Drill rod conveying sensor system

Abstract

The invention belongs to the field of mining drilling machines, and relates to a drill rod conveying sensor system, a drill rod is operated through an auxiliary mechanical arm, a drill rod transporter and a main mechanical arm in sequence in the conveying process, and the drill rod conveying sensor system comprises a detection sensor installed on the auxiliary mechanical arm, the detection sensor is configured to detect whether a drill rod exists in the auxiliary manipulator or not; the judgment sensor is arranged on the drill rod transporter and is configured to detect whether a drill rod exists in the drill rod transporter or not; and the rotation sensor is arranged on the main manipulator and is configured to detect the rotation position and direction of the main manipulator. Through the synergistic effect of the three sensors, efficient automation from sensing to control in the drill rod conveying process is achieved, and powerful guarantee is provided for safety and efficiency in the complex operation environment.

Description

Technical Field

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

[0002] As the coal mining industry actively promotes intelligent drilling strategies, drilling rig automation has become a key element in achieving reduced- or even unmanned underground operations. Traditional manual operation models face numerous challenges in underground coal mines. The complex and volatile underground environment, characterized by potential hazards such as gas and coal dust, coupled with cramped spaces and limited lighting, creates significant inconvenience for manual operation. Furthermore, prolonged work in harsh conditions can easily lead to fatigue, resulting in reduced precision and slower response times. Under these circumstances, traditional manual operation models are unable to meet the stringent dual requirements of modern coal mining for both efficient mining and inherent safety. On the one hand, manual operation faces significant bottlenecks in terms of efficient mining, hindering the pace of large-scale and intensive coal mining operations. On the other hand, the uncertainty inherent in manual operation increases the risk of accidents, seriously threatening the lives of underground workers.

[0003] In contrast, the application of automation technology in coal mine drilling rigs demonstrates significant advantages. Through automation, the drilling process and auxiliary processes can be automated. This not only significantly reduces labor intensity and frees operators from heavy physical labor, but also significantly improves operational safety and reduces accidents caused by human error. Furthermore, automation technology breaks through the efficiency bottleneck of manual operation and can significantly improve coal mining efficiency, making it an inevitable choice for the coal industry to achieve technological upgrades and enhance competitiveness.

[0004] Among the many functions of an automatic drilling rig, automatic delivery of drill rods is an indispensable one, and it is also an important feature that distinguishes it from traditional drilling rigs. However, the automatic drilling rigs currently used in the industry (such as the automatic drilling rig involved in application number CN201911185745.9) have certain problems in drill rod delivery. When transporting drill rods, this type of drilling rig completes the operation in sequence through the auxiliary manipulator, drill rod transporter, and main manipulator. However, during the entire transportation process, only the operating displacement or special position of the main manipulator, auxiliary manipulator and other devices is monitored, but the real-time monitoring of the drill rod position is ignored. The shortcomings of this monitoring method can easily lead to misjudgment of the presence or absence of the drill rod in the device. Once a misjudgment occurs, it may cause interference with the operation of the mechanism and even cause damage to the equipment, seriously affecting the operational safety and construction efficiency of the drilling rig.

[0005] Therefore, the development of an automatic drill rod transportation technology that can accurately monitor the drill rod position and ensure safe and efficient drill rod transportation has important practical significance and application value. Summary of the Invention

[0006] In view of this, an object of the present invention is to provide a drill rod conveying sensor system to solve the problem in the prior art of lacking drill rod in-place status monitoring in a conveying device.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A drill rod conveying sensor system, in which the drill rod is conveyed in sequence by an auxiliary manipulator, a drill rod transporter, and a main manipulator, and the drill rod conveying sensor system includes:

[0009] a detection sensor mounted on the auxiliary manipulator, wherein the detection sensor is configured to detect whether a drill rod is present in the auxiliary manipulator;

[0010] a determination sensor mounted on the drill rod transporter, wherein the determination sensor is configured to detect whether a drill rod is present in the drill rod transporter;

[0011] A rotation sensor is mounted on the main manipulator, wherein the rotation sensor is configured to detect the rotation position and direction of the main manipulator.

[0012] Furthermore, the detection sensor includes:

[0013] a detection sensor mounting base radially fixed to one side of the gripper in the auxiliary manipulator;

[0014] a detection sensor spring disposed in the detection sensor mounting seat;

[0015] a trigger post movably mounted in the detection sensor mounting seat via the detection sensor spring;

[0016] A detection sensor body is configured to detect displacement of the trigger column due to the presence of the drill pipe.

[0017] Furthermore, when the clamping claw approaches the drill rod, the trigger column is pressed upward by the drill rod, and the detection sensor body generates a connection signal indicating the presence of the drill rod.

[0018] Furthermore, the judgment sensor includes:

[0019] a judgment sensor mounting seat fixed below the bottom plate in the drill pipe transporter;

[0020] A judgment sensor body fixed in the judgment sensor mounting seat;

[0021] a judgment sensor spring disposed in the judgment sensor mounting seat;

[0022] A signal-emitting post movably mounted in the judgment sensor mounting seat via the judgment sensor spring;

[0023] When the drill rod is placed in the drill rod transporter, the signal transmitting column is pressed downward by the drill rod, and the judgment sensor body generates a connection signal indicating the presence of the drill rod.

[0024] Furthermore, the top end of the signaling post passes through the bottom plate of the drill rod transporter, and when there is no drill rod in the drill rod transporter, the top end of the signaling post exceeds the lowest point of the drill rod transporter where the drill rod is placed.

[0025] Furthermore, the rotation sensor includes:

[0026] A rotation sensor mounting base fixed on the rotation base of the main manipulator;

[0027] A rotation sensor body fixed in the rotation sensor mounting base;

[0028] A trigger ring is fixed on a rotating member rotatably connected to the rotating base and rotates with the rotating member. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator, and the trigger ring has two arc segments with different arc lengths, and a gap is provided between the two arc segments to generate a signal for detecting the rotation position and direction of the main manipulator.

[0029] Furthermore, the two arc segments and the gap are arranged so that during the rotation of the main manipulator, the rotation sensor body detects the arc segments and the gap in sequence, and indicates the rotation direction and position of the main manipulator according to the duration and on-off of the rotation sensor body signal.

[0030] The beneficial effects of the present invention are:

[0031] 1. The detection sensor on the auxiliary manipulator, designed through a trigger column in the gripper, directly senses the presence of a drill rod in the gripper and generates an accurate signal. This function provides critical support for the automation of drill rod transportation, ensuring the auxiliary manipulator's precise movements when grasping and releasing drill rods. In complex operating environments, the detection sensor effectively reduces human error and improves operational safety through real-time feedback. Its simple structure and reliable performance not only reduce maintenance costs but also enhance the overall stability and durability of the equipment. In conjunction with subsequent systems, the detection sensor lays the foundation for the continuous flow of drill rods and is an indispensable component of the technical solution.

[0032] 2. The detection sensor, located beneath the drill rod transporter's baseplate, uses a signaling post and spring-return design to accurately detect the presence of drill rods in the transporter and generate a connection signal. This function provides crucial information for automated drill rod transportation, ensuring real-time monitoring of the drill rod's status. Working in conjunction with the auxiliary manipulator's detection sensor, the detection sensor helps the system accurately track the flow path of drill rods, thereby improving transport efficiency and safety. The spring-return design prevents false triggering when no drill rods are present, ensuring high sensor reliability. The use of this sensor significantly optimizes the automated process for drill rod transportation and provides stable support for subsequent drilling operations.

[0033] 3. The main manipulator's rotation sensor is mounted on the rotating base. A trigger ring design determines rotation direction and position based on the signal's duration and on / off status. This function enables the main manipulator to precisely control its rotation, providing predictive information for drilling control. Combined with the drill pipe transporter's sensor, the rotation sensor can also detect the direction of drill pipe flow within the main manipulator, further optimizing the control strategy for the drilling process. This precise feedback reduces the possibility of mechanical interference and improves equipment operating efficiency and safety. This design not only demonstrates the systematic nature of the technical solution but also significantly enhances the overall coordination and intelligence of drill pipe transportation and drilling operations.

[0034] Through the synergistic effect of the above three sensors, the present invention realizes efficient automation from perception to control during the drill rod transportation process, providing a strong guarantee for safety and efficiency in complex working environments.

[0035] 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

[0036] 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:

[0037] Figure 1 This is a schematic diagram of the structure of the detection sensor in the embodiment;

[0038] Figure 2 This is a schematic diagram of the structure of the detection sensor in the embodiment;

[0039] Figure 3 Schematic diagram of the structure of the rotation sensor in the embodiment;

[0040] Figure 4 This is a working principle diagram of the rotation sensor in the embodiment;

[0041] Figure 5 It is an axonometric view of the automatic drilling rig in the embodiment.

[0042] Figure numerals: drill rod box 5, auxiliary manipulator 6, clamp 609, detection sensor 611, detection sensor mounting seat 61101, detection sensor spring 61102, trigger column 61103, detection sensor body 61104, drill rod transporter 8, judgment sensor body 807, judgment sensor mounting seat 808, signal transmitting column 809, judgment sensor spring 810, main manipulator 9, rotation sensor 904, rotation sensor mounting seat 90401, rotation sensor body 90402, trigger ring 90403, first arc segment 90403a, notch 90403b, second arc segment 90403c, frame 11. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Example 1: Basic structure and function of the drill pipe conveying sensor system

[0047] This embodiment provides a drill rod conveying sensor system for use in the drill rod conveying process of an automated drilling rig. This system uses sensors installed on the auxiliary manipulator, drill rod transporter, and main manipulator to accurately monitor the position and status of the drill rods, thereby improving the automation and safety of drill rod conveying.

[0048] 1. Detection sensor

[0049] The detection sensor 611 is installed on the clamping claw of the auxiliary manipulator 6 to detect whether there is a drill rod in the auxiliary manipulator 6. The auxiliary manipulator is used to grab and transport the drill rod and is set on the slide rail of the drill rod box 5. It includes a lifting joint, a rotating joint, a telescopic joint and a clamping claw 609 connected in sequence. The end of the lifting joint away from the clamping claw 609 is connected to the slide rail, and the telescopic joint and the clamping claw 609 are set toward the inside of the drill rod box.

[0050] like Figure 1 As shown, the detection sensor 611 includes the following components:

[0051] Detection sensor mounting base 61101: radially fixed on one side of the clamping jaw to support other components.

[0052] Detection sensor spring 61102: set in the mounting seat 61101 to provide elastic reset force.

[0053] Trigger column 61103: It is movably mounted in the mounting seat 61101 through the detection sensor spring 61102 and is in direct contact with the drill pipe.

[0054] Detection sensor body 61104: fixed in the detection sensor mounting base 61101, configured to detect whether the trigger column 61103 enters the coverage range.

[0055] The working principle is as follows: when there is no drill rod in the gripper of the auxiliary manipulator 6, the trigger column 61103 is initially positioned below the detection range of the detection sensor body 61104 under the elastic force of the detection sensor spring 61102, and the signal of the detection sensor body 61104 is disconnected;

[0056] When the gripper of the auxiliary manipulator 6 approaches and grips the drill rod, the trigger post 61103 is pressed upward by the drill rod, overcoming the elastic force of the detection sensor spring 61102 and moving upward, entering the detection range of the detection sensor body 61104. The detection sensor body 61104 generates an on signal indicating the presence of the drill rod. When the gripper leaves the drill rod, the detection sensor spring 61102 resets the trigger post 61103, and the signal from the detection sensor body 61104 is turned off.

[0057] 2. Judgment sensor

[0058] A sensor is installed on the drill rod transporter 8 to detect the presence of drill rods. The drill rod transporter 8 comprises a base plate 801, a support block, a pressure plate, a clamping cylinder, a slider, and a sliding cylinder. The base plate 801 is the primary load-bearing and connecting member of the transporter, providing a mounting base for all components of the transporter. The support block, slider, and sliding cylinder are all directly or indirectly mounted on the base plate 801, ensuring the structural integrity and stability of the transporter 8 and enabling the various components to work together to transport and secure the drill rods.

[0059] like Figure 2 As shown, the judgment sensor includes the following components:

[0060] Judgment sensor mounting base 808: fixed below the bottom plate 801 of the drill pipe transporter 8, serving as a support structure for the judgment sensor.

[0061] Judgment sensor body 807: fixed in the judgment sensor mounting seat 808, used to generate a detection signal.

[0062] Judgment sensor spring 810: set in the judgment sensor mounting seat 808 to provide a reset force.

[0063] The signal post 809 is movably mounted in the sensor mounting seat 808 through the sensor spring 810, and its top end penetrates the bottom plate for contacting the drill rod.

[0064] The working principle is as follows: when there is no drill rod in the drill rod transporter 8, under the elastic force of the sensor spring 810 of the signal post 809, the bottom end of the signal post 809 does not enter the sensing range of the sensor body 807, and the signal of the sensor body 807 is disconnected;

[0065] When the drill rod is placed in the drill rod transporter 8, the signal post 809 is pressed downward by the drill rod, overcoming the elastic force of the judgment sensor spring 810, and the bottom end enters the sensing range of the judgment sensor body 807, generating a connection signal;

[0066] When the drill rod is removed, the sensor spring 810 resets the signal post 809 and the signal is disconnected.

[0067] The top of the signal post 809 is designed to exceed the lowest point of the bottom plate where the drill rod is placed, so as to ensure that the signal post 809 can be pressed down when there is a drill rod in the drill rod transporter 8.

[0068] 3. Rotation sensor

[0069] A rotation sensor 904 is mounted on the main manipulator 9 to detect its rotational position and direction. The main manipulator 9 comprises a rotating joint, a telescopic joint, and a gripper assembly. The rotating joint includes a rotating base and a rotation driver. The rotation driver is located at one end of the rotating base and drives a rotating shaft 905, which passes through the rotating base and is connected to the telescopic joint. The gripper assembly is connected to the bottom of the telescopic joint and, through the telescopic joint, drives the gripper assembly to extend and retract vertically, thereby gripping. The telescopic assembly comprises a vertically arranged outer cylinder 907 and an inner cylinder. The outer cylinder is connected to the rotating shaft, and the inner cylinder is slidably connected to the inner cylinder 907. The gripper assembly is connected to the bottom of the inner cylinder. Specifically, when the main manipulator 9 rotates toward the frame and the drill rod transfer unit, the telescopic joint can adjust the distance from the drill rod to avoid interference. Both the rotating shaft 905 and the outer cylinder 907 are rotating components rotatably connected to the rotating base.

[0070] like Figure 3 and Figure 4 As shown, the rotation sensor 904 includes the following components:

[0071] Rotation sensor mounting base 90401: fixed on the rotation base of the main manipulator 9 to support the sensor body.

[0072] Rotation sensor body 90402: fixed in the rotation sensor mounting base 90401 to detect the rotation signal.

[0073] Trigger ring 90403: fixed on the rotating shaft or outer cylinder of the main manipulator 9, rotates along with the rotating shaft or outer cylinder, interacts with the rotation sensor body 90402 to generate a corresponding signal, and the circumferential angle of the trigger ring 90403 covers the rotation angle range of the main manipulator 9.

[0074] The trigger ring 90403 includes two arc segments of different lengths and a gap. As the main manipulator 9 rotates, the rotation sensor body 90402 sequentially detects the arc segments and gap. Based on the duration and on / off state of the signal, it indicates the main manipulator's rotation direction and position. For example, a short arc segment corresponds to a short-duration on signal, a long arc segment corresponds to a long-duration on signal, and a gap corresponds to an off signal.

[0075] Specifically, in this embodiment, the arc segments of different arc lengths and one gap are respectively the first arc segment 90403a, the gap 90403b and the second arc segment 90403c, wherein the first arc segment 90403a is the arc segment close to the rotation sensor body 90402 in the initial state of the trigger ring 90403 (the main manipulator is defined as the initial state when it is on the side of the drill rod transporter), and the arc length of the first arc segment 90403a is smaller than the arc length of the second arc segment 90403c, thereby forming a signal change process of "off-short on-off-long on-off" in the process of the main manipulator rotating the drill rod transporter toward the frame.

[0076] During the actual operation of an automated drilling rig, after the main manipulator removes a drill rod from the drill rod transporter, the transporter must return to a horizontal position to receive the next drill rod. The main manipulator must leave a certain amount of space to avoid interfering with the transporter's movements. However, since the rig is still drilling, the main manipulator cannot be directly positioned within the gantry. Therefore, it must remain between the transporter and the gantry.

[0077] Therefore, the circumferential angle of the trigger ring is divided into two segments. After the main manipulator grabs the drill rod from the drill rod transporter, the rotation sensor body 90402 switches from the disconnected state to first detect the first arc segment 90403a, generating a short-circuit signal. It then enters the gap 90403b and switches from the disconnected state. After remaining in the disconnected state for a specified period of time or until a signal from the control system is received, it continues to rotate, with the rotation sensor body 90402 detecting the second arc segment 90403c and generating a long-circuit signal. The signal from the rotation sensor body 90402 is disconnected again, at which point the main manipulator delivers the drill rod into the rack.

[0078] Since the arc length of the first arc segment is smaller than that of the second arc segment, the control system can determine the direction of rotation of the manipulator by the change in the duration of the sensor signal connection "from short to long or from long to short", thereby recording the status of the main manipulator in the system.

[0079] Through the coordinated operation of the above three sensors, the drill rod conveying sensor system of this embodiment can monitor the position and status of the drill rod between the auxiliary manipulator 6, the drill rod transporter 8 and the main manipulator 9 in real time, ensuring a smooth and safe conveying process.

[0080] Example 2: Application of Drill Pipe Transport Sensor System in Automatic Drilling Rig

[0081] This embodiment describes the specific application of the drill rod conveying sensor system in an automatic drilling rig. Figure 5 The axonometric view of the automatic drilling rig shown in detail illustrates the process of conveying the drill rods from the drill rod box 5 to the frame 11 and the process of recovering the drill rods from the frame to the drill rod box.

[0082] 1. The process of transporting drill rods from the drill rod box to the rack

[0083] Initial state: There are drill rods to be transported in the drill rod box, there are no drill rods in the auxiliary manipulator 6 and the drill rod transporter 8, the detection sensor 611 and the judgment sensor 807 signals are disconnected; the main manipulator 9 is in the ready position (initial position, ready to grab the drill rod in the drill rod transporter 8), and the rotation sensor 904 signal is disconnected.

[0084] Step 1: Grab the Drill Pipe

[0085] The auxiliary manipulator 6 approaches the drill rod from the drill rod box, the clamping claws clamp the drill rod, the trigger column 61103 is squeezed, and the detection sensor 611 signal is connected, indicating that the auxiliary manipulator 6 has grasped the drill rod.

[0086] Step 2: Transfer to the Drill Pipe Transporter

[0087] The auxiliary manipulator 6 places the drill rod into the drill rod transporter 8, the gripper is released, and the detection sensor 611 signal is disconnected. At the same time, the drill rod presses the signal post 809, and the sensor body 807 signal is connected, indicating that the drill rod has entered the drill rod transporter 8.

[0088] Step 3: Main robot grasps

[0089] The main manipulator 9 grabs the drill rod from the drill rod transporter 8. After the drill rod leaves, the signal post 809 is reset, and it is determined that the signal of the sensor body 807 is disconnected.

[0090] Step 4: Transport to the rack

[0091] The main manipulator 9 rotates toward the rack 11, and the rotation sensor 904 detects the trigger ring 90403. The signal changes in sequence to "off-short on-off-long on-off", indicating that the main manipulator 9 completes the rotation and sends the drill rod into the rack.

[0092] 2. The recovery process of drill rods from the rack to the drill rod box

[0093] Initial state: there is recovery space in the drill rod box, there are no drill rods in the auxiliary manipulator 6 and the drill rod transporter 8, the detection sensor 611 and the judgment sensor 807 signals are disconnected; the main manipulator 9 is located in the frame, and the rotation sensor 904 signal is disconnected.

[0094] Step 1: Main robot recovery

[0095] The main manipulator 9 rotates from the frame to the drill pipe transporter 8, and the signal of the rotation sensor 904 changes to "off-long on-off-short on-off", indicating that the rotation is completed.

[0096] Step 2: Place on the drill pipe transporter

[0097] The main manipulator 9 places the drill rod into the drill rod transporter 8, the signal post 809 is pressed, and the signal of the sensor 807 is connected.

[0098] Step 3: Secondary manipulator grasps

[0099] The auxiliary manipulator 6 grabs the drill rod from the drill rod transporter 8, the trigger column 61103 is squeezed, the detection sensor 611 signal is connected, and after the drill rod is removed, the judgment sensor 807 signal is disconnected.

[0100] Step 4: Put the drill box back

[0101] The auxiliary manipulator 6 puts the drill rod back into the drill rod box, the gripper is released, the signal of the detection sensor 611 is disconnected, and the recovery is completed.

[0102] Through the above process, this embodiment demonstrates how the drill rod conveying sensor system can realize the fully automated conveying and recovery of drill rods in an automatic drilling rig, thereby ensuring the efficiency and reliability of the operation.

[0103] In another embodiment, the arc length of the first arc segment can also be set to be greater than the arc length of the second arc segment, so that a signal change process of "off-long on-off-short on-off" is formed during the rotation of the main manipulator from the drill rod transporter to the frame.

[0104] 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 rod conveying sensor system, wherein the drill rod conveying process is sequentially operated by the auxiliary manipulator, the drill rod transporter and the main manipulator, characterized in that: The drill pipe conveyed sensor system includes: a detection sensor mounted on the auxiliary manipulator, wherein the detection sensor is configured to detect whether a drill rod is present in the auxiliary manipulator; a determination sensor mounted on the drill rod transporter, wherein the determination sensor is configured to detect whether a drill rod is present in the drill rod transporter; A rotation sensor is mounted on the main manipulator, wherein the rotation sensor is configured to detect the rotation position and direction of the main manipulator.

2. The drill pipe conveying sensor system according to claim 1, characterized in that: The detection sensor includes: a detection sensor mounting base radially fixed to one side of the gripper in the auxiliary manipulator; a detection sensor spring disposed in the detection sensor mounting seat; a trigger post movably mounted in the detection sensor mounting seat via the detection sensor spring; A detection sensor body is configured to detect displacement of the trigger column due to the presence of the drill pipe.

3. The drill pipe conveying sensor system according to claim 2, characterized in that: When the clamping claw approaches the drill rod, the trigger column is pressed upward by the drill rod, and the detection sensor body generates a connection signal indicating the presence of the drill rod.

4. The drill pipe conveying sensor system according to claim 1, characterized in that: The judgment sensor includes: a judgment sensor mounting seat fixed below the bottom plate in the drill pipe transporter; A judgment sensor body fixed in the judgment sensor mounting seat; a judgment sensor spring disposed in the judgment sensor mounting seat; A signal-emitting post movably mounted in the judgment sensor mounting seat via the judgment sensor spring; When the drill rod is placed in the drill rod transporter, the signal transmitting column is pressed downward by the drill rod, and the judgment sensor body generates a connection signal indicating the presence of the drill rod.

5. The drill pipe conveying sensor system according to claim 4, characterized in that: The top end of the signal post passes through the bottom plate of the drill rod transporter, and when there is no drill rod in the drill rod transporter, the top end of the signal post exceeds the lowest point of the drill rod transporter where the drill rod is placed.

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

7. The drill pipe conveyed sensor system according to claim 6, characterized in that: The two arc segments and the gap are arranged so that during the rotation of the main manipulator, the rotation sensor body detects the two arc segments and the gap in sequence, and indicates the rotation direction and position of the main manipulator according to the duration and on-off of the rotation sensor body signal.

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