Drill rod transfer mechanism with adjustable inclination angle and control method thereof

Abstract

The invention relates to a dip angle adjustable type drill rod transfer mechanism and a control method thereof, and belongs to the technical field of mining drilling machines. Comprising a rack and a rotary platform, a transporter is installed between the rack and the rotary platform through an asynchronous rotating device, and the asynchronous rotating device comprises a dip angle gyrator and a transporter gyrator so as to achieve dip angle rotary adjustment of the rack and the transporter. The device further comprises an inclination angle sensor, the rotation process and the rotation inclination angle of a transporter gyrator located in the drilling machine are transmitted to a sensor gear ring outside the drilling machine through a gear transmission structure, and the actual rotation direction and the rotation angle of the sensor gear ring directly influence the length change of a stay wire of the stay wire sensor, namely the enveloping angle of the stay wire to the sensor gear ring. And then the rotation process and the rotation inclination angle of the rotator of the transporter are reversely deduced according to the transmission ratio of the gear structure, the inclination angle change process of the transporter is monitored by using a stay wire sensor, and length / angle conversion is performed, so that the comprehensiveness of monitoring the automatic conveying process of the drill rod is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drill rigs and relates to an inclination-adjustable drill rod transport mechanism and a control method thereof. Background Art

[0002] After nearly 10 years of development, automated drilling rig technology has become increasingly mature, achieving fully automatic operation of loading and unloading drill rods, drilling, and posture adjustment. It has been applied on a large scale in disaster prevention and control projects such as gas extraction and water exploration. However, the automatic drilling rigs currently used in the industry mostly use a three-stage drill rod conveying system consisting of a dual manipulator combined with a transporter. Among them, the transporter is a key component for the transition of the drill rod between the two manipulators. Existing transporters have two forms: translation and horizontal rotation. Both move in the horizontal plane and clamp the two ends of the horizontally placed drill rod to align it with the drill rod box or frame. However, the existing transporter lacks a fixing mechanism for the drill rod in the vertical plane, so it cannot move at large inclination angles. Affected by this, the drilling inclination range of existing automatic drilling rigs is limited, making it difficult to expand to large-angle drilling conditions.

[0003] The existing automatic drilling rig's drill pipe conveying system lacks reliable means of monitoring the inclination adjustment process. The sensor technologies used are mainly divided into the following two categories:

[0004] (1) Full-process monitoring. Use precision sensors such as encoders to monitor the inclination of the manipulator. This method has a complex structure, low sensor reliability, and high cost.

[0005] (2) Specific position monitoring. Position sensors are used to monitor the specific positions of the manipulator (such as extreme positions and horizontal positions) to determine the relative positions between components. This method improves sensor reliability, but it completely lacks process monitoring, making it difficult to improve the degree of automation and self-regulation of the operation process.

[0006] It can be seen that the transporter of the existing automatic drilling rig is difficult to adapt to the needs of high-angle drilling in terms of structure and sensor system. Summary of the Invention

[0007] In view of this, the object of the present invention is to provide an inclination-adjustable drill rod transport mechanism and a control method thereof, so as to solve the problem that the existing drill rod transporter lacks adjustment process monitoring and drill rod sensing sensors.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A drill pipe transport mechanism with adjustable inclination angle comprises a frame and a rotary platform, wherein a transporter is arranged between the frame and the rotary platform via an asynchronous rotation device;

[0010] 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.

[0011] 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;

[0012] 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.

[0013] 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;

[0014] It also includes a drill rod sensing sensor disposed on the bottom plate, the drill rod sensing sensor including a sensor seat disposed below the bottom plate, a sensor element disposed on the sensor seat, a signal transmitting post disposed on the sensor seat via a spring, and an end of the signal transmitting post away from the sensor seat passing through the mounting hole of the bottom plate and protruding from the surface of the bottom plate;

[0015] 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;

[0016] 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.

[0017] 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.

[0018] 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 slider 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 upward to open, so as 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.

[0019] 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.

[0020] 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 cylinder 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 cylinder;

[0021] 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.

[0022] 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.

[0023] 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;

[0024] 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;

[0025] The initial angle θ between the cable sensor and the sensor gear ring connection point is less than 180°;

[0026] 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;

[0027] 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.

[0028] 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.

[0029] A control method for an inclination-adjustable drill rod transport mechanism, using the above-mentioned inclination-adjustable drill rod transport mechanism, including two situations of inserting a drill rod or removing a drill rod;

[0030] Inserting the drill pipe involves the following steps:

[0031] Initial state: The transporter is horizontal, with no drill rod inside; the spring is in a free state, the drill rod sensing sensor signal is disconnected, the level sensor signal is connected, the inclination sensor reading is L0, the slider slides outward along the length of the bottom plate, and the pressure plate opens.

[0032] Insert the drill rod: After the drill rod is placed in the groove of the support block, the slider slides inward along the length direction of the bottom plate, the pressure plate rotates to clamp the drill rod, the top of the signal post is pressed down by the drill rod, the spring is compressed, and the bottom of the signal post enters the sensing range of the drill rod sensing sensor, and the signal is connected;

[0033] Inclination adjustment: The transporter rotator drives the transporter to rotate the inclination angle β, the horizontal sensor signal is disconnected, and the length reading of the transporter inclination sensor gradually decreases (β is a positive inclination angle) or increases (β is a negative inclination angle) until the length reading of the transporter inclination sensor is L Z=L0-kβ / i, at which point the inclination angle of the transporter is β;

[0034] The following steps are involved in removing the drill pipe:

[0035] Initial state: The inclination angle of the transporter is β, and there is a drill rod inside; the signal of the drill rod sensing sensor is connected; the level sensor has no signal output, and the inclination sensor reading is L Z =L0-kβ / i; the slider and pressure plate clamp the drill rod respectively;

[0036] Remove the drill rod: The slider slides outward along the length of the bottom plate, the pressure plate rotates open, the transporter releases the drill rod, and then the drill rod is removed; the spring gradually returns to a free state, the top of the signal post gradually exceeds the lowest point of the support block groove, and the drill rod sensing sensor signal is disconnected;

[0037] Restoring to level: The transporter rotor drives the transporter to rotate at an inclination angle of -β. The length reading of the inclination sensor gradually increases (β is a positive inclination angle) or decreases (β is a negative inclination angle) until the length reading of the transporter inclination sensor returns to L0 and the horizontal sensor signal is connected. At this time, the transporter returns to a horizontal state.

[0038] The beneficial effects of the present invention are:

[0039] Compared with the prior art, which uses complex precision sensors such as encoders to monitor the inclination of the manipulator throughout the entire process, or to perform specific monitoring of the manipulator's special positions (extreme positions, horizontal positions), etc., the present invention sets a gear transmission structure to transmit the rotation process and rotation inclination of the transporter rotator inside the drilling rig to the sensor gear ring outside the drilling rig. The actual rotation direction and rotation angle of the sensor gear ring will directly affect the length change of the wire of the wire sensor, that is, the envelope angle of the wire to the sensor gear ring. Finally, the rotation process and rotation inclination of the transporter rotator inside the drilling rig are reversed according to the transmission ratio of the gear structure. The wire sensor is used to monitor the change process of the transporter inclination and perform length / angle conversion, thereby improving the comprehensiveness of monitoring the automatic conveying process of the drill pipe.

[0040] In addition, the present invention can also set the transmission ratio of the gear transmission structure so that the output angle range of the sensor ring gear is smaller than the inclination angle change range of the transporter rotor, thereby improving the flexibility of the installation position of the wire sensor and the design of related structural parts in the present invention.

[0041] Secondly, the present invention incorporates a drill rod sensor at the bottom of the drill rod transporter, which can detect the presence of drill rods in real time, preventing duplicate placement and reducing collisions, jams, and other issues caused by such placement. This reduces damage to the drill rods and transporter equipment, extending the equipment's service life and improving operational safety and accuracy. Operators no longer need to expend additional time and effort to confirm the placement of drill rods, reducing the cost and risk of manual intervention. Real-time, accurate drill rod information reduces delays and errors in decision-making and scheduling, improving the efficiency of the entire drill rod delivery process.

[0042] In addition, the present invention realizes asynchronous rotation adjustment of the inclination angle between the frame and the transporter through an asynchronous rotation device, expands the drilling inclination range, and realizes a large range of inclination adjustment of the transporter in the vertical plane, breaking through the previous technical limitations, and can meet the drilling operations under more complex geological conditions, broadening the application scenarios of automatic drilling rigs.

[0043] 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

[0044] 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:

[0045] Figure 1 This is the overall schematic diagram of the drill pipe transfer mechanism;

[0046] Figure 2 This is the axonometric view of the transporter;

[0047] Figure 3 This is the front view of the transporter;

[0048] Figure 4 It is a cross-sectional view of an asynchronous rotating device;

[0049] Figure 5 It is the side view of the lifting sleeve shaft;

[0050] Figure 6 This is a schematic diagram of the working principle of the tilt sensor;

[0051] Figure 7 Schematic diagram of the level sensor.

[0052] Reference numerals:

[0053] 11 frame, 702 rotary platform, 704 lifting column, 705 lifting sleeve, 70501 side plate, 70502 sleeve, 70503 connecting cylinder, 706 lifting cylinder, 709 transporter rotator, 710 tilt rotator, 712 rotary transition plate, 713 frame connecting plate, 71403 tilt sensor; 71403a inner ring gear; 71403b primary gear; 71403c shaft; 71403d sensor Ring gear of the device; 71403e wire sensor; 71403f secondary gear; 71403g pressure cover, 71404 level sensor, 71404a trigger block, 71404b level sensor element, 8 transporter, 801 base plate, 802 support block, 803 pressure plate, 804 clamping cylinder, 805 slider, 806 sliding cylinder, 807 sensing sensor element, 808 sensor seat, 809 signal column, 810 spring. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] See also Figures 1 to 7, is an inclination-adjustable drill pipe transfer mechanism, comprising a frame 11 and a rotary platform 702, wherein a transporter 8 is arranged between the frame 11 and the rotary platform 702 through an asynchronous rotation device.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The drill rod sensing sensor includes a sensor base 808, a sensing sensor element 807, a signaling post 809, and a spring 810. The sensor base 808 is positioned below the base plate 801, with the sensing sensor element 807 mounted on the sensor base 808. The signaling post 809 is retracted and mounted on the sensor base 808 via a spring 810. The end of the signaling post 809, distal 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 the signaling post 809 extends beyond the lowest point of the groove in the support block 802. When the drill rod is inserted, the signaling post 809 is pressed downward, and the other end of the signaling post 809 enters the sensing range of the sensing sensor element 807, generating a connection signal.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The asynchronous rotation principle of the drill rod transfer mechanism of the present invention is as follows:

[0075] The first fixing ring of the transporter rotator 709 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 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.

[0076] 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 inclinometer 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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:

[0084] k=L0 / θ.

[0085] 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°.

[0086] Example 1:

[0087] 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:

[0088] α=(L0-L Z ) / k;

[0089] 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.

[0090] 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.

[0091] Example 2:

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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:

[0096] β=iα。

[0097] According to the gear train structure, the expression of the transmission ratio i is:

[0098] 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.

[0099] 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.

[0100] 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:

[0101] S1, the transporter rotator 709 rotates to set the inclination angle;

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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, according to the transmission ratio of the gear structure, the rotation process and rotation inclination of the transporter rotator 709 located inside the drilling rig are reversed, and the pull wire sensor is used to monitor the inclination change process of the drill pipe transporter 8, and perform length / angle conversion, thereby improving the comprehensiveness of monitoring the automatic conveying process of the drill pipe.

[0107] 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.

[0108] A control method for an inclination-adjustable drill rod transport mechanism, using the above-mentioned inclination-adjustable drill rod transport mechanism, including two situations of inserting a drill rod or removing a drill rod;

[0109] Inserting the drill pipe involves the following steps:

[0110] Initial state: The transporter is in a horizontal state with no drill rod inside; the spring is in a free state, the top of the signal post exceeds the lowest point of the support block groove, and the sensor signal is judged to be disconnected; the horizontal sensor trigger block and the sensor are opposite, and the signal is connected; the transporter inclination sensor reading is L0; the slider expands outward along the length of the base plate, and the clamping cylinder drives the pressure plate to open, expanding the drill rod placement space of the transporter.

[0111] Inserting the drill rod: After inserting the drill rod into the transporter, the slider retracts inward along the length of the base plate, and the clamping cylinder drives the pressure plate to clamp the drill rod. At this time, the top of the signal post is pressed down by the drill rod, compressing the spring, and the bottom of the signal post enters the sensor's sensing range, transmitting the signal.

[0112] Inclination adjustment: The transporter rotator drives the transporter to rotate the inclination angle β according to the control command, the transporter level sensor is disconnected, and the length reading of the transporter inclination sensor gradually decreases (positive inclination) or increases (negative inclination) until the length reading of the transporter inclination sensor is L Z =L0-kβ / i, at this time the inclination angle of the transporter is β.

[0113] The following steps are involved in removing the drill pipe:

[0114] Initial state: The inclination angle of the transporter is β, and there is a drill rod inside it; the top of the signal post is pressed down by the drill rod, the spring is compressed, and the bottom of the signal post enters the sensing range of the judgment sensor, and the signal is connected; the horizontal sensor trigger block and the sensor are disconnected, and there is no signal output; the transporter inclination sensor reading is L Z =L0-kβ / i; the slider contracts inward along the length direction of the base plate, and the clamping cylinder drives the pressure plate to close and clamp the drill rod.

[0115] Remove the drill rod: The slider expands outward along the length of the bottom plate, the compression cylinder drives the pressure plate to open, the transporter releases the drill rod, and then the drill rod is removed; the spring gradually returns to a free state, and the top of the signal post gradually exceeds the lowest point of the support block groove, judging that the sensor signal is disconnected;

[0116] Restoring to level: The transporter rotator drives the transporter to rotate at an inclination angle of -β according to the control command. The length reading of the transporter inclination sensor gradually increases (β is a positive inclination angle) or decreases (β is a negative inclination angle). The transporter level sensor is turned on until the length reading of the transporter inclination sensor returns to L0. At this time, the transporter returns to a horizontal state.

[0117] 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.

[0118] 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.

[0119] 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 transfer mechanism with adjustable inclination angle, characterized by: It comprises a frame (11) and a rotary platform (702), wherein a transporter (8) is arranged between the frame (11) and the rotary platform (702) via an asynchronous rotating device; The asynchronous rotation device includes an inclination rotator (710), a frame connecting plate (713), a rotary transition plate (712), and a lifting sleeve (705) connected in sequence, wherein the inclination rotator (710) is rotationally connected to the frame (11), and the transporter (8) is rotationally connected to the rotary transition plate (712) via the transporter rotator (709), and the inclination asynchronous rotation adjustment between the frame (11) and the transporter (8) is achieved via the inclination rotator (710) and the transporter rotator (709); The transporter rotator (709) 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 (712); the first rotating ring is fixedly connected to the first outer shell, and the transporter (8) is mounted on the first outer shell, and the inclination angle of the transporter (8) is adjusted by rotating the first rotating ring; It also includes an inclination sensor (71403) for monitoring the inclination adjustment during the transportation of the drill pipe, and the inclination sensor (71403) includes an inner gear ring (71403a), a rotating shaft (71403c), a sensor gear ring (71403d) and a pull-wire sensor (71403e); the inner gear ring (71403a) is fixedly connected to the first rotating circle of the transporter rotator (709) to drive the inner gear ring (71403a) to rotate through the transporter rotator (709); the rotating shaft (71403c) is rotatably connected to the lifting sleeve (705), and a first level is provided at each end of the rotating shaft (71403c). Gear (71403b) and secondary gear (71403f), the primary gear (71403b) and the inner gear ring (71403a) are meshed with each other, the secondary gear (71403f) and the sensor gear ring (71403d) are meshed with each other, and the sensor gear ring (71403d) is rotatably arranged on the outside of the lifting sleeve (705); the pull wire sensor (71403e) is arranged on the outside of the lifting sleeve (705) and is connected to the sensor gear ring (71403d) through a pull wire, so as to calculate the rotation angle of the transporter (8) through the pull wire length of the pull wire sensor (71403e).

2. The inclination-adjustable drill pipe transport mechanism according to claim 1, characterized in that: The transporter comprises a base plate (801), a supporting block (802), a pressure plate (803), and an axial pressing block; the supporting block (802) is arranged on the base plate (801) for supporting the drill rod; the axial pressing block is arranged on the base plate (801) and is located on both sides of the supporting block (802); the upper portion of the axial pressing block is rotatably connected to a pressure plate (803), and the pressure plate (803) is located above the supporting block (802); the axial pressing block presses and fixes the drill rod axially; the axial pressing block comprises at least one slider (805) slidably arranged on the base plate (801); the pressure plate (803) presses the drill rod onto the supporting block (802); The drill rod sensing sensor is also provided on the bottom plate (801), the drill rod sensing sensor including a sensor seat (808) provided below the bottom plate (801), a sensor element (807) provided on the sensor seat (808), a signal transmitting post (809) retractably provided on the sensor seat (808) via a spring (810), and an end of the signal transmitting post (809) away from the sensor seat (808) passes through a mounting hole of the bottom plate (801) and protrudes from the surface of the bottom plate (801); When the drill rod is put in, the signal post (809) is pressed down, and the other end of the signal post (809) enters the sensing range of the sensing sensor element (807), generating a connection signal; There are at least two support blocks (802), and the upper portion of each support block (802) 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 (809) exceeds the lowest point of the groove of the support block (802).

3. The inclination-adjustable drill pipe transport mechanism according to claim 2, characterized in that: A horizontal sensor (71404) is provided between the transporter (8) and the lifting sleeve (705); the horizontal sensor (71404) includes a trigger block (71404a) provided on the side of the bottom plate (801) of the transporter (8) facing the lifting sleeve (705), and a horizontal sensor element (71404b) provided on the lifting sleeve (705) facing the trigger block 71404a; when the trigger block (71404a) is aligned with the horizontal sensor element (71404b), a signal is generated.

4. The inclination-adjustable drill pipe transport mechanism according to claim 3, characterized in that: A sliding oil cylinder (806) is provided at the bottom of the base plate (801), and the sliding oil cylinder (806) is connected to the slider (805) to drive the slider (805) to slide along the length direction of the base plate (801); the slider (805) is rotatably connected to the pressure plate (803), and when the transporter (8) is in a state of waiting for the drill rod to be loaded or unloaded, the pressure plate (803) is rotated and opened upward to facilitate the loading or unloading of the drill rod; a clamping oil cylinder (804) is also provided on the pressure plate (803) to drive the rotation of the pressure plate (803); the clamping oil cylinder (804) is located on the outside of the two axial clamping blocks and is hingedly connected to the upper part of the axial clamping blocks.

5. The inclination-adjustable drill pipe transport mechanism according to claim 3, characterized in that: The inclination rotator (710) includes a second fixed ring and a second rotating ring provided thereon, wherein 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, and the frame (11) is mounted on the second outer shell, and the inclination angle of the frame (11) is adjusted by rotating the second rotating ring.

6. The inclination-adjustable drill pipe transport mechanism according to claim 3, characterized in that: The lifting sleeve (705) includes a cavity formed by two side plates (70501) and a top sealing 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 arranged opposite to each other on the rotary platform (702), and a lifting cylinder (706) is provided between the two lifting columns (704); the lifting cylinder (706) of the rotary platform (702) is installed in the cavity, and under the drive of the lifting cylinder (706), the lifting sleeve (705) moves up and down along the lifting columns (704); the sleeve (70502) is sleeved on the lifting columns (704) of the rotary platform (702), and the rotary transition plate (712) is installed on the connecting cylinder (70503); The connecting tube (70503) is provided with a flange; the rotary transition plate (712) is disc-shaped and includes three sets of flanges arranged side by side, the inner flange is matched with the flange of the connecting tube (70503), and the two sets of outer flanges are respectively used to install the installation transporter rotator (709) and the frame connecting plate (713); the frame connecting plate (713) is disc-shaped and includes two sets of flanges connected to each other, and the two sets of flanges are respectively connected to the flange of the rotary transition plate (712) and the inclination rotator (710).

7. The inclination-adjustable drill pipe transport mechanism according to claim 3, characterized in that: The tilt adjustment range of the transporter rotator (709) is 360°, which is divided into positive tilt rotation and negative tilt rotation. The angles corresponding to the positive tilt rotation and the negative tilt rotation are 0 to 180° and 0 to -180° respectively.

8. The inclination-adjustable drill pipe transport mechanism according to claim 7, characterized in that: The rotation angle of the connection point between the pull wire in the pull wire sensor (71403e) and the sensor gear ring (71403d) is smaller than the inclination adjustment range of the transporter rotator (709); When the transporter rotator (709) is at the initial position, the initial length of the wire between the connection point of the wire sensor (71403e) and the sensor gear ring (71403d) is L0, and the initial angle is θ, then the wire length corresponding to the unit angle satisfies the following condition: k=L0 / θ; 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°; When the angle of the transporter rotator (709) is rotated, the total length of the real-time pull line of the pull line sensor (71403e) is L Z , then the real-time angle of the sensor gear ring (71403d) is: α=(L0-L Z ) / k; When the transporter rotator (709) rotates in a counterclockwise positive angle, L0≥L Z , α≥0; when the transporter rotator (709) rotates clockwise with a negative inclination, L0≤L Z , α≤0.

9. The inclination-adjustable drill pipe transport mechanism according to claim 8, characterized in that: The transmission ratio of the gear system composed of the inner gear ring (71403a), the first gear (71403b), the second gear (71403f) and the sensor gear ring (71403d) is i, then the actual rotation angle of the transporter (8) calculated by the sensor gear ring (71403d) is: β=iα; the gear system transmission ratio i≥1.

10. A control method for an inclination-adjustable drill pipe transfer mechanism, characterized in that: The inclination-adjustable drill rod transport mechanism according to claim 9 is used, including two situations: inserting the drill rod or removing the drill rod; Inserting the drill pipe involves the following steps: Initial state: the transporter (8) is horizontal, and there is no drill rod inside it; the spring (810) is in a free state, and the drill rod sensing sensor signal is disconnected; the signal of the level sensor (71404) is connected; at this time, the reading of the inclination sensor (71403) is L0; the slider (805) slides outward along the length direction of the bottom plate (801), and the pressure plate (803) is opened; Inserting the drill rod: After the drill rod is placed in the groove of the support block (802), the slider (805) slides inward along the length direction of the bottom plate (801), the pressure plate (803) rotates to clamp the drill rod, the top of the signal post (809) is pressed down by the drill rod, the spring (810) is compressed, and the bottom of the signal post (809) enters the sensing range of the drill rod sensing sensor, and the signal is connected; Inclination adjustment: The transporter rotator (709) drives the transporter (8) to rotate the inclination angle β, the horizontal sensor (71404) signal is disconnected, and the length reading of the inclination sensor (71403) gradually decreases (β is a positive inclination) or increases (β is a negative inclination) until the length reading of the inclination sensor (71403) is L Z =L0-kβ / i, at which point the inclination angle of the transporter (8) is β; The following steps are involved in removing the drill pipe: Initial state: The tilt angle of the transporter (8) is β, and there is a drill rod inside it; the signal of the drill rod sensing sensor is connected; the level sensor (71404) has no signal output, and the tilt sensor (71403) reads L Z =L0-kβ / i; the slider (805) and the pressure plate (803) respectively clamp the drill rod; Remove the drill rod: the slider (805) slides outward along the length direction of the bottom plate (801), the pressure plate (803) rotates open, the transporter (8) releases the drill rod, and then the drill rod is removed; the spring (810) gradually returns to a free state, the top of the signal post (809) gradually exceeds the lowest point of the groove of the support block (802), and the drill rod sensing sensor signal is disconnected; Restoring to level: The transporter rotator (709) drives the transporter (8) to rotate at an inclination angle of -β, and the length reading of the inclination sensor (71403) gradually increases (β is a positive inclination angle) or decreases (β is a negative inclination angle) until the length reading of the inclination sensor (71403) returns to L0, and the signal of the level sensor (71404) is connected. At this time, the transporter (8) returns to a horizontal state.

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