Center control drill collar assembling method and assembling device thereof

Abstract

The invention relates to the technical field of drilling exploration, and discloses a center control drill collar assembling method and device which comprises an end positioning seat, a circumferential positioning seat, an assembling seat, a guide rail, a linear driving mechanism and a control unit. The assembling base is provided with a loading rod, a rotation driving mechanism used for driving the loading rod to rotate around the center line of the loading rod and a deflection driving mechanism used for driving the loading rod to horizontally rotate, the loading rod is horizontally arranged, and the linear driving mechanism, the rotation driving mechanism, the deflection driving mechanism and the non-contact measuring system are all connected with the control unit; the circumferential positioning seat is arranged in the extending direction of the guide rail, the drill collar is supported and circumferentially limited by the circumferential positioning seat, and the end, away from the assembly seat, of the drill collar abuts against the end positioning seat; a sealing ring is arranged in the drill collar, and the power supply module extrudes the inner side of the sealing ring when extending into the drill collar. The drill collar sealing surface can be prevented from being scratched by the power supply module, and the assembly efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of drilling exploration technology, and in particular to a method and apparatus for assembling a center control drill collar. Background Technology

[0002] The drill collar, located at the bottom of the drill string, is a key component of the lower drill string assembly, used to house the power supply module and transmit drilling pressure. In existing technology, the assembly of the drill collar and its internal power supply module is done manually. During assembly, the operator picks up the power supply module, aligns its centerline with the drill collar's centerline, and then forcefully pushes the module into the drill collar, thus completing the assembly.

[0003] However, this assembly method can easily scratch the inner wall of the drill collar, reducing its sealing performance and causing the instrument to be repaired or scrapped. At the same time, the assembly process often requires more than 5 people to operate and requires constant manual adjustment, which is time-consuming and can easily cause circuit disorder, resulting in low assembly efficiency.

[0004] Therefore, it is necessary to develop a central control drill collar assembly method and assembly device to avoid the power supply module scratching the drill collar sealing surface and improve assembly efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method for assembling a central control drill collar, so as to avoid the power supply module from scratching the sealing surface of the drill collar and improve the assembly efficiency.

[0006] The technical problem to be solved by the present invention is to provide an assembly device that avoids the power supply module from scratching the sealing surface of the drill collar and improves assembly efficiency.

[0007] To solve the above technical problems, the present invention provides a method for assembling a central control drill collar, including...

[0008] One end of the drill collar is constrained by the end positioning seat, and the circumferential positioning seat is used to achieve circumferential limitation of the drill collar;

[0009] The drive loading rod rotates horizontally from its initial position by a set angle, so that the center line of the power supply module coincides with the center line of the loading rod and is then fitted onto the loading rod. The positioning structure on the loading rod engages and locks the power supply module.

[0010] The loading rod is driven to rotate horizontally to the initial position. The position data of the power supply module and the drill collar are detected by a non-contact measurement system. The position of the power supply module is adjusted so that its center line coincides with the center line of the drill collar.

[0011] The drive loading rod and its power supply module move axially as a whole, sending the power supply module into the drill collar;

[0012] Drive the loading rod to rotate around its own center line in a first preset direction until the first charging hole on the power supply module is aligned with the second charging hole on the drill collar;

[0013] The drive loading rod is detached from the power supply module and drill collar.

[0014] As an improvement to the above solution, the locking of the power supply module by the positioning structure on the loading rod includes driving the loading rod to rotate around its centerline in a first preset direction by a preset angle so that the positioning structure on the loading rod locks the power supply module; the outer contour of the cross-section of the loading rod is circular.

[0015] As an improvement to the above solution, the drive loading rod is detached from the power supply module and the drill collar, including controlling the loading rod to rotate around its centerline in a direction opposite to the first preset direction by a preset angle until the loading rod is unlocked from the power supply module; and driving the loading rod to move axially away from the drill collar.

[0016] As an improvement to the above solution, the power supply module includes a battery module and a circuit board module, both of which are sleeve-shaped and adapted to the loading rod. The step of aligning the center line of the power supply module with the center line of the loading rod and then fitting it onto the loading rod, with the positioning structure on the loading rod locking the power supply module in place, includes engaging one end of the battery module with the end face of the circuit board module through a toothed groove, and engaging and locking the other end of the battery module with the positioning structure of the loading rod.

[0017] As an improvement to the above solution, the end of the loading rod is provided with a pressure sensor for real-time monitoring of the resistance threshold. When the resistance detected by the pressure sensor exceeds the limit, the loading rod and the power supply module on it will stop moving as a whole.

[0018] Furthermore, the present invention also provides an assembly device for implementing the above-mentioned central control drill collar assembly method, which includes an end positioning seat, a circumferential positioning seat, an assembly seat, a guide rail, a linear drive mechanism, and a control unit. The linear drive mechanism is used to drive the assembly seat to slide along the guide rail. The assembly seat is provided with the loading rod, a rotary drive mechanism for driving the loading rod to rotate around its center line, and a yaw drive mechanism for driving the loading rod to rotate horizontally. The loading rod is horizontally arranged. The linear drive mechanism, the rotary drive mechanism, the yaw drive mechanism, and the non-contact measurement system are all connected to the control unit.

[0019] The end positioning seat and the circumferential positioning seat are arranged along the extension direction of the guide rail. The drill collar is supported and circumferentially limited by the circumferential positioning seat, and the end of the drill collar away from the mounting seat abuts against the end positioning seat.

[0020] The drill collar is equipped with a sealing ring, and when the power supply module is inserted into the drill collar, it compresses the inside of the sealing ring.

[0021] As an improvement to the above solution, the non-contact measurement system includes a first non-contact pose measurement unit located above the power supply module and a second non-contact pose measurement unit located above the drill collar. The yaw drive mechanism drives the loading rod to yaw horizontally so that the center line of the power supply module in the horizontal direction measured by the first non-contact pose measurement unit coincides with the center line of the drill collar in the horizontal direction measured by the second non-contact pose measurement unit.

[0022] As an improvement to the above solution, the non-contact measurement system further includes a third non-contact pose measurement unit located on the side of the power supply module and a fourth non-contact pose measurement unit located on the side of the drill collar. The mounting base is also provided with a lifting drive mechanism, which is used to drive the loading rod to move vertically so that the center line of the power supply module in the vertical direction measured by the third non-contact pose measurement unit coincides with the center line of the drill collar in the vertical direction measured by the fourth non-contact pose measurement unit.

[0023] As an improvement to the above solution, the circumferential positioning seat includes a centering clamp and an anti-rotation clamp. The centering clamp supports the drill collar, and the outer wall of the drill collar is provided with a positioning hole. The anti-rotation clamp is provided with a telescopic drive mechanism and a limiting post adapted to the positioning hole. The telescopic drive mechanism is connected to the limiting post to drive the limiting post to engage with the positioning hole.

[0024] As an improvement to the above solution, an AGV trolley is also included, which is used to load the power supply module and make the center line of the power supply module coincide with the center line of the loading rod which has been rotated horizontally by a set angle from the initial position.

[0025] Implementing this invention has the following beneficial effects:

[0026] This invention discloses a method for assembling a centrally controlled drill collar. One end of the drill collar is constrained by an end positioning seat, while a circumferential positioning seat achieves circumferential limitation of the drill collar. A power supply module is mounted on the loading rod by horizontal rotation and locked in place. After the loading rod resets, a non-contact measurement system detects the positional data of the power supply module and the drill collar, adjusting the position of the power supply module on the loading rod to align its centerline with the centerline of the drill collar. This drives the loading rod to move axially, inserting the power supply module into the drill collar. Furthermore, the loading rod rotates around its own centerline in a first preset direction. The first charging port on the power supply module is aligned with the second charging port on the drill collar. Finally, the loading rod is driven to be pulled away from the power supply module and the drill collar, thus completing the assembly of the drill collar and the power supply module. During the process of sending the power supply module into the drill collar, the position and orientation data of the power supply module and the drill collar are detected by a non-contact measurement system, and the position and orientation of the power supply module on the loading rod are adjusted. During centering assembly, the position and orientation of the power supply module are adjusted by adjusting the position and angle of the loading rod, which avoids the problem of circuit disorder caused by human contact with the power supply module during centering assembly, as well as the problem of the power supply module scratching the sealing surface of the drill collar, thus improving the assembly efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of an embodiment of the assembly device based on a central control drill collar assembly method of the present invention;

[0028] Figure 2 yes Figure 1 Structural diagram of the frame and its components;

[0029] Figure 3 This is a schematic diagram of the structure in which the loading rod and the power supply module are engaged and locked. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] like Figures 1 to 3 As shown, this invention discloses an embodiment of a method for assembling a central control drill collar, comprising the following steps:

[0032] S100: One end of the drill collar 1 is constrained by the end positioning seat 2, and the circumferential positioning seat 3 is used to achieve circumferential positioning of the drill collar 1; drive the loading rod 4 to rotate horizontally from the initial position by a set angle, so that the center line of the power supply module 5 coincides with the center line of the loading rod 4 and is then fitted onto the loading rod 4, and the positioning structure on the loading rod 4 engages and locks the power supply module 5.

[0033] S200: Drive the loading rod 4 to rotate horizontally to the initial position, detect the position data of the power supply module 5 and the drill collar 1 through the non-contact measurement system, and adjust the position of the power supply module 5 so that its center line coincides with the center line of the drill collar 1;

[0034] S300: Drive the loading rod 4 and its power supply module 5 to move axially as a whole, and send the power supply module 5 into the drill collar 1;

[0035] S400: Drive the loading rod 4 to rotate around its own center line in the first preset direction until the first charging hole on the power supply module 5 is aligned with the second charging hole on the drill collar 1;

[0036] S500: Drive the loading rod 4 to be detached from the power supply module 5 and the drill collar 1.

[0037] In this embodiment, one end of the drill collar 1 is constrained by the end positioning seat 2, and the circumferential positioning seat 3 achieves circumferential limitation of the drill collar 1. The power supply module 5 is fitted onto the loading rod 4 by horizontal rotation and locked in place. After the loading rod 4 is reset, the position data of the power supply module 5 and the drill collar 1 are detected by a non-contact measurement system. The position of the power supply module 5 on the loading rod 4 is adjusted so that its centerline coincides with the centerline of the drill collar 1. This drives the loading rod 4 to move axially, thus inserting the power supply module 5 into the drill collar 1. Furthermore, the loading rod 4 is driven to rotate around its own centerline in a first preset direction, thus realizing the power supply module... The first charging hole on block 5 is aligned with the second charging hole on drill collar 1. Finally, the loading rod 4 is driven to be pulled away from the power supply module 5 and drill collar 1, thus completing the assembly of drill collar 1 and power supply module 5. During the process of sending power supply module 5 into drill collar 1, the position data of power supply module 5 and drill collar 1 are detected by a non-contact measurement system, and the position of power supply module 5 on loading rod 4 is adjusted. During centering assembly, the position and angle of loading rod 4 are adjusted to achieve the position adjustment of power supply module 5, avoiding the problem of circuit disorder caused by human contact with power supply module 5 during centering assembly, as well as the problem of power supply module 5 scratching the sealing surface of drill collar 1, thus improving assembly efficiency.

[0038] In this embodiment, the outer contour of the cross-section of the loading rod 4 is preferably circular, and the power supply module 5 is configured as a sleeve-shaped structure that is adapted to the loading rod 4. In this way, the power supply module 5 can not only be fitted onto the loading rod 4, but also rotate relative to the loading rod 4 in the unlocked state.

[0039] It should be noted that the center line of the loading rod 4 is the axis of the loading rod 4, the center line of the power supply module 5 is the axis of the power supply module 5, and the center line of the drill collar 1 is the axis of the drill collar 1.

[0040] The power supply module 5 in this embodiment specifically includes a battery module 51 and a circuit board module 52. Both the battery module 51 and the circuit board module 52 adopt a sleeve-shaped frame that is compatible with the loading rod 4.

[0041] Step S100: One end of the drill collar 1 is constrained by the end positioning seat 2, and the circumferential positioning seat 3 is used to achieve circumferential positioning of the drill collar 1; the loading rod 4 is driven to rotate horizontally from the initial position by a set angle, so that the center line of the power supply module 5 coincides with the center line of the loading rod 4 and is then fitted onto the loading rod 4, and the positioning structure on the loading rod 4 engages and locks the power supply module 5. Step S101: One end of the battery module 51 is engaged with the end face of the circuit board module 52 through a toothed groove, and the loading rod 4 is driven to rotate around its center line in a first preset direction by a preset angle, so that the other end of the battery module 51 is engaged and locked with the positioning structure of the loading rod 4.

[0042] The battery module 51 and the circuit board module 52 can be assembled first and then put together on the loading rod 4. Alternatively, the battery module 51 can be put on the loading rod 4 first, so that the battery module 51 and the positioning structure of the loading rod 4 are engaged and locked, and then the circuit board module 52 can be put on the loading rod 4, so that the circuit board module 52 and the battery module 51 are engaged.

[0043] The specific structure for locking the loading rod 4 and the power supply module 5 is an L-shaped slot 511 (or spiral groove) with an end opening and a positioning pin (or protrusion). Figure 3 As shown, in this embodiment, the positioning structure on the loading rod 4 is a positioning pin 41, and the power supply module 5 is provided with an L-shaped slot with an end opening. When the positioning pin enters the L-shaped slot 511 from the axial direction, and the loading rod 4 is driven to rotate around its center line in a first preset direction (clockwise or counterclockwise) by a preset angle, that is, when the loading rod 4 and the power supply module 5 rotate relative to each other to realize the positioning pin engaging with the L-shaped slot, the loading rod 4 and the power supply module 5 are locked together.

[0044] Preferably, in step S300: the loading rod 4 and the power supply module 5 thereon are moved axially as a whole, and the power supply module 5 is sent into the drill collar 1. The speed at which the loading rod 4 and the power supply module 5 move axially is ≤5mm / s. The end of the loading rod 4 is provided with a pressure sensor for real-time monitoring of the resistance threshold. When the resistance detected by the pressure sensor exceeds the limit, the loading rod 4 and the power supply module 5 thereon stop moving as a whole. This avoids the power supply module 5 from generating large stress with the drill collar 1 and the loading rod 4 during the axial movement process during assembly, which could cause damage.

[0045] In this embodiment, a sealing ring is provided inside the drill collar 1. When the power supply module 5 extends into the drill collar 1, it squeezes the inside of the sealing ring, that is, the sealing ring can generate a large friction on the power supply module 5. The loading rod 4 inside the drill collar 1 and the power supply module 5 can rotate relative to each other, so that the first charging hole on the power supply module 5 is aligned with the second charging hole on the drill collar 1, or the loading rod 4 is unlocked from the power supply module 5. After the loading rod 4 is unlocked from the power supply module 5, the loading rod 4 inside the drill collar 1 and the power supply module 5 can generate axial displacement relative to each other, so that the power supply module 5 remains inside the drill collar 1, while the loading rod 4 is pulled out from the power supply module 5 and the drill collar 1.

[0046] Step S500: Drive the loading rod 4 to be pulled away from the power supply module 5 and the drill collar 1, including step S501: Control the loading rod 4 to rotate around its center line in a direction opposite to the first preset direction by a preset angle until the loading rod 4 is unlocked from the power supply module 5; Step S502: Drive the loading rod 4 to move axially away from the drill collar 1.

[0047] Furthermore, the present invention also provides an assembly apparatus for implementing the above-described central control drill collar assembly method (see [reference]). Figures 1 to 3 The system includes a frame 6, and an end positioning seat 2, a circumferential positioning seat 3, a guide rail 7, a linear drive mechanism 8, and a control unit 9 mounted on the frame 6. An assembly seat 10 is mounted on the guide rail 7. The linear drive mechanism 8 drives the assembly seat 10 to reciprocate along the guide rail 7. The assembly seat 10 is equipped with a loading rod 4, a rotation drive mechanism 11 for driving the loading rod 4 to rotate around its centerline, and a yaw drive mechanism 12 for driving the loading rod 4 to rotate horizontally. The loading rod 4 is horizontally positioned. The linear drive mechanism 8, the rotary drive mechanism 11, the yaw drive mechanism 12, and the non-contact measurement system are all connected to the control unit 9; the end positioning seat 2 and the circumferential positioning seat 3 are arranged along the extension direction of the guide rail 7, the drill collar 1 is supported and circumferentially limited by the circumferential positioning seat 3, and the end of the drill collar 1 away from the mounting seat 10 abuts against the end positioning seat 2; the drill collar 1 is provided with a sealing ring, and when the power supply module 5 extends into the drill collar 1, it squeezes the inside of the sealing ring.

[0048] The circumferential positioning seat 3 includes a centering clamp 31 and an anti-rotation clamp 32. At least two centering clamps 31 are provided to support the drill collar 1 and prevent displacement. The outer wall of the drill collar 1 has a positioning hole. The anti-rotation clamp 32 has a telescopic drive mechanism and a limiting post adapted to the positioning hole. The telescopic drive mechanism is connected to the limiting post to drive the limiting post to engage with the positioning hole, preventing the drill collar 1 from rotating.

[0049] The assembly device in this embodiment also includes an AGV trolley 13, which is used to load the power supply module 5 and make the center line of the power supply module 5 coincide with the center line of the loading rod 4 which has been rotated horizontally by a set angle from the initial position.

[0050] The non-contact measurement system includes a first non-contact pose measurement unit 14 located above the power supply module 5 and a second non-contact pose measurement unit 15 located above the drill collar 1. The yaw drive mechanism 12 drives the loading rod 4 to yaw horizontally, so that the center line of the power supply module 5 in the horizontal direction measured by the first non-contact pose measurement unit 14 coincides with the center line of the drill collar 1 in the horizontal direction measured by the second non-contact pose measurement unit 15. The control unit 9 controls the yaw drive mechanism 12 to drive the loading rod 4 to yaw horizontally based on the horizontal deviation distance between the center line of the power supply module 5 in the horizontal direction measured by the first non-contact pose measurement unit 14 and the center line of the drill collar 1 in the horizontal direction measured by the second non-contact pose measurement unit 15, thereby reducing the horizontal deviation distance.

[0051] The first non-contact pose measurement unit 14, the second non-contact pose measurement unit 15, and the third non-contact pose measurement unit 16 and the fourth non-contact pose measurement unit 17 described below in this embodiment all use digital precision measurement cameras, which can accurately capture the size and shape of objects with a measurement error of less than 5µm. This makes the battery frame and the center line of the drill collar 1 more coincident, and at the same time can detect whether the position tolerance meets the requirements. Under the push of the forward moving mechanism, the power supply module 5 can be easily installed into the drill collar 1, avoiding unnecessary scratches.

[0052] The non-contact measurement system also includes a third non-contact pose measurement unit 16 located on the side of the power supply module 5 and a fourth non-contact pose measurement unit 17 located on the side of the drill collar 1. The mounting base 10 is also provided with a lifting drive mechanism, which drives the loading rod 4 to move vertically so that the center line of the power supply module 5 in the vertical direction measured by the third non-contact pose measurement unit 16 coincides with the center line of the drill collar 1 in the vertical direction measured by the fourth non-contact pose measurement unit 17. The control unit 9 reduces the vertical deviation distance based on the vertical deviation distance between the center line of the power supply module 5 in the vertical direction measured by the third non-contact pose measurement unit 16 and the center line of the drill collar 1 in the vertical direction measured by the fourth non-contact pose measurement unit 17.

[0053] In this embodiment, the first non-contact pose measurement unit 14, the second non-contact pose measurement unit 15, the third non-contact pose measurement unit 16, and the fourth non-contact pose measurement unit 17 are all mounted on the test bracket 18. The first non-contact pose measurement unit 14 and the second non-contact pose measurement unit 15 are mounted on the same vertical plane, and the third non-contact pose measurement unit 16 and the fourth non-contact pose measurement unit 17 are mounted on the same horizontal plane.

[0054] When the lifting drive mechanism detects that the center line of the power supply module 5 in the vertical direction deviates from the center line of the drill collar 1 in the vertical direction as measured by the third non-contact posture measurement unit 16, it drives the loading rod 4 to move vertically. On the one hand, it no longer requires the center line of the loading rod 4 to be kept on the horizontal plane where the center line of the drill collar 1 is located, which reduces the assembly accuracy requirements of the assembly device itself and the processing accuracy requirements of the parts. On the other hand, it can adapt to the assembly between drill collars 1 of different diameters and power supply modules 5.

[0055] In this embodiment, the rotary drive mechanism 11 is a drive motor or a reducer, and its drive end is connected to the loading rod 4; the linear drive mechanism 8 is a motor lead screw assembly, with the lead screw arranged parallel to the guide rail 7 to drive the mounting base 10 to slide back and forth along the guide rail 7; the lifting drive mechanism can be a pneumatic cylinder, hydraulic cylinder, electric cylinder, etc., which is mounted on the mounting base 10; the yaw drive mechanism 12 can be a drive motor driving a worm gear or other transmission structure.

[0056] The control unit 9 in this embodiment can be fully automatic or manually controlled using a handheld operator. The central control drill collar assembly method and assembly device of this embodiment achieve automatic centering and correction, reducing manual operation, avoiding circuit disruptions caused by human contact with the power supply module 5, preventing excessive deflection of the power supply module 5, and avoiding scratches on the sealing surface of the drill collar 1 by the power supply module 5. This improves the assembly qualification rate, enables fully automated assembly, reduces labor costs, and increases production efficiency.

[0057] The specific steps for assembling the central control drill collar using the assembly device of this embodiment are as follows:

[0058] 1. Place the drill collar 1 into the frame 6. The drill collar 1 is supported and limited by the centering clamp 31. One end of the drill collar 1 is aligned with the end positioning seat 2. Rotate the drill collar 1 so that the limiting post of the anti-rotation clamp 32 is inserted into the positioning hole of the drill collar 1.

[0059] The power supply module 5 is placed on the bracket of the AGV trolley 13. When the AGV trolley 13 reaches the position, the bracket of the AGV trolley 13 is raised, lowered and rotated so that the center line of the power supply module 5 and the center line of the drill collar 1 are on the same horizontal plane and at a preset angle (such as 45°, 60°, etc.). The handheld operator is operated to control the yaw drive mechanism 12 to drive the loading rod 4 to rotate horizontally by a set angle (such as 45°, 60°, etc.) so that the center line of the loading rod 4 coincides with the center line of the power supply module 5. The AGV trolley 13 moves axially towards the loading rod 4 and puts the power supply module 5 on the loading rod 4. The positioning structure on the loading rod 4 engages and locks the power supply module 5.

[0060] 2. Operate the handheld controller to control the yaw drive mechanism 12 to drive the loading rod 4 to rotate horizontally to the initial position. The pose data of the power supply module 5 and the drill collar 1 are measured non-contactly by multiple digital precision measurement cameras. The yaw drive mechanism 12 drives the loading rod 4 to yaw horizontally. The lifting drive mechanism is used to drive the loading rod 4 to move vertically until the center line of the power supply module 5 in the horizontal direction measured by the first non-contact pose measurement unit 14 coincides with the center line of the drill collar 1 in the horizontal direction measured by the second non-contact pose measurement unit 15. The center line of the power supply module 5 in the vertical direction measured by the third non-contact pose measurement unit 16 coincides with the center line of the drill collar 1 in the vertical direction measured by the fourth non-contact pose measurement unit 17.

[0061] 3. Operate the handheld controller to control the linear drive mechanism 8 to drive the mounting base 10 to slide along the guide rail 7 until the power supply module 5 is sent into the drill collar 1;

[0062] 4. Operate the handheld controller to control the rotary drive mechanism 11 to drive the loading rod 4 to rotate around its center line. The loading rod 4 drives the power supply module 5 to rotate, so that the first charging hole on the power supply module 5 is aligned with the second charging hole on the drill collar 1.

[0063] 5. Operate the handheld controller to control the rotary drive mechanism 11 to drive the loading rod 4 to rotate in the opposite direction around its center line, so that the loading rod 4 is unlocked from the power supply module 5. Control the linear drive mechanism 8 to drive the assembly seat 10 to slide along the guide rail 7 until it is pulled away from the power supply module 5 and the drill collar 1, thus completing the entire assembly process.

[0064] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for assembling a central control drill collar, characterized in that, include One end of the drill collar is constrained by the end positioning seat, and the circumferential positioning seat is used to achieve circumferential limitation of the drill collar; The drive loading rod rotates horizontally from its initial position by a set angle, so that the center line of the power supply module coincides with the center line of the loading rod and is then fitted onto the loading rod. The positioning structure on the loading rod engages and locks the power supply module. The loading rod is driven to rotate horizontally to the initial position. The position data of the power supply module and the drill collar are detected by a non-contact measurement system. The position of the power supply module is adjusted so that its center line coincides with the center line of the drill collar. The drive loading rod and its power supply module move axially as a whole, sending the power supply module into the drill collar; Drive the loading rod to rotate around its own center line in a first preset direction until the first charging hole on the power supply module is aligned with the second charging hole on the drill collar; The drive loading rod is detached from the power supply module and drill collar.

2. The method for assembling the central control drill collar according to claim 1, characterized in that, The locking of the power supply module by the positioning structure on the loading rod includes driving the loading rod to rotate around its centerline in a first preset direction by a preset angle so that the positioning structure on the loading rod locks the power supply module; the outer contour of the cross-section of the loading rod is circular.

3. The method for assembling the central control drill collar according to claim 2, characterized in that, The detachment of the loading rod from the power supply module and the drill collar includes controlling the loading rod to rotate around its centerline by a preset angle in a direction opposite to the first preset direction until the loading rod is unlocked from the power supply module; and driving the loading rod to move axially away from the drill collar.

4. The method for assembling the central control drill collar according to claim 1, characterized in that, The power supply module includes a battery module and a circuit board module. Both the battery module and the circuit board module are sleeve-shaped and adapted to the loading rod. The process of aligning the center line of the power supply module with the center line of the loading rod and then fitting it onto the loading rod, with the positioning structure on the loading rod locking the power supply module in place, includes engaging one end of the battery module with the end face of the circuit board module through a toothed groove, and engaging and locking the other end of the battery module with the positioning structure of the loading rod.

5. The method for assembling the central control drill collar according to claim 1, characterized in that, The loading rod is equipped with a pressure sensor at its end for real-time monitoring of the resistance threshold. When the resistance detected by the pressure sensor exceeds the limit, the loading rod and its power supply module will stop moving as a whole.

6. An assembly apparatus for implementing the central control drill collar assembly method according to any one of claims 1-5, characterized in that, The system includes an end positioning seat, a circumferential positioning seat, an assembly seat, a guide rail, a linear drive mechanism, and a control unit. The linear drive mechanism drives the assembly seat to slide along the guide rail. The assembly seat is equipped with a loading rod, a rotary drive mechanism for driving the loading rod to rotate around its center line, and a yaw drive mechanism for driving the loading rod to rotate horizontally. The loading rod is horizontally positioned. The linear drive mechanism, the rotary drive mechanism, the yaw drive mechanism, and the non-contact measurement system are all connected to the control unit. The end positioning seat and the circumferential positioning seat are arranged along the extension direction of the guide rail. The drill collar is supported and circumferentially limited by the circumferential positioning seat, and the end of the drill collar away from the mounting seat abuts against the end positioning seat. The drill collar is equipped with a sealing ring, and when the power supply module is inserted into the drill collar, it compresses the inside of the sealing ring.

7. The assembly device according to claim 6, characterized in that, The non-contact measurement system includes a first non-contact pose measurement unit located above the power supply module and a second non-contact pose measurement unit located above the drill collar. The yaw drive mechanism drives the loading rod to yaw horizontally so that the center line of the power supply module in the horizontal direction measured by the first non-contact pose measurement unit coincides with the center line of the drill collar in the horizontal direction measured by the second non-contact pose measurement unit.

8. The assembly apparatus according to claim 7, characterized in that, The non-contact measurement system also includes a third non-contact pose measurement unit located on the side of the power supply module and a fourth non-contact pose measurement unit located on the side of the drill collar. The mounting base is also provided with a lifting drive mechanism, which is used to drive the loading rod to move vertically so that the center line of the power supply module in the vertical direction measured by the third non-contact pose measurement unit coincides with the center line of the drill collar in the vertical direction measured by the fourth non-contact pose measurement unit.

9. The assembly device according to claim 6, characterized in that, The circumferential positioning seat includes a centering clamp and an anti-rotation clamp. The centering clamp supports the drill collar. The outer wall of the drill collar is provided with a positioning hole. The anti-rotation clamp is provided with a telescopic drive mechanism and a limiting post adapted to the positioning hole. The telescopic drive mechanism is connected to the limiting post to drive the limiting post to engage with the positioning hole.

10. The assembly apparatus according to claim 1, characterized in that, It also includes an AGV trolley, which is used to load the power supply module and make the center line of the power supply module coincide with the center line of the loading rod which has been rotated horizontally by a set angle from the initial position.

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