=iα; the gear train transmission ratio i≥1.

[0044] A control method using any of the above-mentioned drill rod loading and unloading systems, wherein the frame is further provided with a clamp and a power head, the clamp being used to clamp the drill rod, the power head driving the drill rod to rotate, and the power head and the clamp cooperating to achieve connection or removal of the drill rod;

[0045] The method includes two working conditions: rod delivery and rod retraction; the specific steps include:

[0046] (1) Rod feeding conditions:

[0047] In the initial state, the drilling rig is drilling, and the inclination angle of the frame and the manipulator is α; the transporter is in a horizontal position waiting to be loaded with a drill rod, and the horizontal sensor signal is connected; the manipulator's telescopic joint is retracted, the rotary joint is in the state of completing the first rotation, the sliding joint is retracted, and the gripper is open;

[0048] Place the drill rod into the transporter, the drill rod sensing sensor receives a signal, and the transporter clamps the drill rod;

[0049] The transporter rotates to the same inclination angle as the rack, and the level sensor disconnects the signal;

[0050] The manipulator rotates in the opposite direction of the first stage toward the transporter, and the rotation sensor first connects the signal and then disconnects it;

[0051] The manipulator's telescopic joint extends toward the transporter, clamping the drill rod. The transporter releases the drill rod, and the drill rod sensing sensor signal is disconnected.

[0052] The robot performs the first rotation, the rotation sensor first connects the signal and then disconnects it, and the robot makes room for the transporter to rotate;

[0053] The manipulator's telescopic joint retracts, and the manipulator slides toward the gripper to the rod-delivering position, waiting for the current drill rod to complete drilling; the transporter returns to the horizontal position, and the horizontal sensor signal is connected;

[0054] After the current drill rod is drilled, the power head is disconnected from the drill rod in the hole and retreats to a position where it waits for the drill rod to be loaded.

[0055] The manipulator's telescopic joint extends, and the manipulator performs the second rotation, sending the drill rod into the frame, and the drill rod is clamped by the clamp. During this process, the rotation sensor first connects the signal and then disconnects it;

[0056] The manipulator releases the drill rod, and the power head and the clamp cooperate to complete the drill rod connection and continue drilling;

[0057] (2) Rod withdrawal condition:

[0058] Initially, the drilling rig has just completed drilling the last drill rod: the inclination angle of the frame and manipulator is α; the transporter is in a horizontal position, waiting to be loaded with a drill rod, and the horizontal sensor signal is connected; the manipulator's telescopic joint is retracted, the rotary joint is in the state of completing the first rotation, the sliding joint is retracted, and the gripper is open;

[0059] The power head drags the drill rod in the hole backward, and the manipulator slides toward the gripper, waiting to reach into the frame to grab the drill rod and wait for the current drill rod to be broken out;

[0060] The transporter rotates to the same inclination angle as the rack, and the level sensor disconnects the signal;

[0061] The power head and the clamp cooperate to complete the drill pipe shackle and disconnect the connection with the drill pipe in the hole;

[0062] The manipulator's telescopic joint extends and performs the second rotation. At this time, the gripper reaches the position where it can clamp the drill rod to be removed from the rack. The rotation sensor first connects the signal and then disconnects it.

[0063] The manipulator clamps the drill rod, and the gripper or power head releases the drill rod;

[0064] The manipulator performs the reverse rotation of the second stage of rotation, and the rotation sensor first connects the signal and then disconnects it;

[0065] The manipulator places the drill rod into the transporter, the drill rod sensing sensor outputs a signal, and the transporter clamps the drill rod.

[0066] The manipulator releases the drill rod and the telescopic joint retracts;

[0067] The manipulator performs the first rotation to make room for the transporter to rotate, and the rotation sensor first connects the signal and then disconnects it;

[0068] The transporter returns to the horizontal position, and the horizontal sensor signal is connected; the transporter releases the drill rod, the drill rod is taken out, and the drill rod sensing sensor signal is disconnected;

[0069] During the rotation of the transporter in the rod feeding and rod retracting conditions, the inclination sensor measures the inclination angle of the transporter in real time.

[0070] The beneficial effects of the present invention are:

[0071] The present invention uses a gyroscope to drive the transporter to rotate vertically relative to the frame, enabling wide-range tilt adjustment. A combination of clamping at both ends and top compression secures the drill rod during transport, preventing it from falling during tilt adjustment. This solves the problem of existing drill rod transporters, which can only move horizontally and lack a vertical drill rod securing mechanism, making tilt movement prone to causing drill rods to fall.

[0072] A sensor installed at the bottom of the transporter accurately identifies the presence of drill rods, improving the safety and accuracy of drill rod transportation. A displacement sensor monitors the transporter's inclination changes and performs length / angle conversion, enhancing the comprehensiveness of monitoring the automatic drill rod transportation process. A gear system ensures that the output angle range is smaller than the transporter's inclination range, increasing the flexibility of sensor installation locations and related structural component designs. A simple proximity sensor principle is used to determine the transporter's horizontal position, adding feature position determination to process monitoring, further improving safety.

[0073] The manipulator is fixedly connected to the drilling frame, eliminating the need for inclination joints and simplifying the overall structure and sensor system. It maintains the same inclination angle with the drilling frame during drilling, minimizing interference with other components. Sensors with segmented sensing capabilities are installed at the manipulator's rotating joints, allowing the manipulator to rotate in multiple stages and pause at specific locations where required. The direction of rotation can also be determined by the duration of the sensor signal. This solves the problem of existing drill rod conveying manipulators, which have complex inclination joints, resulting in a complex structure and sensor positioning system, and can only rotate the manipulator once and cannot pause during the process.

[0074] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0076] Figure 1 Installation diagram of drill pipe handling system Figure 1 ;

[0077] Figure 2 Installation diagram of drill pipe handling system Figure 2 ;

[0078] Figure 3 This is the axonometric view of the transporter;

[0079] Figure 4 This is the front view of the transporter;

[0080] Figure 5 It is a cross-sectional view of an asynchronous rotating device;

[0081] Figure 6 It is the side view of the lifting sleeve shaft;

[0082] Figure 7 This is a schematic diagram of the working principle of the tilt sensor;

[0083] Figure 8 Schematic diagram of the level sensor;

[0084] Figure 9 This is the main view of the robot;

[0085] Figure 10 It is the side view of the manipulator;

[0086] Figure 11 This is the assembly diagram of the robot;

[0087] Figure 12 Schematic diagram of the rotation sensor.

[0088] Reference numerals:

[0089] 702 slewing platform, 704 lifting column, 705 lifting sleeve, 70501 side plate, 70502 sleeve, 70503 connecting cylinder, 706 lifting cylinder, 709 transporter rotator, 710 inclination rotator, 712 slewing transition plate, 713 frame connecting plate, 71403 inclination sensor; 71403a inner ring gear; 71403b primary gear; 71403c rotating shaft; 71403d sensor ring gear; 71403e pull-wire sensor; 71403f secondary gear; 71403g gland, 71404 level sensor, 71404a trigger block, 71404b level sensor element, 8 transporter, 801 base plate, 802 support block, 803 pressure plate, 804 pressing cylinder, 805 slider, 806 sliding cylinder, 807 sensing sensor element, 808 sensing sensor seat, 809 signal post, 810 spring;

[0090] 9 manipulator, 901 fixed seat, 902 rotation driver, 903 rotation seat, 904 rotation sensor, 905 rotation shaft, 906 telescopic cylinder, 907 outer cylinder, 908 inner cylinder, 909 clamping cylinder, 910 clamping claw, 911 connecting arm, 912 sliding cylinder, 90401 rotation sensor seat, 90402 sensor body, 90403 trigger ring, 90403a first sensing surface, 90403b notch, 90403c second sensing surface;

[0091] 10. Power head, 11. Machine frame, 12. Clamp. DETAILED DESCRIPTION

[0092] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0093] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0094] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0095] See also Figures 1 to 12, which is a drill rod loading and unloading system, including a frame 11 and a posture adjustment device 7 connected to each other; a manipulator 9 is set on the frame 11, including a rotating joint, a telescopic joint, a clamping claw assembly and a rotation sensor 904; a clamp 12 and a power head 10 are also provided on the frame 11, the clamp 12 is used to clamp the drill rod, and the power head 10 drives the drill rod to rotate, and the power head 10 cooperates with the clamp 12 to realize the connection or removal of the drill rod.

[0096] The rotary joint includes a rotary base 903 and a rotary driver 902. The rotary driver 902 is disposed at one end of the rotary base 903 and drives a rotary shaft 905 to rotate. The rotary shaft 905 passes through the rotary base 903 and is connected to the telescopic joint.

[0097] The clamping jaw assembly is connected to the bottom of the telescopic joint, and the telescopic joint drives the clamping jaw assembly to extend and retract in the vertical direction, and the clamping jaw assembly is used for grasping;

[0098] The rotation sensor 904 includes a sensor body 90402 and a trigger ring 90403. The trigger ring 90403 is fixed to the rotating shaft 905 and rotates synchronously and in the same direction as the robot 9. The trigger ring 90403 is provided with a notch 90403b to divide the arc surface of the trigger ring 90403 into two parts. The end surfaces on both sides of the notch serve as sensing surfaces.

[0099] The sensor body 90402 is set on the rotating seat 903 and corresponds to the sensing surface on the end face of the trigger ring 90403; when the sensor body is facing the sensing surface of the trigger ring 90403, the sensor signal is connected; otherwise, the sensor signal is disconnected.

[0100] The present invention connects a rotating joint and a telescopic joint, so that the manipulator 9 can have a telescopic function while satisfying the rotation function, thereby meeting more functional requirements. The rotating joint can satisfy the rotation of the manipulator 9 at a certain angle, which means that any material within this angle range can be grasped by the manipulator 9; in addition, combined with the telescopic effect of the telescopic joint, it should be noted that the telescopic joint has at least one component force whose telescopic direction is perpendicular to the axial direction of the rotating joint, so that the grasping range of the manipulator 9 continues to expand within the original rotation angle range, thereby obtaining a wider range of applicability.

[0101] A rotation sensor 904 is provided at the connection between the rotation joint and the telescopic joint. The rotation sensor 904 consists of a rotation sensor base 90401 , a sensor body 90402 and a trigger ring 90403 .

[0102] The rotation sensor base 90401 is fixedly mounted on the top or side of the rotating base 903903, with the sensor body 90402 fixedly mounted therein. The trigger ring 90403, facing the sensing surface of the sensor body 90402, is fixedly mounted on the rotating shaft 905905 or the outer cylinder 907907. Neither the sliding nor the telescopic joint processes activate the rotation sensor 904; only the rotation process activates the rotation sensor 904 and transmits sensor signals. Based on these signals, the rotation direction and angle of the manipulator 9 can be determined in real time.

[0103] After grabbing the drill rod from the transporter, manipulator 9 first rotates past first sensing surface 90403a and enters gap 90403b. Because there's no sensing surface at gap 90403b, the manipulator pauses for a specified period of time, or until a signal is received from the control system, before continuing to rotate (sensor body 90402 enters second sensing surface 90403b) until the sensor disconnects again, at which point the main manipulator delivers the drill rod into the rack. By installing sensors with segmented sensing capabilities at the manipulator's rotating joints, the manipulator's rotation can be divided into multiple stages, pausing at specific locations as needed.

[0104] The posture adjustment device 7 includes a rotating platform 702 and an asynchronous rotation device installed on the rotating platform 702; the transporter 8 is arranged between the frame 11 and the rotating platform 702 through the asynchronous rotation device.

[0105] The drill rod transporter 8 is the second-level actuator of the drill rod conveying system. It transfers drill rods between the main and auxiliary manipulators, converting the drill rod's inclination from horizontal to parallel to the frame. The drill rod transporter 8 comprises a base plate 801, a support block 802, a pressure plate 803, a clamping cylinder 804, an axial clamping block, a sliding cylinder 806, and a drill rod sensor, with the sensor mounted on the base plate 801.

[0106] The base plate 801 is the main load-bearing and connecting member on the transporter 8. The support block 802, axial pressure block, sliding cylinder 806 and other components are directly or indirectly mounted on the base plate 801, ensuring the integrity and stability of the transporter 8 structure and enabling the various components to work together to complete the transport and fixation of the drill rod. At least two support blocks 802 are set 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, there are preferably two support blocks 802. When the drill rod is placed in the transporter 8, the drill rod can be stably placed in the groove of the support block 802. The support block 802 bears the main weight of the drill rod, providing reliable support for the drill rod, and ensuring that the drill rod will not sink or shake due to its own weight during transportation.

[0107] The axial pressing block is provided on the base plate 801 and is located on both sides of the support block 802. The axial pressing block presses and fixes the drill rod from the axial direction of the drill rod; the axial pressing block includes at least one slider 805 slidably provided on the base plate 801. In some embodiments of the present invention, the axial pressing blocks on both sides of the support block 802 are a fixed block and a slider 805. By sliding the slider 805 on one side on the base plate 801, the internal space can be expanded when the drill rod is placed or taken out, or the drill rod can be pressed against the fixed block on the other side; in other embodiments of the present invention, both axial pressing blocks are sliders 805. The upper part of the axial pressing block is hingedly connected to a pressing plate 803 and a pressing cylinder 804, wherein the pressing plate 803 is located above the support block 802 and is rotatably connected to the upper part of the axial pressing block. The clamping cylinder 804 is located on the outside of the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803 and is the power source for driving the pressure plate 803 to rotate. Through the telescopic movement of the clamping cylinder 804, the power can be transmitted to the pressure plate 803, so that the pressure plate 803 rotates according to a predetermined trajectory, thereby achieving the action of clamping or loosening the drill rod until the drill rod is clamped on the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further limiting the movement of the drill rod in the vertical and horizontal directions, enhancing the stability of the drill rod fixation, and preventing the drill rod from falling during transportation.

[0108] A sliding cylinder 806 is installed at the bottom of base plate 801. Connected to slider 805, it acts as the power unit that drives slider 805 along the length of base plate 801. This drives slider 805 toward the center of base plate 801, clamping the drill rod and limiting its axial movement. Working together with support block 802 and pressure plate 803, this provides multi-directional securement of the drill rod. Sliding cylinder 806 precisely controls the position and speed of slider 805, ensuring smooth loading, unloading, and securing of the drill rod, and ensuring its stability during transport.

[0109] When the transporter 8 is in the state of waiting for the drill rod to be loaded or removed (other clamping mechanisms have already clamped the drill rod), the clamping cylinder 804 drives the pressure plate 803, the pressure plate 803 rotates upward and opens, and the sliding cylinder 806 drives the slider 805 to move outward to expand the internal space to facilitate the loading or removal of the drill rod; after the drill rod is loaded or removed, the clamping cylinder 804 drives the pressure plate 803 to rotate back to the clamping position.

[0110] When the drill rod is placed in the transporter 8 and the transporter 8 needs to be rotated or moved, the clamping cylinder 804 drives the pressure plate 803 to clamp the drill rod, and the sliding cylinder 806 drives the slider 805 to move toward the middle to keep the internal drill rod stable and not easy to fall.

[0111] The drill rod transporter 8 of the present invention secures the drill rod during transport by clamping both ends of the drill rod in combination with pressing at the top, thereby preventing the drill rod from falling during inclination adjustment. Facilitates loading and unloading of drill rods: When the transporter 8 is in the state of waiting to load or remove the drill rod (other clamping mechanisms have already clamped the drill rod), the clamping cylinder 804 drives the pressure plate 803 to rotate and open upward, and the sliding cylinder 806 drives the slider 805 to move outward, expanding the internal space of the transporter 8 and reducing obstructions during loading and unloading. Enhances drill rod fixation stability: By clamping the drill rod at both ends with the slider 805 and pressing the top with the pressure plate 803, the drill rod is fixed from multiple directions, greatly enhancing the stability of the drill rod during transport and effectively preventing problems caused by shaking, deflection, or even falling during transport. Adapts to high-inclination working conditions: The above-mentioned fixing method can ensure that the drill rod remains stable under high-inclination working conditions, preventing the drill rod from falling during inclination adjustment, and expanding the application range and adaptability of automatic drilling rigs.

[0112] The drill rod sensor includes a sensor base 808, a sensor element 807, a signaling post 809, and a spring 810. The sensor base 808 is positioned below the base plate 801, with the sensor element 807 mounted on the base 808. Signaling post 809 is retracted and mounted on the base 808 via a spring 810. The end of signaling post 809, away from the sensor base 808, passes through a mounting hole in the base plate 801 and protrudes above the surface of the base plate 801. When the spring 810 is free, the top of signaling post 809 extends beyond the lowest point of the groove in the support block 802. When the drill rod is inserted, signaling post 809 is pressed downward, and the other end of signaling post 809 enters the sensing range of the sensor element, generating a connection signal.

[0113] Principle of the drill rod sensing sensor: When the spring 810 is in a free state, the top of the signal post 809 exceeds the lowest point of the groove of the support block 802, and the sensor signal is disconnected at this time; when a drill rod is placed in the support block 802, the signal post 809 is pressed down, and the height of the pressed down is sufficient to make its length cover the sensing range of the sensor, thereby generating a connection signal.

[0114] The level sensor 71404 consists of a trigger block 71404a and a level sensor element 71404b. The trigger block 71404a is mounted on the side of the transporter 8 facing the lifting sleeve 705 and rotates with the transporter 8. The level sensor element 71404b is mounted on the side of the lifting sleeve 705 facing the transporter 8 via a mounting bracket. The operating principle is as follows: when the transporter 8 is horizontal, the trigger block 71404a and the level sensor element 71404b are aligned, and the sensor outputs a signal. When the transporter 8 rotates, the sensor is disconnected and no signal is output.

[0115] The asynchronous rotation device includes a lifting sleeve 705, a transporter rotator 709, an inclination rotator 710, a rotation transition plate 712 and a frame connecting plate 713. The frame 11 and the rotating platform 702 are connected in sequence through the inclination rotator 710, the frame connecting plate 713, the rotation transition plate 712 and the lifting sleeve 705; wherein, the inclination rotator 710 is rotationally connected to the frame 11, and the transporter 8 is rotationally connected to the rotation transition plate 712 through the transporter rotator 709, and the inclination angle between the frame 11 and the transporter 8 is asynchronously rotated and adjusted through the inclination rotator 710 and the transporter rotator 709.

[0116] The lifting sleeve 705 is a connector for installing the transporter rotator 709, the tilt rotator 710, the rotary transition plate 712 and the frame connecting plate 713. It includes a cavity enclosed by two side plates 70501 and a top cover plate. Sleeves 70502 are provided at both ends of the side plates 70501, and a connecting cylinder 70503 is provided on the side plates 70501. Two lifting columns 704 are relatively provided on the rotary platform 702, and a lifting cylinder 706 is provided between the two lifting columns 704. The cavity The lifting cylinder 706 of the rotating platform 702 is installed inside, and one end of the lifting cylinder 706 is connected to the lifting sleeve 705 by a pin shaft or the like, and the other end is fixedly installed on the rotating platform 702, thereby indirectly installing the lifting sleeve 705 on the rotating platform 702. Driven by the lifting cylinder 706, the lifting sleeve 705 moves up and down along the lifting column 704; the sleeve 70502 is sleeved on the lifting column 704 of the rotating platform 702, and a rotating transition plate 712 is installed on the connecting cylinder 70503.

[0117] The connecting tube 70503 is located on the side of the lifting sleeve 705 facing the frame 11, and a flange is provided on the connecting tube 70503; the rotary transition plate 712 is disc-shaped, including three sets of flanges arranged side by side, the inner flange is connected to the flange of the connecting tube 70503, and the two sets of outer flanges are used to install the transporter rotator 709 and the frame connecting plate 713 respectively.

[0118] The frame connecting plate 713 is disc-shaped and includes two sets of flanges connected to each other. The two sets of flanges are respectively connected to the flange of the rotary transition plate 712 and the inclination rotator 710.

[0119] The transporter rotator 709 is a driving element for adjusting the inclination of the transporter 8. The transporter rotator 709 includes a first fixed ring and a first rotating ring provided thereon. The first fixed ring is bolted to the flange of the rotating transition plate 712, thereby indirectly fixing the rotating transition plate 712 to the lifting sleeve 705. The first rotating ring is fixedly connected to the first outer shell, and the transporter 8 is mounted on top of the first outer shell. The inclination of the transporter 8 is adjusted by rotating the first rotating ring. In some embodiments of the present invention, the transporter rotator 709 is preferably a worm gear reducer, with the first rotating ring being the inner ring and the first fixed ring being the outer ring. The outer side of the outer ring is a worm wheel, which is driven to rotate by the worm.

[0120] The inclination rotator 710 includes a second fixed ring and a second rotating ring disposed thereon. The second fixed ring is connected to the flange of the frame connecting plate 713. The second rotating ring is fixedly connected to the second outer shell, on which the frame 11 is mounted. The rotation of the second rotating ring drives the frame 11 to rotate in a circular motion, thereby adjusting the inclination angle of the frame 11. The inclination rotator 710 is similar to the transporter rotator 709, with the second rotating ring being the inner ring and the second fixed ring being the outer ring.

[0121] The asynchronous rotation principle of the present invention is as follows: the first fixed ring of the transporter rotator 709 is connected to the flange bolt of the rotary transition plate 712, thereby indirectly fixing the rotary transition plate 712 to the lifting sleeve 705. The inner ring of the transporter rotator 709 is the first rotating ring and is fixedly connected to the first outer shell. The transporter 8 is fixedly mounted on the top of the outer shell, and the inclination angle can be adjusted as the outer shell rotates. Similar to the first fixed ring of the transporter rotator 709, the frame connecting plate 713 is fixedly mounted on the rotary transition plate 712, thereby indirectly fixing the frame connecting plate 713 to the lifting sleeve 705. The second rotating ring (preferably the inner ring) of the inclination rotator 710 is connected to the frame 11, and the second fixed ring (outer ring) is fixedly mounted on the frame connecting plate 713, thereby indirectly fixing the frame connecting plate 713 to the lifting sleeve 705.

[0122] Therefore, the first fixed ring of the transporter rotator 709 and the second fixed ring of the inclination rotator 710 are both fixedly mounted on the lifting sleeve 705, and the first rotating ring and the second rotating ring respectively carry the transporter 8 and the frame 11, and are not restricted in rotation by the lifting sleeve 705, and can rotate independently and freely, thus forming an asynchronous rotation device that drives the frame 11 and the transporter 8 to adjust the inclination angles of the two components separately.

[0123] The inclination sensor 71403 includes an inner ring gear 71403a, a rotating shaft 71403c, a sensor ring gear 71403d, and a wire sensor 71403e. The inner ring gear 71403a is fixedly connected to the first rotating ring of the transporter rotator 709, so that the inner ring gear 71403a is driven to rotate by the transporter rotator 709. The rotating shaft 71403c is rotatably connected to the lifting sleeve 705 of the drill pipe transporter 8. A primary gear 71403b and a secondary gear 71403f are respectively provided at each end of the rotating shaft 71403c. The primary gear 71403b meshes with the inner ring gear 71403a, and the secondary gear 71403f meshes with the sensor ring gear 71403d. The sensor ring gear 71403d is rotatably mounted on the outside of the lifting sleeve 705. A cable sensor 71403e is located outside the lifting sleeve 705 and is connected to the sensor ring gear 71403d via a cable. The cable length of the cable sensor 71403e is used to calculate the rotation angle of the drill pipe transporter 8. The rotating shaft 71403c and the transporter rotator 709 can rise and fall synchronously with the rise and fall of the lifting sleeve 705.

[0124] In addition, a pressure cap 71403g is provided on the outside of the lifting sleeve 705, and the sensor ring gear 71403d is enclosed within the pressure cap 71403g to protect the sensor ring gear 71403d. The direction of rotation of the sensor ring gear 71403d can be displayed by the expansion and contraction of the cable of the cable sensor 71403e, and the angle can be calculated based on the change in the length of the cable of the cable sensor 71403e. The pressure cap 71403g can be configured as a transparent structure to intuitively display the rotation direction of the sensor ring gear 71403d and the degree of gear wear, thereby facilitating timely repair or replacement of the drill pipe transporter inclination sensor 71403 and avoiding large errors in the detection of the drill pipe transporter inclination sensor 71403.

[0125] This invention utilizes an integrated design combining gear transmission, cable measurement, and mechanical protection to achieve high-precision, high-reliability, full-process tilt monitoring under complex operating conditions. By optimizing the gear ratio when converting rotary motion into linear displacement, the nonlinear error between cable extension and actual angle is minimized.

[0126] Furthermore, the inclination adjustment range of the transporter revolver 709 is 360°, and the transporter revolver 709 is divided into positive inclination rotation and negative inclination rotation. The angles corresponding to the positive inclination rotation and the negative inclination rotation are 0~180° and 0~-180° respectively.

[0127] The inclination rotation range of the drill rod transporter 8 is consistent with that of the drilling rig frame, which is 360°. According to the settings of the drilling rig hydraulic pipeline, control circuit, etc., the inclination adjustment of the frame in actual operation is divided into two upper and lower semicircles, namely 0 to ±180°. In the specific implementation process, compared with the unidirectional control of 0° to 360°, the present invention effectively solves the problem of entanglement between hydraulic pipelines and cables through limited angle control + two-way rotation strategy, that is, the inclination rotation range of the drill rod transporter 8 is adjusted from unidirectional 0° to 360° to bidirectional 0 to ±180°, and the corresponding gear transmission structure and sensor gear ring 71403d also have forward and reverse rotation. The pull wire of the wire sensor 71403e is controlled by the limited angle of the drill rod transporter 8, avoiding the problem of failure of the wire sensor 71403e due to stress damage, or even breakage due to excessive stretching.

[0128] Furthermore, when the transporter rotator 709 is in the initial position, that is, assuming that the inclination angle of the drill pipe transporter 8 is 0°, the cable passes through the upper semicircle of the sensor gear ring 71403d and is fixed to it. The initial length of the cable between the connection point of the cable sensor 71403e and the sensor gear ring 71403d is L0, and the initial angle is θ. Then, the cable length corresponding to a unit angle satisfies the following conditions:

[0129] k=L0 / θ.

[0130] Furthermore, the initial angle θ of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is less than 180°. In theory, the rotation angle of the transporter inclination sensor 71403 should be consistent with the inclination adjustment range of the drill pipe transporter 8. However, affected by factors such as the structural size of the lifting sleeve 705, the installation space, and processing and assembly errors, the fixed end of the wire of the wire sensor 71403e cannot always be installed facing 0° or 180° (the horizontal line in the figure), and there will actually be a section of the wire that cannot always fit the outer edge of the sensor gear ring 71403d. Therefore, the envelope range of the wire for the outer edge of the sensor gear ring 71403d is always less than 180°. Preferably, the envelope range of the wire for the outer edge of the sensor gear ring 71403d is between 120° and 180°.

[0131] Example 1:

[0132] The wire sensor 71403e is located above the horizontal line of the sensor gear ring 71403d. When the transporter rotator is in the initial state, the connection point between the wire sensor 71403e and the sensor gear ring 71403d rotates to the 0° or 180° horizontal line, and the wire of the wire sensor 71403e rotates a certain angle from its own installation position, which means that the wire of the wire sensor 71403e needs to be stretched to the initial length L0 in the initial state and wrapped around the outside of the sensor gear ring 71403d. The corresponding initial angle is θ. When the transporter rotator 709 rotates at an inclination angle, the total length of the wire of the wire sensor 71403e is L Z , then the real-time angle of the sensor ring gear 71403d is:

[0133] α=(L0-L Z ) / k;

[0134] When the transporter rotor 709 rotates at a positive inclination angle counterclockwise, that is, the inner ring gear 71403a rotates counterclockwise along with the transporter rotor 709, the first-stage gear 71403b engages with the inner side of the inner ring gear 71403a, so the rotation direction of the first-stage gear 71403b is also counterclockwise, the rotating shaft 71403c is fixedly connected to the first-stage gear 71403b, and the second-stage gear 71403f is fixedly connected to the rotating shaft 71403c, so the rotating shaft 71403c and the second-stage gear 71403f both move synchronously in the same direction as the first-stage gear 71403b, and also rotate counterclockwise. The secondary gear 71403f and the sensor gear ring 71403d are also in an internal gear meshing relationship. Therefore, the sensor gear ring 71403d also rotates counterclockwise. As the sensor gear ring 71403d rotates counterclockwise, the wire in the wire sensor 71403e gradually retracts under the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is ≥ the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor ring gear 71403d is ≥0.

[0135] When the transporter rotor 709 rotates clockwise with a negative inclination angle, that is, the inner ring gear 71403a rotates clockwise with the transporter rotor 709, the first-stage gear 71403b engages with the inner side of the inner ring gear 71403a, so the rotation direction of the first-stage gear 71403b is also clockwise, the rotating shaft 71403c and the first-stage gear 71403b are fixedly connected, and the second-stage gear 71403f and the rotating shaft 71403c are fixedly connected, so the rotating shaft 71403c and the second-stage gear 71403f both move synchronously in the same direction as the first-stage gear 71403b, and also rotate clockwise. The secondary gear 71403f and the sensor gear ring 71403d are also in an internal gear meshing relationship. Therefore, the sensor gear ring 71403d also rotates clockwise. As the sensor gear ring 71403d rotates clockwise, the wire in the wire sensor 71403e is gradually stretched by the sensor gear ring 71403d, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is ≤ the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor gear ring 71403d is ≤ 0. However, the positive or negative value of the real-time angle α rotated by the sensor gear ring 71403d only indicates the tilt rotation direction of the transporter rotor 709.

[0136] Example 2:

[0137] The difference from the first embodiment is that the wire pulling sensor 71403e in this embodiment is located below the sensor gear ring 71403d. When the overall gear transmission structure remains unchanged, the rotation direction of the sensor gear ring 71403d is still consistent with the rotation direction of the transporter revolver 709. However, the total length Lz of the wire pulling sensor 71403e in real time is opposite to that in the first embodiment. The calculation formula of the real-time angle of rotation of the sensor gear ring 71403d is α=(L Z -L0) / k.

[0138] Specifically, when the transporter rotator 709 rotates counterclockwise at a positive inclination angle, the wire in the wire sensor 71403e is gradually stretched by the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is less than the total real-time wire length L of the wire sensor 71403e. Z , the real-time angle α rotated by the sensor ring gear 71403d is ≥0.

[0139] When the transporter rotator 709 rotates clockwise at a negative angle, the wire in the wire sensor 71403e gradually retracts under the elastic force of the internal spring, so that the initial length L0 of the wire between the connection point of the wire sensor 71403e and the sensor gear ring 71403d is greater than the total real-time wire length L of the wire sensor 71403e.Z , the real-time angle α rotated by the sensor ring gear 71403d is ≤0.

[0140] Furthermore, the transmission ratio of the gear train consisting of the inner ring gear 71403a, the primary gear 71403b, the secondary gear 71403f and the sensor ring gear 71403d is i. Then, the actual rotation angle of the drill pipe transporter 8 calculated by the sensor ring gear 71403d is:

[0141] β=iα。

[0142] According to the gear train structure, the expression of the transmission ratio i is:

[0143] i = (Z2 / Z1)*(Z4 / Z3), where Z1 is the number of teeth on the inner ring gear 71403a, Z2 is the number of teeth on the primary gear 71403b, Z3 is the number of teeth on the secondary gear 71403f, and Z4 is the number of teeth on the sensor ring gear 71403d. Assuming the gear transmission structure of the present invention is a transmission chain of inner ring gear 71403a (120 teeth) → primary gear 71403b (20 teeth) → secondary gear 71403f (10 teeth) → sensor ring gear 71403d (300 teeth), a 360° rotation of the transporter rotator 709 is converted into a 72° rotation of the sensor ring gear 71403d (a transmission ratio of 5:1). Compared with the conventional setting with a transmission ratio of 1, the measuring range of the wire sensor 71403e is shortened to 1 / 5 of the conventional length. On this basis, even if the drill pipe transporter 8 is rotated to the extreme position, the length conversion of the wire sensor 71403e will not be very large. It is only necessary to calculate the length change of the wire sensor 71403e to effectively calculate the actual inclination degree of the transporter rotator 709.

[0144] Furthermore, the gear train consisting of the inner ring gear 71403a, the primary gear 71403b, the secondary gear 71403f, and the sensor ring gear 71403d has a transmission ratio of i ≥ 1. When the transmission ratio i ≥ 1, the rotation angle of the sensor ring gear 71403d is mechanically reduced, significantly shortening the displacement of the cable sensor 71403e, thereby increasing the flexibility of the installation location of the cable sensor 71403e and the design of related structural components.

[0145] A method for controlling a rod transporter inclination sensor 71403 uses the drill rod transporter inclination sensor 71403 in the above embodiment and includes the following steps:

[0146] S1, the transporter rotator 709 rotates to set the inclination angle;

[0147] S2. The inclination angle of the transporter rotator 709 is transmitted to the sensor ring gear 71403d through the primary gear 71403b and the secondary gear 71403f on the rotating shaft 71403c, and the cable of the cable sensor 71403e is driven to extend and retract.

[0148] S3. Calculate the rotation angle and direction of the sensor gear ring 71403d based on the actual extension length of the wire of the wire sensor 71403e. When the wire is extended, the sensor outputs a positive increment (+ΔL), corresponding to clockwise rotation; when the wire is retracted, the sensor outputs a negative increment (-ΔL), corresponding to counterclockwise rotation.

[0149] In embodiment 2, when the pull wire sensor 71403e is located below the horizontal line of the sensor gear ring 71403d, when the pull wire is extended, the sensor outputs a positive increment (+ΔL), corresponding to a counterclockwise rotation; when the pull wire is retracted, the sensor outputs a negative increment (-ΔL), corresponding to a clockwise rotation.

[0150] S4. Calculate the inclination angle of the rotator, transporter, and revolver based on the transmission ratio of the gear system consisting of the inner gear ring 71403a, the first gear 71403b, the second gear 71403f, and the sensor gear ring 71403d.

[0151] By setting up a gear transmission structure, the rotation process and rotation inclination of the transporter rotator 709 located inside the drilling rig are transmitted to the sensor ring gear 71403d located outside the drilling rig, and the actual rotation direction and rotation angle of the sensor ring gear 71403d will directly act on the length change of the pull wire of the pull wire sensor 71403e, that is, the envelope angle of the pull wire to the sensor ring gear 71403d. Finally, the rotation process and rotation inclination of the transporter rotator 709 located inside the drilling rig are reversed according to the transmission ratio of the gear structure, and the displacement sensor is used to monitor the inclination change process of the drill pipe transporter 8, and length / angle conversion is performed, thereby improving the comprehensiveness of monitoring the automatic conveying process of the drill pipe.

[0152] In addition, the present invention can also set the transmission ratio of the gear transmission structure so that the output angle range of the sensor ring gear 71403d is smaller than the inclination change angle range of the transporter rotor 709, thereby improving the flexibility of the installation position of the wire drawing sensor 71403e and the design of related structural parts in the present invention.

[0153] The present invention fixes the drill rod in transit by clamping both ends of the drill rod and pressing the top, thereby preventing the drill rod from falling during inclination adjustment; a sensing sensor is arranged at the bottom of the transporter to accurately determine whether there is a drill rod in the transporter, thereby improving the safety and accuracy of drill rod transportation.

[0154] A wire draw sensor is also used to monitor the inclination change process of the transporter and perform length / angle conversion, which improves the comprehensiveness of monitoring the automatic conveying process of the drill pipe; the gear system makes the output angle range smaller than the angle range of the transporter inclination change, which improves the flexibility of the sensor installation position and related structural parts design; a simple proximity sensor principle is used to determine the horizontal position of the transporter, and the judgment of the characteristic position is added on the basis of process monitoring, further improving safety.

[0155] Example 3:

[0156] Furthermore, the arcs corresponding to first and second sensing surfaces 90403a and 90403b, located on either side of gap 90403b, have different arc lengths. This results in inconsistent sensor signal on-times when the sensor body is located within first and second sensing surfaces 90403a and 90403b. The first arc is shorter than the second arc, and the control system can determine the manipulator's rotation direction by observing changes in the sensor signal on-time (from short to long or from long to short), thereby recording the main manipulator's status in the system.

[0157] Specifically:

[0158] Initial state: the gripper of the manipulator 9 is vertically downward, only the telescopic joint of the manipulator 9 moves, the rotary joint is not started, the sensor body 90402 does not enter the sensing area of the first sensing surface 90403a, and the sensor signal is disconnected.

[0159] The first rotation: The rotating joint is started, and the manipulator 9 rotates counterclockwise. Since the sensor body 90402 is fixed on the rotating seat 903, it does not move synchronously with the rotating joint. At this time, the first sensing surface 90403a is acted upon by the rotating shaft 905, so that the sensor body 90402 enters the sensing area of the first sensing surface 90403a, and the sensor receives the signal.

[0160] Stay stage: When the rotating joint drives the manipulator 9 to rotate continuously, until the gap 90403b of the trigger ring 90403 corresponds to the sensor body 90402, at this time, since there is no sensing surface at the gap 90403b, the sensor signal is disconnected, and the manipulator 9 stays for a specific length of time or waits for the control system to send a signal again before continuing to rotate.

[0161] Second Rotation: The rotating joint is activated again, and the manipulator 9 continues to rotate counterclockwise. At this point, the first sensing surface, under the action of the rotating shaft 905, causes the sensor body 90402 to enter the sensing area of the second sensing surface 90403b, until the trigger ring 90403 completely leaves the sensor body 90402, indicating that the manipulator 9 has completed the entire rotation range. During the second rotation, the sensor signal is first connected and then disconnected.

[0162] Determination of positive and negative rotation direction: Since in the present invention, the arc length of the first sensing surface 90403a is smaller than the arc length of the second sensing surface 90403b, when the sensor signal is "off-short on-off-long on-off", the robot rotates counterclockwise; otherwise it rotates clockwise.

[0163] In addition, there may be a second situation in the present invention, that is, the arc length of the first sensing surface 90403a is greater than the arc length of the second sensing surface 90403b. When the sensor signal is "off-long on-off-short on-off", the robot rotates counterclockwise; otherwise it rotates clockwise.

[0164] Furthermore, the trigger ring 90403 is cocentric with the rotation axis 905 of the manipulator 9. During implementation, the sensor body 90402 of the present invention is fixed to the rotating base 903 and does not change position. Relative displacement between the sensor body 90402 and the trigger ring 90403 can only be achieved through the rotation of the trigger ring 90403. Since the trigger ring 90403 is cocentric with the rotation axis 905, the rotation paths of the first sensing surface 90403a and the second sensing surface 90403b coincide regardless of how the trigger ring 90403 rotates. Simply by aligning the sensor body 90402 with the rotation path of the trigger ring 90403, effective communication between the sensing surfaces of the sensor body 90402 and the trigger ring 90403 can be ensured, thereby reducing errors in determining the travel path of the manipulator 9.

[0165] Example 4:

[0166] The trigger ring 90403 is an open ring structure, and the initial position of the sensor body 90402 is located at one of the end points of the trigger ring 90403. In practice, since the trigger ring 90403 is an open ring structure and the diameter of the rotating shaft 905 is smaller than the opening width of the trigger ring 90403, the trigger ring 90403 can be directly mounted on the rotating shaft during assembly without disassembling the telescopic joint. This facilitates the assembly and disassembly of the trigger ring 90403, and when the sensor needs to be repaired or replaced later, there is no need to disassemble other structures of the manipulator.

[0167] Furthermore, the arc length angle of the trigger ring 90403 is greater than 180°. During implementation, the circumferential angle of the trigger ring 90403 should completely cover the rotation angle range of the main manipulator. The rotation angle range of the manipulator in the present invention is 0 to ±180°, where the positive and negative signs only represent the rotation direction of the manipulator, i.e., 0 to 180° clockwise and 0 to 180° counterclockwise. This is because the arc length angle corresponding to the trigger ring 90403 must be greater than 180° to ensure that the circumferential angle of the trigger ring 90403 completely covers the rotation angle range of the main manipulator.

[0168] In addition, the trigger ring 90403 in the present invention also has a notch 90403b. When designing the arc length angle actually corresponding to the trigger ring 90403, the arc length angle of the notch 90403b should also be considered. Therefore, the arc length angle actually corresponding to the trigger ring 90403 should still be greater than 180° after subtracting the arc length angle of the notch 90403b.

[0169] Furthermore, the sensing surface covers all end surfaces of the trigger ring 90403 except the notch 90403b, thereby ensuring that the sensing signal between the sensor body 90402 and the trigger ring 90403 can record the status of the main manipulator in real time.

[0170] Furthermore, a protruding connecting plate is provided on the inner side of the trigger ring 90403, and a connecting hole (not shown) is provided on the connecting plate for bolting the trigger ring 90403 to the manipulator's rotating shaft 905. Since the end face of the trigger ring 90403 is provided with a sensing surface and a notch 90403b, a small connecting plate is provided on the inner side of the trigger ring 90403 without damaging the sensing surface. The connecting plate protrudes from the inner diameter of the trigger ring 90403 and is provided with a connecting hole. The rotating shaft 905 of the present invention is connected to the outer cylinder of the telescopic joint via a flange. The flange end face of the rotating shaft 905 is provided with a threaded hole or through hole corresponding to the connecting hole. Finally, the trigger ring 90403 is secured to the flange end face of the rotating shaft 905 using connecting components such as bolts or nuts.

[0171] Furthermore, the number of connection holes is at least two. Based on the principle that two points define a straight line, at least two connection holes are required to ensure a stable connection between the trigger ring 90403 and the flange end face of the rotating shaft 905. The more connection holes there are, the stronger the connection between the two. However, the number of connection holes should not be too large, as this will make it difficult to assemble and disassemble the trigger ring 90403 and the rotating shaft 905. Furthermore, since space on the connecting plate is limited, too many connection holes will make layout difficult and may easily reduce the strength of the connecting plate itself. In the present invention, three connection holes are used for the connection between the trigger ring 90403 and the rotating shaft 905, ensuring stability while also ensuring the strength of the trigger ring 90403 itself.

[0172] Furthermore, the rotating base 903 is provided with an axially extending rotating sensor base 90401, to which the sensor body 90402 is fixed. In practice, the sensitivity between the sensor body 90402 and the trigger ring 90403, specifically the distance between the sensing surfaces of the sensor body 90402 and the trigger ring 90403, can be adjusted based on the axial position of the rotating sensor base 90401 on the rotating base 903. When the distance between the two decreases, the sensitivity between the sensor body 90402 and the trigger ring 90403 increases; when the distance between the two increases, the sensitivity between the sensor body 90402 and the trigger ring 90403 decreases. However, in practice, a higher sensitivity between the sensor body 90402 and the trigger ring 90403 is not necessarily better. Excessively high sensitivity can cause sensor signals to be transmitted even when the sensor body 90402 and the trigger ring 90403's sensing surfaces are not facing each other, even if they are slightly interdigitated, which can easily lead to errors.

[0173] Embodiment 5:

[0174] Furthermore, the telescopic assembly includes a vertically arranged outer cylinder 907 and inner cylinder 908. The outer cylinder 907 is connected to the rotating shaft 905, the inner cylinder 908 is slidably connected to the interior of the outer cylinder 907, and the gripper assembly is connected to the bottom of the inner cylinder 908. During implementation, the inner cylinder 908 and the outer cylinder 907 of the present invention maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the rotating shaft 905 in the rotating joint, thereby extending the radius of the original manipulator 9 and expanding the gripping range of the manipulator 9. In addition, during installation, the inner cylinder 908 and the outer cylinder 907 should be equipped with structures such as limit rings or retaining rings to ensure that the inner cylinder 908 does not slip outside the outer cylinder 907.

[0175] Furthermore, the outer cylinder 907 is detachably connected to the rotating shaft 905 via a flange. During implementation, the telescopic joint in the present invention is suspended at one end of the rotating shaft 905, and the weight of the clamping jaw assembly requires sufficient connection strength between the rotating shaft 905 and the outer cylinder 907. Flange connection is to fix two pipes, pipe fittings or equipment on a flange plate respectively, add a flange gasket between the two flange plates, and fasten them together with bolts to complete the connection. Flange connection is an important connection method for pipeline construction. Flange connection is easy to use and can withstand greater pressure. Therefore, the present invention meets the connection strength between the rotating shaft 905 and the outer cylinder 907 through flange connection, and the flange connection is connected by multiple bolts, so that the rotating shaft 905 and the outer cylinder 907 can be disassembled to facilitate the later inspection or replacement of each component.

[0176] In addition, the outer cylinder 907 and the inner cylinder 908 in the present invention are both hollow cylindrical structures, which reduces the weight of the telescopic joint to a certain extent and further ensures the connection strength between the outer cylinder 907 and the rotating shaft 905.

[0177] Furthermore, the telescopic joint also includes a telescopic cylinder 906, which is fixed to the top of the outer cylinder 907. The inner cylinder 908 is connected to the output end of the telescopic cylinder 906. The present invention uses the telescopic cylinder 906 to intelligently control the relative movement between the outer cylinder 907 and the inner cylinder 908, so that the clamping claw assembly located at the bottom of the inner cylinder 908 can stop at a set position and perform a grasping action. The telescopic range of the telescopic cylinder 906 is the distance that the outer cylinder 907 and the inner cylinder 908 can move relative to each other, and this distance should be less than the maximum displacement between the outer cylinder 907 and the inner cylinder 908 to prevent collision between the outer cylinder 907 and the inner cylinder 908.

[0178] Furthermore, the clamping jaw assembly includes a clamping jaw 910 and a clamping cylinder 909. The clamping cylinder 909 is fixed to the lower portion of the inner cylinder 908. The clamping jaw 910 is fixed to the clamping cylinder 909 and is clamped or released under the drive of the clamping cylinder 909. During implementation, when the rotating joint drives the clamping jaw 910 to rotate to a set angle, the telescopic function of the telescopic joint extends the clamping jaw 910 to a specified position, and finally the clamping cylinder 909 executes the grasping instruction to complete the grasping process. The telescopic joint then controls the retraction of the clamping jaw 910. After the rotating joint drives the telescopic joint and the clamping jaw 910 to rotate to the specified position as a whole, the clamping cylinder 909 executes the release instruction to release the grasped material to the specified position.

[0179] Example 6:

[0180] The frame-fixed manipulator 9 provided by the present invention further includes a sliding joint, and the rotating seat 903 is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator 9. The difference from the fifth embodiment is that the present embodiment adds a sliding joint, and the remaining rotating joints and telescopic joints remain consistent with the fifth embodiment.

[0181] As mentioned above, the combination of the rotating joint and the telescopic joint enables the manipulator 9 to expand its grasping range. The sliding joint in this embodiment applies a horizontal displacement function to the manipulator 9, further expanding the grasping range of the manipulator 9.

[0182] Furthermore, the sliding joint includes a fixed seat 901 and a connecting arm 911. The fixed seat 901 is connected to the frame 11 and is provided with a horizontally arranged slide rail. The bottom of the connecting arm 911 is provided with a slide groove, and the slide groove and the slide rail cooperate with each other. The rotating seat 903 in the rotating joint is fixedly connected to the connecting arm 911. During implementation, the horizontal displacement between the connecting arm 911 and the fixed seat 901 is limited by the cooperation between the rail and the slide groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. The rotating joint and the telescopic joint in the present invention are both fixed to the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the entire displacement of the manipulator 9. The specific horizontal displacement direction needs to be determined according to the initial position of the material and the position to be transported in actual circumstances, as well as the initial position of the manipulator 9. In other words, the rail in the sliding joint in the present invention can be set in any direction to ensure that the manipulator 9 can effectively complete the grasping process.

[0183] In addition, in Example 5, it is mentioned that the telescopic joint is suspended at one end of the rotating shaft 905, that is, the connecting arm 911 also needs to assume the supporting role of the manipulator 9. Therefore, according to the principle of leverage, without interfering with the normal extension and contraction of the telescopic joint, there should be sufficient connection area between the connecting arm 911 and the rotating seat 903, and the distance between the connecting arm 911 and the telescopic joint should be reduced as much as possible to ensure sufficient connection strength between the two, so as to avoid the problem of the rotating shaft 905 being damaged due to the excessive suspension of the telescopic joint. Similarly, the rotating seat 903 should also have sufficient covering area for the rotating shaft 905, and distribute the gravity of the telescopic joint and the clamping claw assembly to each part of the rotating seat 903 through the transmission shaft, and then transmit it to the fixed seat 901 as a whole through the connecting arm 911.

[0184] Furthermore, the sliding joint also includes a sliding oil cylinder 912, one end of which is fixed to the fixed seat 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. The present invention uses the sliding oil cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed seat 901, so that the manipulator 9 can stop at a set position and perform a grasping action. The displacement process of the sliding oil cylinder 912 is the distance that the connecting arm 911 and the fixed seat 901 can move relative to each other, and this distance should be less than the maximum displacement between the connecting arm 911 and the fixed seat 901 to prevent collision between the connecting arm 911 and the fixed seat 901.

[0185] The drill rod loading and unloading control method using the above-mentioned drill rod loading and unloading system includes two working conditions: feeding and withdrawing the rod. The specific work flow includes:

[0186] (1) Rod feeding conditions:

[0187] Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the transporter 8 is in a horizontal position (the horizontal sensor 71404 of the transporter 8 is connected), the slider 805 is expanded to both ends, and the pressure plate 803 is opened; the telescopic joint of the main manipulator 9 is retracted, the rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamp 910 is opened; the drilling rig is drilling.

[0188] The transporter 8 clamps the drill rod: the auxiliary manipulator or transport boom and other devices put the drill rod into the transporter 8, the drill rod sensing sensor of the transporter 8 is turned on and outputs a signal, the slider 805 of the transporter 8 contracts inward, and the pressure plate 803 presses the drill rod.

[0189] The transporter 8 rotates: the transporter 8 rotates from the horizontal position to the direction of the inclination angle α, and the transporter 8 horizontal sensor 71404 disconnects the signal until the inclination angle is the same as that of the frame 11; during the rotation of the transporter 8, the transporter 8 inclination sensor 71403 measures the angle in real time.

[0190] The main manipulator 9 rotates in the opposite direction: the main manipulator 9 rotates toward the transporter 8, and the signal of the rotation sensor 904 is "long on-off-short on-off".

[0191] The main manipulator 9 extends and clamps: the main manipulator 9 extends its telescopic joint toward the transporter 8 and clamps the drill rod.

[0192] The transporter 8 is released: the transport trough slider 805 expands to both sides and the pressure plate 803 is released.

[0193] The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates, the rotation sensor 904 first connects the signal and then disconnects, the drill rod sensing sensor signal is disconnected, and the main manipulator 9 makes room for the transporter 8 to rotate.

[0194] The main manipulator 9 retracts: the telescopic joint of the main manipulator 9 retracts.

[0195] The main manipulator 9 slides: the main manipulator 9 slides toward the gripper, so that the drill rod is in a position suitable for being sent into the rack 11; and waits for the current drill rod to complete drilling.

[0196] Transporter 8 is horizontal: Transporter 8 returns to the horizontal position, and the signal of transporter 8 horizontal sensor 71404 is connected; during the rotation of transporter 8, transporter 8 inclination sensor 71403 measures the angle in real time.

[0197] Disconnect the drill rod in the hole: After completing the drilling of the current drill rod, the power head disconnects from the drill rod in the hole and retreats to a position suitable for installing the drill rod.

[0198] The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0199] The second stage of rotation of the main manipulator 9: The main manipulator 9 performs the second stage of rotation, sends the drill rod into the frame 11, and the drill rod is clamped by the clamper or the power head. The rotation sensor 904 first connects the signal and then disconnects it.

[0200] The main manipulator 9 is released: the main manipulator 9 releases the drill rod; the power head and the clamp cooperate to complete the drill rod connection and continue drilling.

[0201] (2) Rod withdrawal condition:

[0202] Initial state: Assume that the inclination angle of the frame 11 and the main manipulator 9 is α; the transporter 8 is in a horizontal position (the horizontal sensor 71404 of the transporter 8 is connected), the slider 805 is expanded to both ends, and the pressure plate 803 is opened; the telescopic joint of the main manipulator 9 is retracted, the rotating joint is in the state of completing the first rotation, the sliding joint is retracted, and the clamp 910 is opened; the drilling rig has just completed drilling the last drill rod.

[0203] Power head retreat: the power head drags the drill rod in the hole backward;

[0204] The main manipulator 9 slides: The main manipulator 9 slides toward the gripper, and is in a position suitable for extending into the frame 11 to grab the drill rod; wait for the current drill rod to be shackled;

[0205] The transporter 8 rotates: the transporter 8 rotates in the direction of the inclination angle α, and the horizontal sensor 71404 of the transporter 8 disconnects the signal until the inclination angle is the same as that of the frame 11; during the rotation of the transporter 8, the inclination sensor 71403 of the transporter 8 measures the angle in real time.

[0206] Drill pipe shackle: The power head and the clamp cooperate to complete the drill pipe shackle (disconnection from the drill pipe in the hole).

[0207] The main manipulator 9 extends: the telescopic joint of the main manipulator 9 extends.

[0208] The second stage of rotation of the main manipulator 9: The main manipulator 9 performs the second stage of rotation, the gripper 910 reaches a position where it can grip the detachable drill rod in the frame 11, and the rotation sensor 904 first connects the signal and then disconnects it.

[0209] The main manipulator 9 clamps the drill rod; the clamp or the power head is completely disconnected from the drill rod to be disassembled.

[0210] The main manipulator 9 rotates in the opposite direction: the main manipulator 9 rotates in the opposite direction to place the drill pipe into the transporter 8, and the signal of the rotation sensor 904 is "long on-off-short on-off".

[0211] The transporter 8 is clamped: when the drill rod is placed in the transporter 8, the drill rod sensing sensor of the transporter 8 is connected to output a signal, the slider 805 of the transporter 8 contracts inward, and the pressure plate 803 presses the drill rod.

[0212] The main manipulator 9 is released and retracted: the main manipulator 9 releases the drill rod; the telescopic joint retracts.

[0213] The first stage of rotation of the main manipulator 9: the main manipulator 9 rotates clockwise ( Figure 1 ) rotates, the rotation sensor 904 first connects the signal and then disconnects it, making room for the transporter 8 to rotate.

[0214] Transporter 8 is horizontal: Transporter 8 returns to the horizontal position, and the signal of transporter 8 horizontal sensor 71404 is connected; during the rotation of transporter 8, transporter 8 inclination sensor 71403 measures the angle in real time.

[0215] The transporter 8 is released: the transport trough slider 805 expands to both sides, the pressure plate 803 releases the drill rod, the auxiliary manipulator or transport boom and other devices take out the drill rod from the transporter 8, and the transporter 8 drill rod sensing sensor signal is disconnected.

[0216] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A drill pipe loading and unloading system, characterized by: It includes a frame and a posture adjustment device that are connected to each other; The manipulator is arranged on the frame and includes a rotating joint, a telescopic joint, a gripper assembly and a rotation sensor; the gripper assembly includes a gripper; The rotary joint includes a rotary seat and a rotary driver, wherein the rotary driver is arranged at one end of the rotary seat and drives the rotary shaft to rotate, and the rotary shaft passes through the rotary seat and is connected to the telescopic joint; The rotation sensor includes a sensor body and a trigger ring; the trigger ring is fixed to the rotation shaft and rotates synchronously and in the same direction as the manipulator rotates; a notch is provided on the trigger ring to divide the arc surface of the trigger ring into two parts, and the end surfaces on both sides of the notch serve as sensing surfaces; The sensor body is arranged on the rotating seat and corresponds to the sensing surface on the end face of the trigger ring; when the sensor body is exactly within the sensing surface of the trigger ring, the sensor signal is connected; otherwise, the sensor signal is disconnected; The posture adjustment device includes a rotary platform and an asynchronous rotation device installed on the rotary platform; The asynchronous rotation device includes an inclination rotator, a frame connecting plate, a slewing transition plate, and a lifting sleeve connected in sequence. The inclination rotator is rotatably connected to the frame, and the transporter is rotatably connected to the slewing transition plate through the transporter rotator. The inclination angle between the frame and the transporter is asynchronously rotated and adjusted by the inclination rotator and the transporter rotator. The transporter rotator includes a first fixed ring and a first rotating ring provided thereon, wherein the first fixed ring is connected to the flange of the rotating transition plate; the first rotating ring is fixedly connected to the first outer shell, the transporter is mounted on the first outer shell, and the inclination angle of the transporter is adjusted by rotating the first rotating ring; It also includes an inclination sensor for monitoring the inclination adjustment during the transportation of the drill pipe, and the inclination sensor includes an inner gear ring, a rotating shaft, a sensor gear ring and a pull wire sensor; the inner gear ring is fixedly connected to the first rotating ring of the transporter rotator to drive the inner gear ring to rotate through the transporter rotator; the rotating shaft is rotatably connected to the lifting sleeve, and a first-stage gear and a second-stage gear are respectively provided at both ends of the rotating shaft, the first-stage gear and the inner gear ring are meshed with each other, and the second-stage gear and the sensor gear ring are rotatably arranged on the outside of the lifting sleeve; the pull wire sensor is arranged on the outside of the lifting sleeve, and is connected to the sensor gear ring through a pull wire, so as to calculate the rotation angle of the transporter through the pull wire length of the pull wire sensor.

2. The drill pipe handling system according to claim 1, characterized in that: It also includes a sliding joint, the rotating seat is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator; the sliding joint includes a fixed seat, a connecting arm and a sliding cylinder, one end of the sliding cylinder is fixed on the fixed seat, and the other end is connected to the connecting arm so that the connecting arm slides along the track; the fixed seat is connected to the frame, and a horizontally arranged slide rail is provided on the fixed seat, and a sliding groove is provided at the bottom of the connecting arm, and the sliding groove and the slide rail cooperate with each other; the rotating seat in the rotating joint is fixedly connected to the connecting arm.

3. The drill pipe handling system according to claim 2, characterized in that: The transporter includes a base plate, a supporting block, a pressure plate, and an axial pressing block; the supporting block is arranged on the base plate for supporting the drill rod; the axial pressing blocks are arranged on the base plate and are located on both sides of the supporting block; the upper part of the axial pressing block is rotatably connected to a pressure plate, and the pressure plate is located above the supporting block; the axial pressing block presses and fixes the drill rod axially; the axial pressing block includes at least one slider slidably arranged on the base plate; the pressure plate presses the drill rod onto the supporting block; It also includes a drill rod sensing sensor disposed on the bottom plate, the drill rod sensing sensor including a sensing sensor seat disposed below the bottom plate, a sensing sensor element disposed on the sensing sensor seat, a signal transmitting post disposed on the sensing sensor seat via a spring, and an end of the signal transmitting post away from the sensing sensor seat passing through the mounting hole of the bottom plate and protruding from the surface of the bottom plate; When the drill rod is put in, the signal post is pressed down, and the other end of the signal post enters the sensing range of the sensing sensor element, generating a connection signal; There are at least two support blocks, and the upper portion of each support block is provided with a groove matching the outer diameter of the drill rod; when the spring is in a free state, the top of the signal post exceeds the lowest point of the support block groove.

4. The drill pipe handling system according to claim 3, characterized in that: A horizontal sensor is provided between the transporter and the lifting sleeve; the horizontal sensor includes a trigger block provided on the side of the transporter bottom plate facing the lifting sleeve, and a horizontal sensor element provided on the lifting sleeve facing the trigger block; when the trigger block is aligned with the horizontal sensor element, a signal is generated.

5. The drill pipe handling system according to claim 4, characterized in that: The sensing surfaces located on both sides of the gap are respectively the first sensing surface and the second sensing surface. The arc lengths of the arc surfaces corresponding to the first sensing surface and the second sensing surface are not equal, so that when the sensor body is respectively located within the first sensing surface and the second sensing surface, the connection time of the sensor signal is inconsistent; the arc length corresponding to the second sensing surface is greater than the arc length corresponding to the first sensing surface; the trigger ring and the rotation axis of the manipulator are cocentric.

6. The drill pipe handling system according to claim 5, characterized in that: The trigger ring is an open ring structure, and the sensor body is located at one end point of the trigger ring.

7. The drill pipe handling system according to claim 6, characterized in that: The arc length angle of the trigger ring is greater than 180°; the sensing surface covers all end surfaces of the trigger ring except the notch.

8. The drill pipe handling system according to claim 6, characterized in that: A protruding connecting plate is provided on the inner side of the trigger ring, and a connecting hole is provided on the connecting plate for bolt connection between the trigger ring and the rotating shaft of the manipulator; the number of the connecting holes is at least two.

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

10. The drill pipe handling system according to claim 4, characterized in that: The telescopic joint includes a vertically arranged outer cylinder and an inner cylinder, the outer cylinder is detachably connected to the rotating shaft via a flange, and the inner cylinder is slidably connected to the inside of the outer cylinder; the telescopic joint also includes a telescopic oil cylinder, the telescopic oil cylinder is fixed to the top of the outer cylinder, and the inner cylinder is connected to the output end of the telescopic oil cylinder.

11. The drill pipe handling system according to claim 10, characterized in that: The clamping jaw assembly is connected to the bottom of the inner cylinder and is driven to extend and retract in the vertical direction by the telescopic joint. The clamping jaw assembly is used for grasping. The clamping jaw assembly also includes a clamping cylinder, which is fixed to the lower part of the inner cylinder. The clamping jaw is fixed on the clamping cylinder and is clamped or released under the drive of the clamping cylinder.

12. The drill pipe handling system according to claim 4, 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; the axial clamping block is rotatably connected to the pressure plate, and when the transporter is in a state of waiting for the drill rod to be loaded or removed, the pressure plate is rotated and opened upward to facilitate the loading or removal of the drill rod; a clamping cylinder is also provided on the pressure plate to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hingedly connected to the upper part of the axial clamping block.

13. The drill pipe handling system according to claim 4, characterized in that: The inclination rotator includes a second fixed ring and a second rotating ring arranged thereon, the second fixed ring is connected to the flange of the frame connecting plate; the second rotating ring is fixedly connected to the second outer shell, the frame is mounted on the second outer shell, and the inclination angle of the frame is adjusted by rotating the second rotating ring.

14. The drill pipe handling system according to claim 4, characterized in that: The lifting sleeve includes a cavity enclosed by two side plates and a top sealing plate, sleeves are provided at both ends of the side plates, and a connecting tube is provided on the side plates; two lifting columns are relatively arranged on the slewing platform, and a lifting cylinder is provided between the two lifting columns; the lifting cylinder of the slewing platform is installed in the cavity, and the lifting sleeve moves up and down along the lifting columns under the drive of the lifting cylinder; the sleeve is mounted on the lifting columns of the slewing platform, and the slewing transition plate is installed on the connecting tube; A flange is provided on the connecting cylinder; the rotary transition plate is disc-shaped and includes three groups of flanges arranged side by side, the inner flange is matched with the flange of the connecting cylinder, and the two groups of outer flanges are respectively used to install the transporter rotator and the frame connecting plate; the frame connecting plate is disc-shaped and includes two groups of flanges connected to each other, and the two groups of flanges are respectively connected to the flange of the rotary transition plate and the inclination rotator.

15. The drill pipe handling system according to claim 4, characterized in that: The inclination adjustment range of the transporter rotator is 360°, which is divided into positive inclination rotation and negative inclination rotation. The angles corresponding to the positive inclination rotation and the negative inclination rotation are 0~180° and 0~-180° respectively.

16. The drill pipe handling system according to claim 15, characterized in that: The rotation angle of the connection point between the cable in the cable sensor and the sensor gear ring is smaller than the inclination adjustment range of the transporter rotator; When the transporter revolver is at the initial position, the initial length of the wire between the wire sensor and the sensor gear ring connection point is L0, and the initial angle is θ. Then the wire length corresponding to a unit angle satisfies the following condition: k=L0 / θ; The initial angle θ between the cable sensor and the sensor gear ring connection point is less than 180°; When the angle of the transporter rotor is rotated, the total length of the wire pulling sensor is L. Z , then the real-time angle of the sensor ring gear is: α=(L0-L Z ) / k; When the transporter rotor rotates counterclockwise at a positive angle, L0≥L Z , α≥0; when the transporter rotor rotates clockwise with a negative inclination, L0≤L Z , α≤0.

17. The drill pipe handling system according to claim 16, characterized in that: The transmission ratio of the gear system composed of the inner gear ring, the first gear, the second gear and the sensor gear ring is i, then the actual rotation angle of the transporter calculated by the sensor gear ring is: β=iα; the gear system transmission ratio i≥1.

18. A control method using the drill pipe handling system according to any one of claims 4 to 17, characterized in that: The frame is further provided with a clamp and a power head, wherein the clamp is used to clamp the drill rod, and the power head drives the drill rod to rotate, and the power head cooperates with the clamp to realize the connection or removal of the drill rod; The method includes two working conditions: rod delivery and rod retraction; the specific steps include: (1) Rod feeding conditions: In the initial state, the drilling rig is drilling, and the inclination angle of the frame and the manipulator is α; the transporter is in a horizontal position waiting to be loaded with a drill rod, and the horizontal sensor signal is connected; the manipulator's telescopic joint is retracted, the rotary joint is in the state of completing the first rotation, the sliding joint is retracted, and the gripper is open; Place the drill rod into the transporter, the drill rod sensing sensor receives a signal, and the transporter clamps the drill rod; The transporter rotates to the same inclination angle as the rack, and the level sensor disconnects the signal; The manipulator rotates in the opposite direction of the first stage toward the transporter, and the rotation sensor first connects the signal and then disconnects it; The manipulator's telescopic joint extends toward the transporter, clamping the drill rod. The transporter releases the drill rod, and the drill rod sensing sensor signal is disconnected. The robot performs the first rotation, the rotation sensor first connects the signal and then disconnects it, and the robot makes room for the transporter to rotate; The manipulator's telescopic joint retracts, and the manipulator slides toward the gripper to the rod-delivering position, waiting for the current drill rod to complete drilling; the transporter returns to the horizontal position, and the horizontal sensor signal is connected; After the current drill rod is drilled, the power head is disconnected from the drill rod in the hole and retreats to a position where it waits for the drill rod to be loaded. The manipulator's telescopic joint extends, and the manipulator performs the second rotation, sending the drill rod into the frame, and the drill rod is clamped by the clamp. During this process, the rotation sensor first connects the signal and then disconnects it; The manipulator releases the drill rod, and the power head and the clamp cooperate to complete the drill rod connection and continue drilling; (2) Rod withdrawal condition: Initially, the drilling rig has just completed drilling the last drill rod: the inclination angle of the frame and manipulator is α; the transporter is in a horizontal position, waiting to be loaded with a drill rod, and the horizontal sensor signal is connected; the manipulator's telescopic joint is retracted, the rotary joint is in the state of completing the first rotation, the sliding joint is retracted, and the gripper is open; The power head drags the drill rod in the hole backward, and the manipulator slides toward the gripper, waiting to reach into the frame to grab the drill rod and wait for the current drill rod to be broken out; The transporter rotates to the same inclination angle as the rack, and the level sensor disconnects the signal; The power head and the clamp cooperate to complete the drill pipe shackle and disconnect the connection with the drill pipe in the hole; The manipulator's telescopic joint extends and performs the second rotation. At this time, the gripper reaches the position where it can clamp the drill rod to be removed from the rack. The rotation sensor first connects the signal and then disconnects it. The manipulator clamps the drill rod, and the gripper or power head releases the drill rod; The manipulator performs the reverse rotation of the second stage of rotation, and the rotation sensor first connects the signal and then disconnects it; The manipulator places the drill rod into the transporter, the drill rod sensing sensor outputs a signal, and the transporter clamps the drill rod. The manipulator releases the drill rod and the telescopic joint retracts; The manipulator performs the first rotation to make room for the transporter to rotate, and the rotation sensor first connects the signal and then disconnects it; The transporter returns to the horizontal position, and the horizontal sensor signal is connected; the transporter releases the drill rod, the drill rod is taken out, and the drill rod sensing sensor signal is disconnected; During the rotation of the transporter in the rod feeding and rod retracting conditions, the inclination sensor measures the inclination angle of the transporter in real time.

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