Drill pipe automatic conveying system with drill pipe detection function

Abstract

This invention belongs to the field of mining drilling rigs and relates to an automatic drill pipe conveying system with drill pipe detection function. It includes a main manipulator, a secondary manipulator, a transfer mechanism, and a drill pipe conveying sensor group. The main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly. The secondary manipulator is mounted on a secondary slide rail of the drill pipe box and includes a lifting joint, a secondary rotary joint, a secondary telescopic joint, and a secondary gripper connected in sequence. The transfer mechanism includes a drill pipe transfer device, a frame, and a rotary platform, wherein the drill pipe transfer device is positioned between the frame and the rotary platform via an asynchronous rotation device. The drill pipe conveying sensor group includes: a detection sensor mounted on the secondary manipulator; a judgment sensor mounted on the drill pipe transfer device; and a rotation sensor mounted on the main manipulator. This invention achieves highly efficient automation from sensing to control during drill pipe conveying, providing strong protection for safety and efficiency in complex operating environments.

Description

Technical Field

[0001] This invention belongs to the field of mining drilling rigs and relates to an automatic drill rod conveying system with drill rod detection function. Background Technology

[0002] Against the backdrop of the deepening implementation of the intelligent coal mining strategy, drilling rig automation, as a key component for achieving less-manned and unmanned underground operations, is leading the technological transformation of the coal industry. Traditional manual operation methods face numerous challenges in the complex and harsh underground environment. Factors such as personnel fatigue and limited operational precision make it difficult to meet the dual urgent needs of efficient mining and ensuring inherent safety in modern coal mines. The application of automation technology in the drilling rig field provides an effective way to solve these problems. By automating the drilling process and auxiliary procedures, automation technology significantly reduces labor intensity, greatly improves operational safety, and breaks through the efficiency bottleneck of manual operation, making it an inevitable choice for technological upgrading in the coal industry.

[0003] As one of the core systems of an automatic drilling rig, the performance of the drill pipe delivery system directly affects the overall operational efficiency of the rig. Currently, common drill pipe delivery systems mainly consist of a main manipulator, a secondary manipulator, and a drill pipe transfer device. The secondary manipulator, typically a drill pipe delivery manipulator, is primarily responsible for removing drill pipes from the drill pipe box and placing them into the drill pipe transfer device. The main manipulator, as a key actuator in the drill pipe delivery system, is responsible for feeding drill pipes from the drill pipe transfer device and other devices into the main drilling rig to ensure smooth drilling operations. The drill pipe transfer device serves as a transitional component between the two manipulators, aligning and transferring the drill pipes with the main manipulator or the rig frame.

[0004] However, existing drill pipe delivery systems still have many shortcomings in meeting the inclination adjustment requirements of full-section working conditions, making it difficult to meet actual production needs. Specifically, these shortcomings are manifested in the following aspects:

[0005] First, the separate design of the main manipulator from the frame has significant drawbacks. During drilling, the frame is at a certain angle, while the drill rod is generally horizontal initially. This forces the manipulator to frequently switch between horizontal and angled states, making the angled joint highly susceptible to interference with other components. This complicates the structure and sensor positioning system, increasing the risk of equipment failure and maintenance costs.

[0006] Secondly, the auxiliary manipulator is a Cartesian articulated manipulator, with all joints being translational joints, which can only achieve translational or lifting transport of the drill rod. This limitation greatly restricts the subsequent mechanisms of the drill rod transport system and the overall layout of the drilling rig. Especially in the vertical direction, the Cartesian articulated manipulator can only perform vertical movements, making it difficult for the drill rod to cross essential drilling rig components such as the lifting sleeve under the drive of the gripping manipulator, thus affecting the drilling rig's operating efficiency and flexibility.

[0007] Third, existing drill pipe transfer devices suffer from a limited range of motion. Currently, drill pipe transfer devices mainly operate in two forms: translation and horizontal rotation, both within a horizontal plane. They can only clamp the ends of horizontally placed drill pipes to align them with the drill pipe box or frame. However, due to the lack of a vertical drill pipe fixing mechanism, the drill pipe transfer device cannot perform large-angle movements, limiting the drilling rig's operational capabilities under various inclination conditions.

[0008] Fourth, the inadequacy of the sensor system is also a major problem with existing drill pipe conveying systems. When conveying drill pipes, automatic drilling rigs sequentially use a secondary manipulator, a drill pipe transfer device, and a main manipulator to complete the conveying process. However, current technology only monitors the displacement or special positions of the main and secondary manipulators, lacking real-time monitoring of the drill pipe's position. This can easily lead to misjudgments of the drill pipe's status within the system, resulting in interference or even damage to the mechanism, seriously affecting the drilling rig's operational safety and construction efficiency.

[0009] In summary, due to the limitations of the main manipulator, auxiliary manipulator, and drill pipe transfer device structure, the drilling inclination range of existing automatic drilling rigs is restricted, making it difficult to meet the needs of full-section working conditions. Furthermore, the imperfections in the sensor system also pose certain safety hazards during the drill pipe transport process. Therefore, developing a drill pipe transport system that can adapt to full-section working conditions and possesses a more comprehensive sensor system is of significant practical importance. Summary of the Invention

[0010] In view of this, the purpose of the present invention is to provide an automatic drill rod conveying system with drill rod detection function, so as to solve the problems that the existing automatic drilling rig has a limited drilling inclination range and cannot meet the requirements of full-section working conditions, and the problem that the existing technology lacks the monitoring of the drill rod in place status in the automatic drill rod conveying system.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] An automatic drill pipe conveying system with drill pipe detection function includes a main manipulator, a secondary manipulator, a transfer mechanism, and a drill pipe conveying sensor group;

[0013] The main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly;

[0014] The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint.

[0015] The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

[0016] The auxiliary manipulator is mounted on the auxiliary slide rail of the drill pipe box and includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box.

[0017] The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft.

[0018] The transfer mechanism includes a drill pipe transfer device, a frame, and a rotary platform, wherein the drill pipe transfer device is installed between the frame and the rotary platform via an asynchronous rotation device;

[0019] The drill pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block. The support block is disposed on the base plate and is used to support the drill pipe. The axial clamping block is disposed on the base plate and is located on both sides of the support block. A pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block. The axial clamping block clamps and fixes the drill pipe axially upwards. The axial clamping block includes at least one slider slidably disposed on the base plate. The pressure plate presses the drill pipe onto the support block.

[0020] The drill pipe delivery sensor group includes:

[0021] A detection sensor mounted on the auxiliary manipulator, the detection sensor being configured to detect whether a drill rod is present in the auxiliary manipulator;

[0022] A judgment sensor is installed on the drill pipe transfer device, the judgment sensor being configured to detect whether a drill pipe is present in the drill pipe transfer device;

[0023] A rotation sensor is mounted on the main manipulator, the rotation sensor being configured to detect the rotational position and direction of the main manipulator.

[0024] Furthermore, the asynchronous rotation device includes a lifting sleeve, a transferor rotator, an angle rotator, a rotation transition plate, and a frame connecting plate. The frame and the rotating platform are connected sequentially via the angle rotator, the frame connecting plate, the rotation transition plate, and the lifting sleeve. The angle rotator is rotatably connected to the frame, and the transferor is rotatably connected to the rotation transition plate via the transferor rotator. The angle rotator and the transferor rotator enable asynchronous rotation adjustment of the angle between the frame and the transferor.

[0025] Furthermore, the lifting sleeve includes a cavity formed by two side plates and a top sealing plate. Sleeves are provided at both ends of the side plates, and connecting cylinders are provided on the side plates. Two lifting columns are arranged opposite each other 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. Driven by the lifting cylinder, the lifting sleeve moves up and down along the lifting columns. The sleeve is sleeved on the lifting columns of the rotary platform, and the rotary transition plate is installed on the connecting cylinder.

[0026] Furthermore, the connecting cylinder is provided with a flange; the rotary transition plate is disc-shaped and includes three sets of flanges arranged side by side, the inner flange is connected to the flange of the connecting cylinder, and the two outer flanges are used to install the installation transfer device rotary device and the frame connecting plate, respectively.

[0027] Furthermore, the transferor rotary includes a first fixed ring and a first rotating ring disposed thereon. The first fixed ring is connected to the flange of the rotary transition plate; the first rotating ring is fixedly connected to the first outer shell. The transferor is mounted on the first outer shell, and the tilt angle of the transferor is adjusted by rotating the first rotating ring.

[0028] Furthermore, the frame connecting plate is disc-shaped and includes two sets of interconnected flanges, which are respectively connected to the flange of the rotary transition plate and the tilting rotary device.

[0029] Furthermore, the tilting rotator 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; the second rotating ring is fixedly connected to the second outer shell. The frame is mounted on the second outer shell, and the tilting angle of the frame is adjusted by rotating the second rotating ring.

[0030] Furthermore, a sliding cylinder is provided at the bottom of the base plate, and the sliding cylinder is connected to the slider to drive the slider to slide along the length direction of the base plate.

[0031] Furthermore, the axial clamping block is rotatably connected to the pressure plate. When the transfer device is in a state of waiting to load or remove the drill rod, the pressure plate rotates upward to open, facilitating the loading or removal of the drill rod.

[0032] Furthermore, the pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located on the outside of the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

[0033] Furthermore, at least two support blocks are provided, and each support block has a groove on its upper part that matches the outer diameter of the drill rod.

[0034] Furthermore, the main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder, and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected inside the main outer cylinder. The main gripper assembly is connected to the bottom of the main inner cylinder. The main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

[0035] Furthermore, the main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases under the drive of the main clamping cylinder.

[0036] Furthermore, it also includes a sliding joint, which includes a fixed seat, a connecting arm, and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, which cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm.

[0037] One end of the sliding cylinder is fixed to the fixed base, and the other end is connected to the connecting arm so that the connecting arm slides along the track.

[0038] Furthermore, the end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

[0039] Furthermore, the lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting cylinder drives the lifting pair to perform lifting movement.

[0040] Furthermore, the secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam, the secondary rotary actuator being connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

[0041] Furthermore, the end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

[0042] Furthermore, the secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder, wherein the secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement;

[0043] And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

[0044] Furthermore, a secondary clamping cylinder is connected to the side of the secondary gripper near the telescopic unit. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

[0045] Furthermore, the detection sensor includes:

[0046] A sensor mounting base is radially fixed to one side of the gripper in the auxiliary manipulator;

[0047] The detection sensor spring is installed inside the detection sensor mounting base;

[0048] The trigger post is movably mounted in the detection sensor mounting base via the detection sensor spring;

[0049] The detection sensor body is configured to detect the displacement of the trigger column due to the presence of the drill pipe.

[0050] Furthermore, when the gripper approaches the drill pipe, the trigger pin is pressed upward by the drill pipe, and the detection sensor body generates an activation signal indicating the presence of the drill pipe.

[0051] Furthermore, the judgment sensor includes:

[0052] A sensor mounting base is fixed below the base plate of the drill pipe transfer device;

[0053] The judgment sensor body is fixed inside the judgment sensor mounting base;

[0054] The judgment sensor spring is installed inside the judgment sensor mounting base;

[0055] The signal transmitting column is movably mounted in the judgment sensor mounting base via the judgment sensor spring;

[0056] When the drill pipe is placed in the drill pipe transfer device, the signaling column is pressed downward by the drill pipe, and the judgment sensor body generates an on signal indicating the presence of the drill pipe.

[0057] Furthermore, the top of the signaling column penetrates the bottom plate of the drill pipe transfer device, and when there is no drill pipe in the drill pipe transfer device, the top of the signaling column exceeds the lowest point where the drill pipe is placed on the drill pipe transfer device.

[0058] Furthermore, the rotation sensor includes:

[0059] A rotation sensor mounting base fixed on the rotating seat of the main manipulator;

[0060] The rotation sensor body is fixed inside the rotation sensor mounting base;

[0061] A trigger ring is fixed to a rotating component that is rotatably connected to the rotating base and rotates with the rotating component. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator. The trigger ring has two arc segments with different arc lengths and a gap between the two arc segments to generate a signal for detecting the rotational position and direction of the main manipulator.

[0062] Furthermore, the two arc segments and the notch are arranged such that during the rotation of the main manipulator, the rotation sensor body sequentially detects the arc segments and the notch, and indicates the rotation direction and position of the main manipulator based on the duration and on / off state of the rotation sensor body signal.

[0063] The beneficial effects of this invention are as follows:

[0064] (1) This invention integrates most of the functions of the main manipulator by connecting the main rotary joint and the main telescopic joint and integrating them with the frame, keeping their tilt angles consistent, simplifying the manipulator's movements and reducing the possibility of interference with other components. The main rotary joint can satisfy the rotation of the main manipulator at a certain angle, meaning that any drill rod within this angle range can be grasped by the main manipulator; in addition, combined with the telescopic effect of the main telescopic joint, the grasping range of the main manipulator is further expanded within the original rotation angle range, thus achieving wider applicability.

[0065] (2) By setting a secondary rotary joint with a limited angle, the secondary manipulator's swing function in the vertical plane is realized. This allows the secondary manipulator to transport drill pipe across components such as the attitude adjustment device, thus allowing the transfer unit to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of the drill pipe transport system layout suitable for full-face drilling, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements. Because the secondary manipulator can swing in the vertical plane, the drilling rig is no longer limited to the traditional manipulator's linear up-and-down movement when drilling across the entire face and inclination range. This greatly increases the drilling inclination range of the drilling rig, improving its adaptability and operational efficiency.

[0066] (3) A rotary device is used to drive the drill pipe transfer device and the frame to rotate separately, which realizes a wide range of tilt angle adjustment of the drill pipe transfer device in the vertical plane.

[0067] Expanding the Drilling Inclination Range. Existing drill pipe transfer devices, due to design flaws, can only move in the horizontal plane, limiting the drilling inclination range of automatic drilling rigs and hindering their expansion into large-angle drilling conditions. The adjustable-inclination drill pipe transfer mechanism of this invention achieves asynchronous rotation adjustment of the inclination angle between the frame and the transfer device through an asynchronous rotation device. The inclination angle rotator adjusts the inclination angle of the frame, and the transfer device rotator adjusts the inclination angle of the transfer device. These two mechanisms work together to enable the transfer device to perform a wide range of inclination angle adjustments in the vertical plane. This allows the automatic drilling rig to adapt to drilling requirements at larger inclination angles, breaking through previous technical limitations, meeting drilling operations under more complex geological conditions, and broadening the application scenarios of automatic drilling rigs.

[0068] To avoid component interference and achieve drilling at large negative inclination angles, this invention addresses the problem of improperly positioned transfer devices, robotic arms, and frames in existing technologies. Interference occurs when the robotic arm adjusts the drill rod's inclination angle, especially under negative inclination angle conditions, preventing existing automatic drilling rigs from performing such drilling. The innovative asynchronous rotation device in this invention effectively avoids this issue. Through the sequential connection of components such as the inclination rotator, frame connecting plate, rotation transition plate, and lifting sleeve, the transfer device and frame can be independently adjusted for inclination angle. Under negative inclination angle conditions, the transfer device can be adjusted to the appropriate inclination angle as needed without interfering with other components on the rotary platform, thus enabling drilling at large negative inclination angles and further enhancing the operational capabilities of automatic drilling rigs.

[0069] This invention enhances automation and intelligence. It makes the drilling process more automated, and combined with automated drilling technology, enables fully automatic operation of drill rod loading and unloading, drilling, and attitude adjustment. This further reduces labor intensity, improves operational safety and efficiency, and provides strong support for the intelligent construction of coal mines.

[0070] (4) The drill rod is secured during transport by clamping both ends and pressing the top, thus preventing it from falling during tilt adjustment. This facilitates drill rod loading and unloading: When the transporter is in the state of loading or unloading drill rods (other clamping mechanisms have already secured the drill rods), the pressing cylinder drives the pressure plate to rotate and open upwards, and the sliding cylinder drives the slider to move outwards, expanding the internal space of the transporter and reducing obstacles during loading and unloading. It enhances drill rod stability: By clamping both ends of the drill rod with sliders and pressing the top with a pressure plate, the drill rod is secured from multiple directions, greatly enhancing its stability during transport and effectively preventing problems caused by shaking, shifting, or even falling during transport. It adapts to large tilt angle conditions: The above-mentioned fixing method ensures the drill rod remains stable under large tilt angle conditions, preventing it from falling during tilt adjustment and expanding the application range and adaptability of the automatic drilling machine.

[0071] (5) The detection sensor on the auxiliary manipulator, through the trigger pin design in the gripper, can directly sense whether there is a drill rod in the gripper and generate an accurate signal. This function provides key support for the automation of drill rod feeding, ensuring the auxiliary manipulator's precise movements when gripping 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. By cooperating with subsequent systems, the detection sensor lays the foundation for the continuity of drill rod flow and is an indispensable part of the technical solution.

[0072] (6) The sensor, located below the drill pipe transfer unit's base plate, accurately detects the presence of drill pipe in the transfer unit using a signaling column and spring reset design, generating an activation signal. This function provides crucial information for the automatic control of drill pipe transport, ensuring real-time monitoring of the drill pipe's status. Working in conjunction with the detection sensor on the auxiliary robotic arm, the sensor helps the system accurately track the drill pipe's flow path, thereby improving transport efficiency and safety. The spring reset design prevents false triggering when no drill pipe is present, ensuring the sensor's high reliability. The application of this sensor significantly optimizes the automated process of drill pipe transport, providing stable support for subsequent drilling operations.

[0073] (7) The rotation sensor of the main manipulator is mounted on the rotating base. Through a trigger ring design, it determines the rotation direction and position based on the duration and on / off state of the signal. This function enables the main manipulator to precisely control the rotational motion, providing predictive information for drilling control. Combined with the judgment sensor of the drill pipe transfer device, the rotation sensor can also sense the flow direction of the drill pipe in the main manipulator, further optimizing the control strategy of the drilling process. Its precise feedback reduces the possibility of mechanical interference and improves the operating efficiency and safety of the equipment. This design not only reflects the systematic nature of the technical solution, but also significantly improves the overall coordination and intelligence level of drill pipe transportation and drilling operations.

[0074] This invention achieves highly efficient automation from sensing to control during drill pipe transportation through the synergistic effect of the three sensors, providing strong protection for safety and efficiency in complex operating environments.

[0075] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0076] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0077] Figure 1 This is an overall schematic diagram of an automatic drill pipe conveying system with drill pipe detection function in an embodiment;

[0078] Figure 2 This is a front view of the main robotic arm in the embodiment;

[0079] Figure 3 This is a side view of the main robotic arm in the embodiment;

[0080] Figure 4 This is a schematic diagram of the assembly of the main robotic arm in the embodiment;

[0081] Figure 5 This is a side view of the auxiliary manipulator axis in the embodiment;

[0082] Figure 6 This is a front view of the auxiliary robotic arm in the embodiment;

[0083] Figure 7 for Figure 6 A partial sectional view of the middle-arm robotic arm (AA section).

[0084] Figure 8 This is a schematic diagram of the overall transfer mechanism in the embodiment;

[0085] Figure 9 This is a cross-sectional view of the asynchronous rotation device in the embodiment;

[0086] Figure 10 This is an isometric view of the lifting sleeve in the embodiment;

[0087] Figure 11 This is an isometric view of the drill pipe transfer device in the embodiment;

[0088] Figure 12 This is a front view of the drill pipe transfer device in the embodiment;

[0089] Figure 13 This is a schematic diagram of the structure of the sensor in the embodiment;

[0090] Figure 14 This is a schematic diagram of the sensor structure in the embodiment;

[0091] Figure 15 This is a schematic diagram of the rotation sensor in the embodiment;

[0092] Figure 16 This is a schematic diagram illustrating the working principle of the rotation sensor in the embodiment;

[0093] Figure 17 This is an isometric view of the automatic drilling rig in the embodiment.

[0094] Attached reference numerals: 5. Drill pipe box; 6. Auxiliary manipulator; 7. Attitude adjustment device; 8. Drill pipe transfer device; 9. Main manipulator; 10. Power head; 11. Frame; 12. Clamp.

[0095] Sub-manipulator 6: Lifting cylinder 601, lifting outer cylinder 602, crossbeam 603, sub-rotation driver 604, sub-rotation shaft 605, sub-telescopic cylinder 606, sub-outer cylinder 607, sub-inner cylinder 608, sub-gripper 609, sub-clamping cylinder 610, detection sensor 611, detection sensor mounting base 61101, detection sensor spring 61102, trigger post 61103, detection sensor body 61104;

[0096] Attitude adjustment device 7: Rotary platform 702, lifting column 704, lifting sleeve 705, lifting sleeve cavity 70501, sleeve 70502, connecting cylinder 70503, lifting cylinder 706, transferor rotator 709, tilt rotator 710, rotator transition plate 712, frame connecting plate 713;

[0097] Drill pipe transfer device 8: base plate 801, support block 802, pressure plate 803, clamping cylinder 804, slider 805, sliding cylinder 806, judgment sensor body 807, judgment sensor mounting base 808, signal transmitting column 809, judgment sensor spring 810;

[0098] Main robotic arm 9: fixed base 901, main rotation driver 902, rotating base 903, rotation sensor 904, rotation sensor mounting base 90401, rotation sensor body 90402, trigger ring 90403, first arc segment 90403a, notch 90403b, second arc segment 90403c, main rotation shaft 905, main telescopic cylinder 906, main outer cylinder 907, main inner cylinder 908, main clamping cylinder 909, main gripper 910, connecting arm 911, sliding cylinder 912. Detailed Implementation

[0099] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0100] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0101] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0102] Example 1:

[0103] Please see Figure 1 The diagram shows an overall schematic of an automatic drill pipe conveying system with drill pipe detection function, including a main manipulator 9, a secondary manipulator 6, and a transfer mechanism.

[0104] Among them, according to Figures 2 to 4The diagram shows the structure of the main manipulator 9, which includes a main rotary joint, a main telescopic joint, and a main gripper assembly. The main rotary joint includes a rotary seat 903 and a main rotary actuator 902. The main rotary actuator 902 is located at one end of the rotary seat 903 and drives the main rotary shaft 905 to rotate. The main rotary shaft 905 passes through the rotary seat 903 and is connected to the main telescopic joint.

[0105] The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping.

[0106] Please see Figures 5 to 7 The diagram shows the structure of the auxiliary manipulator 6, which is mounted on the auxiliary slide rail of the drill pipe box. It includes a lifting joint, a secondary rotating joint, a secondary telescopic joint, and a secondary gripper 609 connected in sequence. The end of the lifting joint away from the secondary gripper 609 is connected to the auxiliary slide rail. The secondary telescopic joint and the secondary gripper 609 are positioned facing inwards towards the drill pipe box. In some embodiments, the auxiliary manipulator 6 of this invention performs the gripping and transport of drill pipes.

[0107] The lifting joint and the rotating joint are connected by a crossbeam 603. In some embodiments of the present invention, the drill pipe box slide rail is horizontally arranged, the lifting joint is vertically installed on the drill pipe box slide rail, the end of the lifting joint away from the slide rail is connected to the bottom of the crossbeam 603, and the rotating joint is connected to the side of the crossbeam 603.

[0108] Please see again Figures 8 to 12 The diagram shows the structure of the transfer mechanism, which includes a drill pipe transfer device, a frame 11, and a rotary platform 702. The drill pipe transfer device is set between the frame 11 and the rotary platform 702 via an asynchronous rotation device.

[0109] The drill pipe transfer device includes a base plate 801, a support block 802, a pressure plate 803, a clamping cylinder 804, an axial clamping block, and a sliding cylinder 806. The base plate 801 is the main load-bearing and connecting component of the drill pipe transfer device, providing the mounting foundation for all its parts. Components such as the support block 802, the axial clamping block, and the sliding cylinder 806 are directly or indirectly mounted on the base plate 801, ensuring the integrity and stability of the drill pipe transfer device structure and enabling all components to work together to complete the transfer and fixing of the drill pipe.

[0110] At least two support blocks 802 are disposed on the base plate 801. The upper part of the support block 802 is provided with a groove matching the outer diameter of the drill rod for supporting the drill rod. In some embodiments of the present invention, two support blocks 802 are preferred. When the drill rod is placed into the drill rod transfer device, the drill rod can be stably placed in the groove of the support block 802. The support block 802 bears the main weight of the drill rod, providing reliable support for the drill rod and ensuring that the drill rod will not sink or shake due to its own weight during the transfer process. Axial clamping blocks are disposed on the base plate 801 and located on both sides of the support blocks 802. The axial clamping blocks press and fix the drill rod axially from the drill rod; the axial clamping blocks include at least one slider 805 slidably disposed on the base plate 801. In some embodiments of the present invention, one of the axial clamping blocks on both sides of the support block 802 is a fixed block, and the other is a slider 805. By sliding the slider 805 on one side on the base plate 801, the internal space can be expanded when placing and removing the drill rod, or the drill rod can be pressed against the fixed block on the other side. In other embodiments of the present invention, both axial clamping blocks are sliders 805. A pressure plate 803 and a clamping cylinder 804 are hinged to the upper part of the axial clamping block, wherein the pressure plate 803 is located above the support block 802 and is rotatably connected to the upper part of the axial clamping block. The clamping cylinder 804 is located outside the two axial clamping blocks. The clamping cylinder 804 drives the pressure plate 803, serving as the power source for its rotation. Through the telescopic movement of the clamping cylinder 804, power is transmitted to the pressure plate 803, causing it to rotate along a predetermined trajectory, thus clamping or releasing the drill rod until it is pressed firmly against the support block 802. The pressure plate 803 applies pressure to the drill rod from the top, further restricting its vertical and horizontal movement, enhancing its stability, and preventing it from falling during transport. Precise control of the clamping cylinder 804 ensures that the pressure plate 803 applies appropriate pressure to the drill rod, preventing both insufficient pressure (failing to effectively fix the drill rod) and excessive pressure (damaging the drill rod).

[0111] A sliding cylinder 806 is provided at the bottom of the base plate 801. The sliding cylinder 806 is connected to the slider 805 and is the power device that drives the slider 805 to slide along the length of the base plate 801. Driving the slider 805 to slide towards the center along the length of the base plate 801 causes the slider 805 to clamp the drill rod, restricting the axial movement of the drill rod. Together with the support block 802 and the pressure plate 803, it forms a multi-directional fixation of the drill rod. The stable operation of the sliding cylinder 806 can accurately control the position and moving speed of the slider 805, ensuring the smooth loading, unloading and fixing of the drill rod, and guaranteeing the stability of the drill rod during transportation.

[0112] When the drill pipe transferor is in the state of waiting to load or remove drill pipes (other clamping mechanisms have already clamped the drill pipes), the clamping cylinder 804 drives the pressure plate 803, causing the pressure plate 803 to rotate and open upwards. The sliding cylinder 806 drives the slider 805 to move outwards, expanding the internal space to facilitate the loading or removal of drill pipes. After the drill pipe is loaded or removed, the clamping cylinder 804 drives the pressure plate 803 to rotate back to the clamping position. When the drill pipe is placed inside the drill pipe transferor and the transferor needs to rotate or move, the clamping cylinder 804 drives the pressure plate 803 to clamp the drill pipe, and the sliding cylinder 806 drives the slider 805 to move towards the center, keeping the internal drill pipe stable and preventing it from falling out.

[0113] Specifically, the basic workflow of the drill pipe delivery system provided by this invention is as follows:

[0114] (1) Rod advance condition

[0115] 1) Initial state: Assume the tilt angle of the frame 11 and the main manipulator 9 is α; the drill pipe transfer device is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 is retracted, the rotary joint is in the state of completing the first stage of rotation, the sliding joint is retracted, and the gripper is open; the auxiliary manipulator 6 is located at any position on the slide rail of the drill pipe box 5, the lifting joint and telescopic joint prevent the gripper from interfering with the drill pipe box 5 and the drill pipe inside, the rotary joint makes the gripper vertically downward, and the gripper is open; the drilling rig is drilling.

[0116] 2) Selecting a row of drill pipes by the auxiliary robot 6: The auxiliary robot 6 selects a row of drill pipes under the control of the control system.

[0117] 3) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a height suitable for gripping the top drill rod of the selected column.

[0118] 4) The auxiliary manipulator 6 grips the drill rod: The auxiliary gripper of the auxiliary manipulator 6 clamps the drill rod.

[0119] 5) Adjusting the height of the auxiliary manipulator 6: The auxiliary manipulator 6 is adjusted in the opposite direction until the drill pipe does not interfere with the drill pipe box 5 and is at a height suitable for placing the drill pipe onto the drill pipe transfer device.

[0120] 6) Translation of auxiliary manipulator 6: The auxiliary manipulator 6 clamps the drill pipe and translates it towards the drill pipe transfer device.

[0121] 7) The auxiliary manipulator 6 swings upward: The auxiliary gripper of the auxiliary manipulator 6 swings upward and lifts up.

[0122] 8) The auxiliary manipulator 6 extends: The telescopic joint of the auxiliary manipulator 6 drives the gripper to extend towards the drill pipe transfer device.

[0123] 9) Drill pipe transfer device clamps the drill pipe: When the drill pipe is put into the drill pipe transfer device, the slider 805 of the drill pipe transfer device retracts inward, and at the same time the pressure plate 803 presses the drill pipe.

[0124] 10) Sub-manipulator 6 releases: Sub-manipulator 6 releases the drill rod, the telescopic joint retracts, and returns to the initial state, ready to grab the next drill rod.

[0125] 11) Rotation of drill pipe transfer device: The drill pipe transfer device rotates from the horizontal position to the inclination angle α until it is the same as the inclination angle of the frame 11.

[0126] 12) Reverse rotation of main manipulator 9: Main manipulator 9 rotates in the direction of drill pipe transfer device.

[0127] 13) Main robot arm 9 extends: The telescopic joint of the main robot arm 9 extends towards the drill pipe transfer device.

[0128] 14) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0129] 15) Drill pipe transfer device loosens: Transfer groove slider 805 expands to both sides, and pressure plate 803 loosens.

[0130] 16) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 1 Rotate to make room for the drill pipe transfer device to rotate.

[0131] 17) Retraction of main manipulator 9: The telescopic joint of main manipulator 9 retracts.

[0132] 18) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12, so that the drill rod is in a suitable position to be fed into the frame 11.

[0133] 19) Main robot arm 9 waiting: waiting for the current drill rod to complete drilling.

[0134] 20) Drill pipe transfer device horizontal: The drill pipe transfer device returns to the horizontal position.

[0135] 21) Disconnect the drill rod inside the hole: After completing the drilling of the current drill rod, the power head 10 disconnects from the drill rod inside the hole and retracts to a position suitable for inserting the drill rod.

[0136] 22) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0137] 23) Second stage rotation of main manipulator 9: The main manipulator 9 performs the second stage rotation to send the drill rod into the frame 11, where it is held by the gripper 12 or the power head 10.

[0138] 24) Main robot arm 9 releases: Main robot arm 9 releases the drill rod.

[0139] 25) Drill pipe connection: The power head 10 and the clamp 12 work together to complete the drill pipe connection and continue drilling.

[0140] (2) Retraction condition

[0141] 1) Initial state: Assume the tilt angle between the frame 11 and the main manipulator 9 is α; the drill rod transfer device is in a horizontal position, the slider 805 expands to both ends, and the pressure plate 803 is open; the telescopic joint of the main manipulator 9 retracts, the main rotary joint is in the state of completing the first stage of rotation, the sliding joint retracts, and the main gripper opens; the auxiliary manipulator 6 is located at the position closest to the transfer groove on the slide rail of the drill rod box 5, the lifting joint makes the gripper at a suitable height to grab the drill rod in the drill rod transfer device, the auxiliary telescopic joint retracts, the auxiliary rotary joint makes the auxiliary gripper lift up, and the auxiliary gripper opens; the drilling rig has just completed the drilling of the last drill rod.

[0142] 2) Power head 10 retracts: Power head 10 drags the drill rod inside the hole backward;

[0143] 3) Sliding of main manipulator 9: The main manipulator 9 slides towards the gripper 12 and is positioned to reach into the frame 11 to grab the drill rod.

[0144] 4) Main robot arm 9 waiting: waiting for the current drill pipe to complete the uncoupling;

[0145] 5) Rotation of drill pipe transfer device: The drill pipe transfer device rotates in the direction of inclination angle α until it is the same as the inclination angle of frame 11.

[0146] 6) Drill rod uncoupling: The power head 10 and the clamp 12 work together to uncouple the drill rod (disconnect it from the drill rod inside the hole).

[0147] 7) Main robotic arm 9 extends: The telescopic joint of the main robotic arm 9 extends.

[0148] 8) Second rotation of main manipulator 9: The main manipulator 9 performs the second rotation, and the gripper reaches the position where it can hold the drill rod to be disassembled in the frame 11.

[0149] 9) Main robot arm 9 clamps: Main robot arm 9 clamps the drill rod.

[0150] 10) Clamp 12 or power head 10 released: Clamp 12 or power head 10 completely disengaged from the drill pipe to be disassembled.

[0151] 11) Main robot arm 9 rotates in reverse: The main robot arm 9 rotates in reverse to put the drill pipe into the drill pipe transfer device.

[0152] 12) Drill pipe transfer clamping: When the drill pipe is placed into the drill pipe transfer device, the slider 805 of the drill pipe transfer device retracts inward, and at the same time the pressure plate 803 presses the drill pipe.

[0153] 13) Main robot arm 9 releases: Main robot arm 9 releases the drill rod.

[0154] 14) Retraction of main manipulator 9: The telescopic joint of main manipulator 9 retracts.

[0155] 15) First stage rotation of main robotic arm 9: Main robotic arm 9 rotates clockwise ( Figure 17 Rotate to make room for the drill pipe transfer device to rotate.

[0156] 16) Drill pipe transfer device horizontal: The drill pipe transfer device returns to the horizontal position.

[0157] 17) Sub-manipulator 6 extends: The telescopic joint of sub-manipulator 6 drives the gripper to extend towards the drill pipe transfer device.

[0158] 18) Sub-manipulator 6 clamping: Sub-manipulator 6 clamps the drill rod with its jaws.

[0159] 19) Drill pipe transfer device loosens: Transfer groove slider 805 expands to both sides, and pressure plate 803 loosens.

[0160] 20) Sub-manipulator 6 retracts: The telescopic joint of sub-manipulator 6 retracts, and the drill pipe is removed from the drill pipe transfer device.

[0161] 21) The auxiliary manipulator 6 swings downward: The auxiliary gripper of the auxiliary manipulator 6 swings downward away from the drill pipe transfer device.

[0162] 22) Selecting a column for the auxiliary robot: Under the control of the control system, the auxiliary robot 6 selects a column of space where the drill rod can be placed.

[0163] 23) Adjusting the height of the auxiliary manipulator 6: With the joint adjustment of the lifting joint and the telescopic joint, the auxiliary manipulator 6 reaches a suitable height for placing the current drill rod into the drill rod box 5.

[0164] 24) Sub-manipulator 6 releases: After the drill rod is placed, the secondary gripper of the sub-manipulator 6 releases the drill rod.

[0165] Example 2:

[0166] This embodiment further defines the main telescopic joint based on Embodiment 1. The main telescopic joint includes a vertically arranged outer main cylinder 907 and an inner main cylinder 908. The outer main cylinder 907 is connected to the main rotating shaft 905, and the inner main cylinder 908 is slidably connected inside the outer main cylinder 907. The main gripper assembly is connected to the bottom of the inner main cylinder 908. In implementation, the inner main cylinder 908 and the outer main cylinder 907 maintain relative sliding in the axial direction, with the sliding direction perpendicular to the axis of the main rotating shaft 905 in the main rotating joint. This extends the radius of the original main manipulator 9 and expands its grasping range. Furthermore, during installation, the inner main cylinder 908 and the outer main cylinder 907 should be equipped with limiting rings or retaining rings to ensure that the inner main cylinder 908 does not slide outside the outer main cylinder 907.

[0167] Furthermore, the main outer cylinder 907 and the main rotating shaft 905 are detachably connected via flanges. In implementation, the main telescopic joint in this invention is suspended from one end of the main rotating shaft 905. Combined with the weight of the main gripper assembly, sufficient connection strength is required between the main rotating shaft 905 and the main outer cylinder 907. A flange connection involves fixing two pipes, fittings, or equipment to separate flanges, placing a gasket between the two flanges, and then tightening them together with bolts. Flange connections are an important connection method in pipeline construction; they are convenient to use and can withstand significant pressure. Therefore, this invention uses a flange connection to ensure sufficient connection strength between the main rotating shaft 905 and the main outer cylinder 907. The flange connection, secured with multiple bolts, allows for disassembly of the main rotating shaft 905 and the main outer cylinder 907, facilitating later maintenance or replacement of various components.

[0168] In addition, both the outer main cylinder 907 and the inner main cylinder 908 in this invention are hollow cylindrical structures, which reduces the weight of the main telescopic joint to a certain extent and further ensures the connection strength between the outer main cylinder 907 and the main rotating shaft 905.

[0169] Furthermore, the main telescopic joint also includes a main telescopic cylinder 906, which is fixed to the top of the main outer cylinder 907. The main inner cylinder 908 is connected to the output end of the main telescopic cylinder 906. This invention intelligently controls the relative movement between the main outer cylinder 907 and the main inner cylinder 908 through the main telescopic cylinder 906, allowing the main gripper assembly located at the bottom of the main inner cylinder 908 to stop at a set position and perform a gripping action. The extension and retraction process of the main telescopic cylinder 906 is the distance that the main outer cylinder 907 and the main inner cylinder 908 can move relative to each other, and this distance should be less than the limit displacement between the main outer cylinder 907 and the main inner cylinder 908 to prevent collisions between them.

[0170] Furthermore, the main gripper assembly includes a main gripper 910 and a main clamping cylinder 909. The main clamping cylinder 909 is fixed to the lower part of the main inner cylinder 908, and the main gripper 910 is fixed to the main clamping cylinder 909, clamping or releasing under the drive of the main clamping cylinder 909. In implementation, after the main rotary joint drives the main gripper 910 to rotate to a set angle, the main gripper 910 is extended to a designated position through the telescopic function of the main telescopic joint. Finally, the main clamping cylinder 909 executes the gripping command to complete the gripping process. Then, the main telescopic joint controls the main gripper 910 to retract. After the main rotary joint drives the main telescopic joint and the main gripper 910 to rotate to a designated position, the main clamping cylinder 909 executes the releasing command to release the gripped drill rod to the designated position.

[0171] Example 3:

[0172] Then according to Figure 2 As shown, the frame-fixed main manipulator 9 provided by the present invention also includes a sliding joint, and a rotating seat 903 is fixed on the sliding joint to drive the main manipulator 9 to move horizontally as a whole. The difference from Embodiment 2 is that this embodiment adds a sliding joint, while the remaining main rotation joints and main telescopic joints are consistent with Embodiment 2.

[0173] As mentioned above, the combination of the main rotary joint and the main telescopic joint expands the grasping range of the main manipulator 9. In this embodiment, the sliding joint applies a horizontal displacement function to the main manipulator 9, further expanding the grasping range of the main manipulator 9.

[0174] Furthermore, the sliding joint includes a fixed base 901 and a connecting arm 911. The fixed base 901 is connected to the frame 11 and has a horizontally arranged main slide rail. The bottom of the connecting arm 911 has a sliding groove that cooperates with the main slide rail. The rotating seat 903 in the main rotating joint is fixedly connected to the connecting arm 911. In implementation, the horizontal displacement between the connecting arm 911 and the fixed base 901 is limited by the cooperation between the track and the sliding groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. In this invention, both the main rotating joint and the main telescopic joint are fixed on the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the main manipulator 9 to move as a whole. The specific horizontal displacement direction needs to be determined according to the initial position of the drill rod, the position to be transported, and the initial position of the main manipulator 9 under actual conditions. That is to say, the track in the sliding joint of this invention can be set in any direction to ensure that the main manipulator 9 can effectively complete the gripping process.

[0175] Furthermore, as mentioned in Embodiment 3, the main telescopic joint is suspended at one end of the main rotation shaft 905, meaning the connecting arm 911 also needs to support the main manipulator 9. Therefore, according to the lever principle, without interfering with the normal extension and retraction of the main telescopic joint, the connecting arm 911 and the rotating seat 903 should have sufficient connection area, and the distance between the connecting arm 911 and the main telescopic joint should be minimized as much as possible to ensure sufficient connection strength between the two and avoid damage to the main rotation shaft 905 due to excessive suspension weight of the main telescopic joint. Similarly, the rotating seat 903 should also have sufficient coverage area for the main rotation shaft 905, distributing the weight of the main telescopic joint and the main gripper assembly to every part of the rotating seat 903 through the transmission shaft, and then transmitting it as a whole to the fixed seat 901 via the connecting arm 911.

[0176] Furthermore, the sliding joint also includes a sliding cylinder 912, one end of which is fixed to the fixed base 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. This invention uses the sliding cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed base 901, allowing the main robot arm 9 to stop at a set position and perform a grasping action. The displacement of the sliding cylinder 912 represents the distance that the connecting arm 911 and the fixed base 901 can move relative to each other, and this distance should be less than the limit displacement between the connecting arm 911 and the fixed base 901 to prevent collisions between them.

[0177] Please see again Figures 5 to 7 As shown, the lifting joint and the secondary rotary joint are connected by a crossbeam 603. The lifting joint is connected to the lower part of the crossbeam 603, and the secondary rotary joint is connected to the side of the crossbeam 603.

[0178] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 connected to each other. The lifting outer cylinder 602 is sleeved and installed with the lifting inner cylinder below the crossbeam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting movements.

[0179] The secondary rotary joint includes a secondary rotary actuator 604 connected to the crossbeam 603 and a secondary rotary shaft 605 connected to the secondary rotary actuator 604. The secondary rotary shaft 605 rotates under the drive of the secondary rotary actuator 604. The end of the secondary rotary shaft 605 away from the crossbeam 603 is connected to the secondary telescopic joint. The rotation of the secondary rotary shaft 605 drives the secondary telescopic joint and the secondary gripper 609 to swing.

[0180] The secondary telescopic joint includes a secondary telescopic cylinder 606 connected to the secondary rotating shaft 605. A secondary outer cylinder 607 and a secondary inner cylinder 608 are connected below the secondary telescopic cylinder 606. The secondary inner cylinder 608 is inserted into the secondary outer cylinder 607 to form a telescopic joint, which performs telescopic movement under the drive of the secondary telescopic cylinder 606.

[0181] The auxiliary rotating shaft 605 is installed in the inner cavity of the crossbeam 603. The inner cavity of the crossbeam 603 is provided with an arc groove. The outer side of the auxiliary rotating shaft 605 is provided with a protrusion. When the auxiliary rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the auxiliary rotating shaft 605.

[0182] The secondary gripper 609 is connected to a secondary clamping cylinder 610 on the side near the telescopic unit. Driven by the secondary clamping cylinder 610, the secondary gripper 609 clamps or releases.

[0183] This invention enables the auxiliary manipulator 6 to swing in the vertical plane by setting a secondary rotary joint with a limited angle. This allows the manipulator to transport drill pipe over components such as the attitude adjustment device, thereby allowing the transfer unit to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of drill pipe delivery system layout for full-face drilling, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0184] Example 4:

[0185] Please see again Figures 8 to 12 As shown, the asynchronous rotation device includes a lifting sleeve 705, a transferor rotator 709, an inclination rotator 710, a rotation transition plate 712, and a frame connecting plate 713. The frame 11 and the rotary platform 702 are connected sequentially via the inclination rotator 710, the frame connecting plate 713, the rotation transition plate 712, and the lifting sleeve 705. The inclination rotator 710 is rotatably connected to the frame 11, and the drill pipe transferor is rotatably connected to the rotation transition plate 712 via the transferor rotator 709. The inclination angle asynchronous rotation adjustment between the frame 11 and the drill pipe transferor is achieved through the inclination rotator 710 and the transferor rotator 709.

[0186] The lifting sleeve 705 is a connecting component used to install parts such as the transfer device slewing device 709, the tilting slewing device 710, the slewing transition plate 712, and the frame connecting plate 713. It 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 connecting cylinders 70503 are provided on the side plates 70501. Two lifting columns 704 are arranged opposite each other on the slewing platform 702, and a lifting cylinder 706 is located between the two lifting columns 704. The lifting cylinder 706 is installed inside the rotary platform 702. One end of the lifting cylinder 706 is connected to the lifting sleeve 705 by means of a pin, and the other end is fixedly installed on the rotary platform 702, thereby indirectly installing the lifting sleeve 705 on the rotary 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 rotary platform 702, and the rotary transition plate 712 is installed on the connecting cylinder 70503.

[0187] The connecting cylinder 70503 is located on the side of the lifting sleeve 705 facing the frame 11, and the connecting cylinder 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 connected to the flange of the connecting cylinder 70503, and the two outer flanges are used to install the transfer device rotary 709 and the frame connecting plate 713, respectively.

[0188] The rotary transducer 709 is a driving element for adjusting the tilt angle of the drill pipe transducer. The rotary transducer 709 includes a first fixed ring and a first rotating ring disposed thereon. The first fixed ring is bolted to the flange of the rotary transition plate 712, thereby indirectly fixing the rotary transition plate 712 to the lifting sleeve 705. The first rotating ring is fixedly connected to the first outer casing, and the drill pipe transducer is mounted on the top of the first outer casing. The tilt angle of the drill pipe transducer is adjusted by rotating the first rotating ring. In some embodiments of the present invention, the rotary transducer 709 is preferably a worm gear reducer, with the first rotating ring being the inner ring, the first fixed ring being the outer ring, and a worm gear on the outer side of the outer ring, which is driven to rotate by the worm.

[0189] The frame connecting plate 713 is disc-shaped and includes two sets of interconnected flanges. The two sets of flanges are respectively connected to the flange of the rotary transition plate 712 and the tilt slewing device 710.

[0190] The tilting 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. The frame 11 is mounted on the second outer shell. The rotation of the second rotating ring drives the frame 11 to rotate in a circle, thereby adjusting the tilt angle of the frame 11. The tilting rotator 710 is similar to the transfer rotator 709, with the second rotating ring being the inner ring and the second fixed ring being the outer ring.

[0191] The asynchronous rotation principle of the drill pipe transfer mechanism of this invention is as follows:

[0192] The first fixed ring of the transferor rotator 709 is bolted to the flange of the rotary transition plate 712, thereby indirectly fixing the rotary transition plate 712 to the lifting sleeve 705. The inner ring of the transferor rotator 709 is the first rotating ring, which is fixedly connected to the first outer shell. The drill pipe transferor is fixedly installed on the top of the outer shell, so that the tilt angle can be adjusted with the rotation of the outer shell. Figure 1 The attitude adjustment device 7 is an actuator for adjusting the drilling tilt angle and azimuth angle of the frame 11.

[0193] Similar to the first fixed ring of the transfer 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 tilting 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.

[0194] Therefore, the first fixed ring of the transferor rotator 709 and the second fixed ring of the tilt rotator 710 are both fixedly installed on the lifting sleeve 705. The first rotating ring and the second rotating ring respectively carry the drill pipe transferor and the frame 11, and are not restricted by the lifting sleeve 705. They can rotate independently and freely, thus forming an asynchronous rotation device that drives the tilt angles of the two components, the frame 11 and the drill pipe transferor, to be adjusted separately.

[0195] Example 5:

[0196] like Figures 13-16 As shown, this embodiment, based on embodiment 4, also provides a drill pipe conveying sensor group for an automatic drill pipe conveying system. This drill pipe conveying sensor group is applied to the drill pipe conveying process in an automatic drilling rig. The system achieves precise monitoring of the drill pipe position and status through sensors installed on the auxiliary manipulator 6, the drill pipe transfer device 8, and the main manipulator 9, thereby improving the automation level and safety of drill pipe conveying.

[0197] 1. Detection Sensor

[0198] The detection sensor 611 is installed on the secondary gripper 609 of the secondary manipulator 6 and is used to detect whether there is a drill rod in the secondary manipulator 6.

[0199] like Figure 13 As shown, the detection sensor 611 includes the following components:

[0200] Sensor mounting bracket 61101: It is radially fixed to one side of the gripper and is used to support other components.

[0201] Detection sensor spring 61102: Located inside the detection sensor mounting base 61101, it provides elastic restoring force.

[0202] Trigger pin 61103: It is movably mounted in the sensor mounting base 61101 via the sensor spring 61102 and is in direct contact with the drill pipe.

[0203] Detection sensor body 61104: fixed inside the detection sensor mounting base 61101, configured to detect whether the trigger post 61103 enters the coverage area.

[0204] The working principle is as follows: When there is no drill rod in the secondary gripper 609 of the secondary manipulator 6, the trigger pin 61103 is initially positioned below the detection range of the detection sensor body 61104 under the elastic force of the detection sensor spring 61102, and the signal of the detection sensor body 61104 is disconnected.

[0205] When the secondary gripper 609 of the secondary manipulator 6 approaches and clamps the drill pipe, the trigger pin 61103 is pressed upward by the drill pipe, overcoming the elastic force of the detection sensor spring 61102 and moving upward into the detection range of the detection sensor body 61104. The detection sensor body 61104 then generates an on signal indicating the presence of the drill pipe. When the secondary gripper 609 leaves the drill pipe, the detection sensor spring 61102 resets the trigger pin 61103, and the signal from the detection sensor body 61104 is disconnected.

[0206] 2. Determine the sensor

[0207] The sensor is installed on the drill pipe transfer device 8 to detect whether there is a drill pipe in the drill pipe transfer device 8.

[0208] like Figure 14 As shown, the sensor includes the following components:

[0209] Judgment sensor mounting base 808: Fixed below the base plate 801 of the drill pipe transfer device 8, serving as a support structure for the judgment sensor.

[0210] Judgment sensor body 807: Fixed inside judgment sensor mounting base 808, used to generate detection signals.

[0211] Judgment sensor spring 810: It is installed in the judgment sensor mounting base 808 to provide reset force.

[0212] Signal column 809: It is movably mounted in the sensor mounting base 808 by the sensor spring 810, and its top end penetrates the base plate for contact with the drill pipe.

[0213] The working principle is as follows: When there is no drill rod in the drill rod transfer device 8, under the elastic force of the spring 810 of the sensor and the signal column 809, the bottom end of the signal column 809 does not enter the sensing range of the sensor body 807, and the signal of the sensor body 807 is disconnected.

[0214] When the drill pipe is placed in the drill pipe transfer device 8, the signaling column 809 is pressed downward by the drill pipe, overcoming the elastic force of the judgment sensor spring 810, and the bottom end enters the sensing range of the judgment sensor body 807, generating a connection signal.

[0215] When the drill pipe is removed, the sensor spring 810 resets the signal pin 809, and the signal is disconnected.

[0216] The top of the signal column 809 is designed to extend beyond the lowest point where the drill rod is placed on the base plate, so as to ensure that the signal column 809 can be pressed down when there is a drill rod in the drill rod transfer device 8.

[0217] 3. Rotation sensor

[0218] A rotation sensor 904 is mounted on the main manipulator 9 to detect the rotational position and direction of the main manipulator 9. The rotating shaft 905 and the main outer cylinder 907 in the main manipulator 9 are both rotating components rotatably connected to the rotating base 903.

[0219] like Figure 15 and Figure 16 As shown, the rotation sensor 904 includes the following components:

[0220] Rotary sensor mounting base 90401: Fixed on the rotating base of the main robot arm 9, supporting the sensor body.

[0221] Rotation sensor body 90402: Fixed inside rotation sensor mounting base 90401, it detects rotation signals.

[0222] Trigger ring 90403: Fixed on the rotating shaft or outer cylinder of the main manipulator 9, it rotates with the rotating shaft or outer cylinder and interacts with the rotation sensor body 90402 to generate a corresponding signal. The circumferential angle of the trigger ring 90403 covers the rotation angle range of the main manipulator 9.

[0223] The trigger ring 90403 includes two arc segments with different arc lengths and a notch. When the main robot arm 9 rotates, the rotation sensor body 90402 detects the arc segments and the notch sequentially, indicating the rotation direction and position of the main robot arm based on the duration and on / off state of the signals. For example, a short arc segment corresponds to a short-term on signal, a long arc segment corresponds to a long-term on signal, and the notch corresponds to a signal off.

[0224] Specifically, in this embodiment, the arc segments of different arc lengths and the notch are respectively the first arc segment 90403a, the notch 90403b, and the second arc segment 90403c. The first arc segment 90403a is the arc segment close to the rotation sensor body 90402 in the initial state of the trigger ring 90403 (defined as the initial state when the main manipulator is on the side of the drill pipe transfer device). The arc length of the first arc segment 90403a is less than the arc length of the second arc segment 90403c. Thus, during the process of the main manipulator rotating from the drill pipe transfer device to the frame, a signal change process of "disconnection-short-circuit-disconnection-long-circuit-disconnection" is formed.

[0225] In actual use of automatic drilling rigs, after the main robotic arm removes a drill rod from the drill rod transferor, the transferor needs to return to a horizontal position to receive the next drill rod. The main robotic arm must allow sufficient space to avoid movement interference with the drill rod transferor. However, since the drilling rig is still in the drilling process at this time, the main robotic arm cannot be directly inserted into the frame; therefore, it needs to remain positioned between the drill rod transferor and the frame.

[0226] Therefore, the circumferential angle of the trigger ring is divided into two segments. After the main manipulator picks up the drill rod from the drill rod transfer device, the rotating sensor body 90402 is in the off state. It first detects the first arc segment 90403a, generating a short-circuit signal, and then enters the notch 90403b, returning to the off state. It stays there for a specific time or waits for a signal from the control system before continuing to rotate. The rotating sensor body 90402 detects the second arc segment 90403c, generating a long-circuit signal, until the signal of the rotating sensor body 90402 is disconnected again. The main manipulator then sends the drill rod into the frame.

[0227] Since the arc length of the first arc segment is less than that of the second arc segment, the control system can determine the direction of the robot's rotation by observing the change in the duration of the sensor signal connection, either "from short to long or from long to short," and thus record the state of the main robot in the system.

[0228] Through the coordinated operation of the three sensors mentioned above, the drill pipe conveying sensor group in this embodiment can monitor the position and status of the drill pipe in real time between the auxiliary manipulator 6, the drill pipe transfer device 8, and the main manipulator 9, ensuring the smoothness and safety of the conveying process.

[0229] Example 6:

[0230] This embodiment, based on Embodiment 5, describes the specific application of the drill pipe conveying sensor group in the automatic drill pipe conveying system, combined with... Figure 17 The isometric view of the automatic drilling rig shown details the process of conveying the drill rod from the drill rod box 5 to the frame 11, and the process of retrieving it from the frame to the drill rod box.

[0231] 1. The process of conveying drill pipe from the drill pipe box to the frame.

[0232] Initial state: There are drill rods to be transported in the drill rod box, there are no drill rods in the auxiliary robot 6 and the drill rod transfer device 8, the detection sensor 611 and the judgment sensor 807 signals are disconnected; the main robot 9 is in the ready position (initial position, ready to grab the drill rod in the drill rod transfer device 8), the rotation sensor 904 signal is disconnected.

[0233] Step 1: Grab the drill rod

[0234] The auxiliary robotic arm 6 approaches the drill rod from the drill rod box, the grippers clamp the drill rod, the trigger pin 61103 is squeezed, and the detection sensor 611 signal is turned on, indicating that the auxiliary robotic arm 6 has grabbed the drill rod.

[0235] Step 2: Transfer to drill pipe transfer device

[0236] The auxiliary robotic arm 6 places the drill pipe into the drill pipe transfer device 8, the grippers release, and the signal from the detection sensor 611 is disconnected. At the same time, the drill pipe presses against the signal transmitting column 809, indicating that the signal from the sensor body 807 is connected, signifying that the drill pipe has entered the drill pipe transfer device 8.

[0237] Step 3: Main robotic arm grasps

[0238] The main robotic arm 9 grabs the drill rod from the drill rod transfer device 8. After the drill rod leaves, the signal column 809 resets and determines that the sensor body 807 signal is disconnected.

[0239] Step 4: Convey to rack

[0240] The main manipulator 9 rotates toward the frame 11. The rotation sensor 904 detects the trigger ring 90403, and the signal changes sequentially to "off-short-on-off-long-on-off", indicating that the main manipulator 9 has completed the rotation and sent the drill rod into the frame.

[0241] 2. The process of recycling drill pipe from the frame to the drill pipe box.

[0242] Initial state: There is a recovery space inside the drill pipe box; there is no drill pipe in the auxiliary manipulator 6 and drill pipe transfer device 8; the signals of the detection sensor 611 and the judgment sensor 807 are disconnected; the main manipulator 9 is located inside the frame; the signal of the rotation sensor 904 is disconnected.

[0243] Step 1: Retrieval by the main robotic arm

[0244] The main manipulator 9 rotates from the frame to the drill pipe transfer device 8. The signal of the rotation sensor 904 changes from "off-long-on-off-short-on-off" to "off", indicating that the rotation is complete.

[0245] Step 2: Place into the drill pipe transfer device

[0246] The main robotic arm 9 places the drill pipe into the drill pipe transfer device 8, and the signal transmitting column 809 is compressed, indicating that the sensor 807 signal is activated.

[0247] Step 3: The auxiliary robotic arm grasps the object.

[0248] The auxiliary manipulator 6 grabs the drill rod from the drill rod transfer device 8, the trigger pin 61103 is squeezed, the detection sensor 611 signal is turned on, and the sensor 807 signal is turned off after the drill rod is removed.

[0249] Step 4: Return the drill pipe box

[0250] The auxiliary robotic arm 6 puts the drill rod back into the drill rod box, the grippers release, the detection sensor 611 disconnects the signal, and the recovery is complete.

[0251] Through the above process, this embodiment demonstrates how the drill pipe conveying sensor group can achieve fully automated conveying and retrieval of drill pipes in an automatic drilling rig, ensuring high efficiency and reliability of operation.

[0252] Furthermore, when the main manipulator 9 rotates toward the frame 11, the first arc segment of rotation can be performed first. The rotation sensor body 904 first connects the signal and then disconnects. The cooperation between the trigger ring 90403 and the rotation sensor body 904 stops at the gap 90403b between the two arc segments. The signal changes to "disconnect-short-connect-disconnect", which causes the main manipulator 9 to stop rotating. While making room for the rotation of the drill pipe transfer device, it also waits for the power head 10 and the gripper 12 in the frame to perform corresponding operations.

[0253] In another embodiment, the arc length of the first arc segment can be set to be greater than the arc length of the second arc segment, so that a signal change process of "disconnect-long-on-disconnect-short-on-disconnect" is formed during the process of the main manipulator 9 rotating from the drill pipe transfer device to the frame.

[0254] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A drill pipe automatic conveying system having a drill pipe detection function, characterized by, Includes main manipulator, auxiliary manipulator, transfer mechanism, and drill pipe delivery sensor group; The main manipulator includes a main rotary joint, a main telescopic joint, and a main gripper assembly; The main rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the main rotating shaft to rotate. The main rotating shaft passes through the rotating seat and is connected to the main telescopic joint. The main gripper assembly is connected to the bottom of the main telescopic joint, and the main telescopic joint drives the main gripper assembly to extend and retract in the vertical direction. The main gripper assembly is used for gripping. The auxiliary manipulator is mounted on the auxiliary slide rail of the drill pipe box and includes a lifting joint, an auxiliary rotating joint, an auxiliary telescopic joint and an auxiliary gripper connected in sequence. The end of the lifting joint away from the auxiliary gripper is connected to the auxiliary slide rail, and the auxiliary telescopic joint and the auxiliary gripper are arranged facing the inside of the drill pipe box. The secondary rotary joint and the lifting joint are connected by a crossbeam; the secondary rotary joint includes a secondary rotary shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and a protrusion is provided on the outer side of the secondary rotary shaft. When the secondary rotary shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the secondary rotary shaft. The transfer mechanism includes a drill pipe transfer device, a frame, and a rotary platform, wherein the drill pipe transfer device is installed between the frame and the rotary platform via an asynchronous rotation device; The drill pipe transfer device includes a base plate, a support block, a pressure plate, and an axial clamping block. The support block is disposed on the base plate and is used to support the drill pipe. The axial clamping block is disposed on the base plate and is located on both sides of the support block. A pressure plate is rotatably connected to the upper part of the axial clamping block, and the pressure plate is located above the support block. The axial clamping block clamps and fixes the drill pipe axially upwards. The axial clamping block includes at least one slider slidably disposed on the base plate. The pressure plate presses the drill pipe onto the support block. The drill pipe delivery sensor group includes: A detection sensor mounted on the auxiliary manipulator, the detection sensor being configured to detect whether a drill rod is present in the auxiliary manipulator; A judgment sensor is installed on the drill pipe transfer device, the judgment sensor being configured to detect whether a drill pipe is present in the drill pipe transfer device; A rotation sensor is mounted on the main manipulator, the rotation sensor being configured to detect the rotational position and direction of the main manipulator.

2. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 1, characterized by, The asynchronous rotation device includes a lifting sleeve, a transferor rotator, an inclination rotator, a rotation transition plate, and a frame connecting plate. The frame and the rotating platform are connected sequentially via the inclination rotator, the frame connecting plate, the rotation transition plate, and the lifting sleeve. The inclination rotator is rotatably connected to the frame, and the drill pipe transferor is rotatably connected to the rotation transition plate via the transferor rotator. The inclination angle asynchronous rotation adjustment between the frame and the drill pipe transferor is achieved through the inclination rotator and the transferor rotator.

3. The automatic drilling rod conveying system with drilling rod detection function according to claim 2, characterized in that, The lifting sleeve includes a cavity formed by two side plates and a top sealing plate. Sleeves are provided at both ends of the side plates, and connecting cylinders are provided on the side plates. Two lifting columns are arranged opposite each other on the rotating platform, and a lifting cylinder is provided between the two lifting columns. The lifting cylinder of the rotating platform is installed in the cavity. Driven by the lifting cylinder, the lifting sleeve moves up and down along the lifting columns. The sleeve is sleeved on the lifting columns of the rotating platform, and the rotating transition plate is installed on the connecting cylinder.

4. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 3, characterized by, The connecting cylinder is provided with a flange; the rotary transition plate is disc-shaped and includes three sets of flanges arranged side by side. The inner flange is connected to the flange of the connecting cylinder, and the two outer flanges are used to install the transfer device rotary device and the frame connecting plate, respectively.

5. The automatic drilling rod conveying system with drilling rod detection function according to claim 4, characterized in that, The rotary transferor includes a first fixed ring and a first rotating ring disposed thereon. The first fixed ring is connected to the flange of the rotary transition plate. The first rotating ring is fixedly connected to the first outer shell. The drill pipe transferor is mounted on the first outer shell. The tilt angle of the drill pipe transferor is adjusted by rotating the first rotating ring.

6. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 4, characterized by, The frame connecting plate is disc-shaped and includes two sets of interconnected flanges. The two sets of flanges are respectively connected to the flange of the rotary transition plate and the tilting rotary device.

7. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 3, characterized by, The tilting rotator 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. The second rotating ring is fixedly connected to the second outer shell. The frame is mounted on the second outer shell. The tilting angle of the frame is adjusted by rotating the second rotating ring.

8. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 1, characterized by, 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.

9. The automatic drilling rod conveying system having a drilling rod sensing function according to claim 1, characterized by, The axial clamping block is rotatably connected to the pressure plate. When the drill pipe transfer device is in a state of waiting to load or remove the drill pipe, the pressure plate rotates upward to open, making it easier to load or remove the drill pipe.

10. The automatic drilling rod delivery system with drilling rod detection function according to any one of claims 1 or 9, characterized in that, The pressure plate is also provided with a clamping cylinder to drive the rotation of the pressure plate; the clamping cylinder is located outside the two axial clamping blocks and is hinged to the upper part of the axial clamping blocks.

11. The automatic drilling rod conveying system with drilling rod detection function according to claim 10, characterized in that, The support block is provided in at least two parts, and each support block has a groove on its upper part that matches the outer diameter of the drill rod.

12. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, The main telescopic joint includes a vertically arranged main outer cylinder, a main inner cylinder, and a main telescopic cylinder. The main outer cylinder is detachably connected to the main rotating shaft via a flange. The main inner cylinder is slidably connected inside the main outer cylinder. The main gripper assembly is connected to the bottom of the main inner cylinder. The main telescopic cylinder is fixed to the top of the main outer cylinder, and the main inner cylinder is connected to the output end of the main telescopic cylinder.

13. The automatic drilling rod conveying system with drilling rod detection function according to claim 12, characterized in that, The main gripper assembly includes a main gripper and a main clamping cylinder. The main clamping cylinder is fixed to the lower part of the main inner cylinder, and the main gripper is fixed to the main clamping cylinder and clamps or releases under the drive of the main clamping cylinder.

14. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, It also includes a sliding joint, which includes a fixed seat, a connecting arm, and a sliding cylinder. The fixed seat is connected to the frame and is provided with a horizontally arranged main slide rail. The bottom of the connecting arm is provided with a sliding groove, which cooperates with the main slide rail. The rotating seat in the main rotating joint is fixedly connected to the connecting arm. One end of the sliding cylinder is fixed to the fixed base, and the other end is connected to the connecting arm so that the connecting arm slides along the track.

15. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, The end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

16. The automatic drill pipe conveying system with drill pipe detection function according to claim 15, characterized in that, The lifting joint includes a lifting outer cylinder and a lifting cylinder connected to the lifting outer cylinder. The lifting outer cylinder is sleeved and installed with the lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement. The lifting cylinder drives the lifting pair to perform lifting movement.

17. The automatic drill pipe conveying system with drill pipe detection function according to claim 15, characterized in that, The secondary rotary joint also includes a secondary rotary actuator connected to the crossbeam. The secondary rotary actuator is connected to the secondary rotary shaft to drive the rotation of the secondary rotary shaft.

18. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 17, characterized by, The end of the secondary rotating shaft away from the crossbeam is connected to the secondary telescopic joint. When the secondary rotating shaft rotates, it causes the secondary telescopic joint and the secondary gripper to swing.

19. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 17, characterized by, The secondary telescopic joint includes a secondary outer cylinder and a secondary inner cylinder. The secondary inner cylinder is inserted into the secondary outer cylinder to form a telescopic joint for telescopic movement. And a secondary telescopic cylinder connected to the secondary rotating shaft, the secondary telescopic cylinder being connected to the secondary outer cylinder to drive the telescopic pair to perform telescopic movement.

20. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, The secondary gripper is connected to a secondary clamping cylinder on the side near the telescopic unit. Driven by the secondary clamping cylinder, the secondary gripper clamps or releases.

21. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, The detection sensor includes: A detection sensor mounting base is radially fixed to one side of the secondary gripper; The detection sensor spring is installed inside the detection sensor mounting base; The trigger post is movably mounted in the detection sensor mounting base via the detection sensor spring; The detection sensor body is configured to detect the displacement of the trigger column due to the presence of the drill pipe.

22. The automatic drilling rod delivery system with drilling rod detection function according to claim 21, characterized in that, When the secondary gripper approaches the drill pipe, the trigger pin is pressed upward by the drill pipe, and the detection sensor body generates an activation signal indicating the presence of the drill pipe.

23. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 1, characterized by, The judgment sensor includes: A sensor mounting base fixed below the base plate; The judgment sensor body is fixed inside the judgment sensor mounting base; The judgment sensor spring is installed inside the judgment sensor mounting base; The signal transmitting column is movably mounted in the judgment sensor mounting base via the judgment sensor spring; When the drill pipe is placed in the drill pipe transfer device, the signaling column is pressed downward by the drill pipe, and the judgment sensor body generates an on signal indicating the presence of the drill pipe.

24. The automatic drilling rod delivery system having a drilling rod sensing function according to claim 23, characterized by, The top of the signaling column penetrates the bottom plate of the drill pipe transfer device, and when there is no drill pipe in the drill pipe transfer device, the top of the signaling column exceeds the lowest point where the drill pipe is placed on the drill pipe transfer device.

25. The automatic drill pipe conveying system with drill pipe detection function according to claim 1, characterized in that, The rotation sensor includes: A rotation sensor mounting base fixed on the rotating seat; The rotation sensor body is fixed inside the rotation sensor mounting base; A trigger ring is fixed to a rotating component that is rotatably connected to the rotating base and rotates with the rotating component. The trigger ring is configured to interact with the rotation sensor body during the rotation of the main manipulator. The trigger ring has two arc segments with different arc lengths and a gap between the two arc segments to generate a signal for detecting the rotational position and direction of the main manipulator.

26. The automatic drilling rod delivery system with drilling rod detection function according to claim 25, characterized in that, The two arc segments and the notch are arranged such that during the rotation of the main manipulator, the rotation sensor body sequentially detects the two arc segments and the notch, and indicates the rotation direction and position of the main manipulator based on the duration and on / off state of the rotation sensor body signal.

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