Directional drilling machine three-mechanism cooperation drill rod loading and unloading system and control method thereof

Abstract

The invention discloses a directional drilling machine three-mechanism cooperation drill rod loading and unloading system and a control method thereof. The system comprises a rod loading mechanism, a rod bin, a transferring mechanism and a rod supplementing mechanism. The rod adding mechanism is arranged on the upper portion of the middle of the drilling main machine and the rod supplementing mechanism and can add and unload drill rods at different drilling angles in a narrow space. The rod supplementing mechanism grabs the drill rods from the rod bin and the transferring mechanism and places the drill rods in a transferring tray. The three mechanisms are matched to transmit actions through a control algorithm, multiple working modes of automatic rod supplementing, rod adding and rod unloading are achieved, and a drill rod can be placed in a drilling main machine to facilitate construction. Accurate and continuous drill rod loading and unloading operation can be achieved, meanwhile, the problems that occupied space is large, roadway adaptability is poor and the like are solved, accurate control under different drilling working conditions can be met, all mechanisms are matched without interference, the time sequence is shortened, it can be guaranteed that drilling footage needed by construction can be met by one-time rod supplementing in a single shift, and the automatic process does not need to be interrupted.

Description

Technical Field

[0001] This invention belongs to the technical field of directional drilling equipment, and relates to a three-mechanism cooperative drilling rod loading and unloading system for directional drilling rigs and its control method. Background Technology

[0002] Currently, the loading and unloading robotic arms of directional drilling rigs equipped with automatic drill pipe loading and unloading systems primarily employ two working paths: coordinate-based linear trajectories and rotational + linear motion trajectories. Linear trajectories offer the advantage of fixed travel distances, facilitating mechanical positioning and achieving relatively high accuracy. However, their linear motion is typically driven by hydraulic cylinders, resulting in long paths and a large footprint. Given the high roadway space required for directional drilling operations, this reduces the adaptability of automatic drilling rigs. In contrast, rotational + linear motion trajectories are compact and have relatively short paths. However, the maximum working rotation angle of existing loading and unloading robotic arms is generally within the range of 180~270°. Excessively large rotational paths not only increase errors but also hinder drill pipe loading and unloading efficiency. Furthermore, they occupy significant rotational space, necessitating the placement of other components in other areas, leading to inefficient space utilization and an overall larger rig size.

[0003] To improve borehole utilization, directional drilling is gradually increasing in depth to the kilometer level, resulting in a large demand for drill rods for single-hole construction. At the same time, trajectory control is required during directional drilling, and the drill rods are generally long and have a large diameter. Typically, at least one person is needed to operate the drilling rig, and another two people are needed to assist in transporting and loading / unloading the drill rods. The above construction method not only involves high labor intensity for workers and requires a large number of auxiliary personnel, but also has poor safety and cannot meet the actual needs of intelligent drilling in coal mines. Currently, in directional drilling rigs equipped with automatic drill pipe loading and unloading systems, when the drilling main unit is positioned horizontally at the front of the rig, the corresponding rod compartment is located inside the vehicle body. The loading and unloading of drill pipes is completed through the mutual transfer between a rod replenishment robot and a rod addition robot. Because the main unit is positioned horizontally at the front, the rig length cannot be too long, thus limiting its space requirements. Therefore, this method can only accommodate shorter drill pipes (less than 1 meter in length) for loading and unloading in the middle. However, directional drilling processes typically require drill pipes longer than 1.5 meters, making this method not entirely suitable. Furthermore, this method results in a longer drill pipe transfer path and relatively lower loading and unloading efficiency. For rigs with added rod loading and unloading robots, the rig itself does not have a rod storage function. A drill pipe tray is attached to the side of the main unit. Each time, 5-7 drill pipes are placed in the tray manually or with auxiliary lifting equipment. The rod loading and unloading robot then picks up and places the drill pipes from the tray before transferring them to the vehicle. Transporting drill rods to the main unit for adding or removing drill rods presents several challenges. The external drill rod tray on the side of the main unit increases the rig's width and space requirements. Furthermore, the tray must move synchronously with the main unit to accommodate varying borehole angles, leading to inconsistent rod placement and increasing the difficulty of adding rods. The limited capacity of the tray necessitates constant addition and removal of rods by support personnel, resulting in low efficiency, high labor intensity, and safety hazards. In the case of placing the main drilling unit and drill rod compartment side-by-side on the drilling platform, since directional drilling rigs primarily target medium-deep holes (hundreds or kilometers deep), the limited space on the platform necessitates manual addition or removal of rods during drilling. The drill rod compartment, positioned on the platform, is relatively high for operators, and the long, heavy drill bits make moving the rods up and down extremely inconvenient, resulting in minimal reduction in manpower and efficiency.

[0004] To ensure mechanical positioning accuracy, the automatic drilling rig's rod loading and unloading system has a long transmission path and a large range of robotic arm rotation angles. This results in the rod loading and unloading operations occupying too much mechanical space, making it difficult to meet the needs of some coal mine underground roadways with limited space. The four stages of rod replenishment, grabbing, conveying, and centering are managed by independent controllers, resulting in large timing errors, frequent mechanical interference or interruptions. Furthermore, the rod chamber typically holds ≤20 rods, requiring manual replenishment midway, which disrupts the automated process. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a three-mechanism collaborative drill rod loading and unloading system and its control method for directional drilling rigs. This system solves the following problems in existing technologies: low precision and efficiency of the drill rod loading and unloading robotic arm, large space occupation, poor adaptability to roadways, low drill rod loading and unloading efficiency, the need for personnel to wait for drill rod replenishment during single-shift, single-hole construction with automatic directional drilling rigs, the high and unpredictable location of drill rod replenishment, high labor intensity, and poor safety, as well as the low efficiency and safety hazards of manual drill rod loading and unloading. The present invention can significantly reduce the labor intensity of workers and improve the efficiency and reliability of drill rod loading and unloading operations.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A long drill rod extension manipulator includes an angle-adjusting cylinder, a primary rotating arm, a secondary rotating arm, a rotating support beam, a translation support beam, a primary telescopic cylinder, a telescopic arm, a drill rod gripper, and a secondary telescopic cylinder connected in sequence. The angle-adjusting cylinder can adjust the angle of the first-stage rotating arm, and the second-stage rotating arm can drive the rotating support beam, the translation support beam, the first-stage telescopic cylinder, and the entire telescopic arm to rotate around its rotation center from 0 to 90°; the translation support beam is clamped on the outside of the guide rail of the telescopic arm so that the entire telescopic arm can slide axially under the action of the extension / retraction of the first-stage telescopic cylinder; the extension / retraction of the second-stage telescopic cylinder inside the telescopic arm can make the entire drill pipe gripper slide axially.

[0007] The present invention also includes the following technical features: Specifically, the first-stage rotating arm is hinged to the angle-adjusting cylinder, the second-stage rotating arm is connected to the first-stage rotating arm, one end of the rotating support beam is connected to the second-stage rotating arm, and the other end is connected to the translation support beam. One end of the first-stage telescopic cylinder is hinged to the translation support beam, and the other end is connected to the telescopic arm. The front end of the inner cylinder of the telescopic arm is riveted and fixed to the drill rod gripper, the outer cylinder is riveted and fixed to the probe sensor assembly, and a telescopic arm limiting assembly is riveted and fixed to the side of the telescopic arm.

[0008] Specifically, the lower end of the adjusting cylinder is hinged to the mounting lug, and the upper end is hinged to the lower part of the first-stage rotating arm.

[0009] Specifically, the upper end of the first-stage rotating arm is riveted to one end of the horizontal second-stage rotating arm, and the other end of the second-stage rotating arm is a slewing end, which is riveted to one end of the rotating support beam, and the other end of the rotating support beam is riveted to the translation support beam.

[0010] Specifically, the telescopic arm is perpendicular to the secondary rotating arm, and a guide rail is provided on the outer wall of the telescopic arm along its length. The translation support beam is clamped on the guide rail. Under the extension and retraction action of the primary telescopic cylinder, the telescopic arm can move relative to the translation support beam.

[0011] Specifically, the cylinder of the secondary telescopic cylinder is fixed to one end of the outer cylinder of the telescopic arm, and the cylinder rod of the secondary telescopic cylinder is fixedly connected to the inner cylinder of the telescopic arm.

[0012] Specifically, the probe sensor assembly is positioned close to the drill rod gripper.

[0013] A long drill string efficient storage and transportation rod replenishment device includes a drill string chamber, a rod replenishment robot, a horizontal position sensor, a rack and pinion guide, a sliding guide, a transfer tray, a top alignment device, and a transfer cylinder; The drill pipe chamber's side and end faces are fixed to the sliding guide rail and rack guide rail, respectively. The drill pipe replenishing robot is clamped on the rack guide rail and can slide along it. One end of the horizontal position sensor is fixed to the drill pipe replenishing robot, and the other end is fixed to the drill pipe chamber, enabling the robot to position itself horizontally. The transfer tray is clamped on the sliding guide rail, and one end of the transfer cylinder is fixed to the sliding guide rail, while the other end is fixed to the drill pipe chamber. Under the action of the transfer cylinder, the transfer tray slides along the sliding guide rail. The alignment device is symmetrically arranged at both ends of the transfer tray to ensure that the drill pipe is placed in a relatively fixed position each time, thus improving control accuracy.

[0014] Specifically, the drill pipe chamber includes a chamber body, a drill pipe baffle, and a drill pipe pad; the drill pipe baffle is riveted to the inner sides of both ends of the chamber body, and the drill pipe pad is riveted to the bottom of the chamber body; the drill pipe baffle divides the interior of the drill pipe chamber into multiple rows.

[0015] Specifically, the drill pipe baffle is perpendicular to both the end face and the bottom face of the drill pipe chamber; the drill pipe baffles on the two end faces of the drill pipe chamber are opposite each other.

[0016] Specifically, the rod-repairing robot includes a drive motor, drive gear, primary lifting cylinder, primary lifting guide cylinder, lifting position sensor, crossbeam, secondary lifting cylinder, secondary lifting guide cylinder, robot gripper, and probe sensor assembly; The drive motor is riveted to the first-stage lifting guide cylinder, and the drive gear is hinged to the drive motor. The first-stage lifting cylinder is installed inside the first-stage lifting guide cylinder. One end of the first-stage lifting cylinder is riveted to the outer cylinder of the first-stage lifting guide cylinder, and the other end is hinged to the crossbeam. The inner cylinder of the first-stage lifting guide cylinder is riveted to one end of the crossbeam, and the other end of the crossbeam is riveted to the side of the outer cylinder of the second-stage lifting guide cylinder. One end of the second-stage lifting cylinder is riveted to the upper surface of the outer cylinder of the second-stage lifting guide cylinder, and the other end is hinged to the robotic gripper. The robotic gripper is also riveted to the inner cylinder of the second-stage lifting guide cylinder. The probe sensor assembly is riveted to the side of the robotic gripper. The rod replenishment robotic arm can grasp / place drill rods vertically in the drill rod chamber by extending and retracting the vertically lifting first-stage and second-stage lifting cylinders.

[0017] Specifically, the drive gear is installed in conjunction with the rack and pinion guide.

[0018] Specifically, the gripper's grasping centerline direction is consistent with the drill rod direction inside the drill rod chamber.

[0019] Specifically, the sliding guide rail is parallel to the direction in which the drill pipe is placed inside the drill pipe chamber.

[0020] Specifically, the sliding guide rail and the rack guide rail are perpendicular to each other.

[0021] Specifically, the side walls and bottom of the drill pipe chamber are hollowed out.

[0022] A three-mechanism collaborative drill rod loading and unloading system for a directional drilling rig includes a long drill rod loading robot and a long drill rod efficient storage and transportation replenishment device. The long drill rod loading robot serves as the loading mechanism; the drill rod chamber, sliding guide rail, transfer tray, transfer cylinder, jacking device, rack guide rail, and horizontal position sensor constitute the rod chamber and transfer mechanism; the replenishment robot serves as the replenishment mechanism; a proximity switch I is located next to the drill rod gripper; a proximity switch II is located next to the jacking device; and a proximity switch III is located next to the robot gripper.

[0023] The control method for the three-mechanism collaborative drill rod loading and unloading system of the directional drilling rig includes the rod loading mechanism control process, the rod storage and transfer mechanism control process, and the rod replenishment mechanism control process. Before the drill rod loading and unloading control process, the rod loading mechanism, rod storage and transfer mechanism, and rod replenishment mechanism are in the initial state: the first-stage rotating arm is in the vertical state, the second-stage rotating arm is at 0° and the telescopic arm is in the retracted state, the transfer tray of the rod storage and transfer mechanism is in the rod storage position close to the rod storage, the first-stage lifting guide cylinder of the rod replenishment mechanism is in the fully extended state, and the second-stage lifting guide cylinder is in the fully retracted state.

[0024] Specifically, the lever-adding mechanism lever-adding control process includes: First, determine whether there is a drill rod in the drill rod gripper. If not, coordinate with the rod magazine and transfer mechanism to control the process and grab the drill rod from the transfer tray. If there is a drill rod, close the gripper and determine the machine angle at this time. If the machine body angle is upward, the first-stage rotating arm is raised. When the proximity switch on the machine body detects the upper calibration plate of the first-stage rotating arm, the first-stage rotating arm is raised to the position. The telescopic arm connected to the second-stage rotating arm rotates clockwise upward to 90° and then fully extends. Then it rotates counterclockwise downward to 65° to put the drill rod into the holder, thus completing the drilling under the upward working condition of the machine body. If the machine body angle is not upward, first rotate the telescopic arm clockwise 90° upward and fully extend it; if the machine body angle is horizontal, rotate the telescopic arm counterclockwise downward to 65° to complete drilling under horizontal machine body conditions; if the machine body angle is downward, determine the horizontal displacement Y of the rod-adding mechanism at this time. If Y is greater than or equal to 50, lower the first-level rotating arm. When the proximity switch on the machine body detects the calibration plate on the first-level rotating arm, the first-level rotating arm is lowered into place, and the telescopic arm rotates counterclockwise downward to 65° to complete drilling under downward machine body conditions.

[0025] Specifically, after adding the lever, first retract the secondary telescopic arm of the secondary rotating arm and rotate it clockwise upwards to 90°. Then determine the position of the fuselage. If it is in a downward tilt angle, first raise the primary rotating arm to its highest position, then retract the primary telescopic arm of the secondary rotating arm and rotate it counterclockwise downwards to 0°. Then lower the primary rotating arm. When the proximity switch located on the fuselage detects the lower calibration plate of the primary rotating arm, the primary rotating arm is in a horizontal state, forming a closed loop with the initial state. Repeat the above process.

[0026] Specifically, the control process for the lever storage and transfer mechanism includes: First, it is determined whether there is a drill rod in the drill rod gripper. If there is no drill rod in the drill rod gripper, it is determined whether there is a drill rod in the transfer tray. If there is no drill rod in the transfer tray, the drill rod is placed into the transfer tray in coordination with the rod-adding mechanism. If there is a drill rod in the transfer tray, the top-mounting device of the transfer tray clamps the rod and then moves the transfer tray to the rod-adding position near the rod-adding mechanism. The transfer tray is then released. The secondary telescopic arm of the secondary rotating arm is fully extended, and the drill rod gripper is completely in contact with the drill rod in the transfer tray. The rod-adding gripper is closed to grab the drill rod and the secondary telescopic arm of the secondary rotating arm is retracted. At this time, the rod-adding mechanism is in the initial state where the drill rod gripper has a drill rod, and continues to enter the action cycle of the rod-adding mechanism. The transfer tray is then moved to the rod storage position, forming a closed loop with the rod storage and the initial state of the transfer mechanism.

[0027] Specifically, the control process of the supplementary rod mechanism includes: First, determine whether there is a drill rod in the drill rod gripper or transfer tray. Then, determine whether there is a drill rod in the robotic arm gripper and perform the corresponding actions according to the four different situations. Scenario 1: Neither the drill pipe gripper nor the transfer tray has a drill pipe, but the robotic arm has one: At this point, the rod replenishment mechanism is retracted along the rack guide rail to Y=0 and is directly above the transfer pallet. The first-stage lifting guide cylinder lowers the robot arm to the height of the transfer pallet, places the drill rod on the transfer pallet, and then moves it back up. The rod replenishment mechanism moves to Y=50 and is above the first column of the rod compartment. At this point, the state changes to having a drill rod on the gripper or pallet, and the robot arm grabbing no drill rod. Scenario 2: Neither the drill pipe gripper nor the transfer tray has a drill pipe, and the robotic arm also has no drill pipe. At this point, the drill rod needs to be grabbed from the rod magazine. Release the robotic gripper, select the rod magazine column LengthX to be grabbed, move the rod replenishment mechanism to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism to Y=50. At this point, the system state becomes that there is no drill rod in the rod replenishment gripper and the tray, but the robotic gripper has a drill rod. Continue with the procedure of Case 1. Scenario 3: The drill pipe gripper or transfer tray has a drill pipe, and the robotic arm is also holding a drill pipe. If neither the drill rod gripper nor the transfer tray has a drill rod, but the robotic arm has a drill rod, continue with the procedure in scenario one. Scenario 4: The drill pipe gripper or transfer tray has a drill pipe, but the robotic arm does not: Grab the drill rod from the rod holder, release the robotic gripper, select the rod holder column LengthX to be grabbed, move the rod replenishment mechanism to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism to Y=50. At this time, the state becomes that the drill rod gripper or tray has a drill rod, and the robotic gripper has a drill rod. Continue with the procedure of case three.

[0028] Compared with the prior art, the present invention has the following technical effects: This invention rationally arranges multiple proximity switches and angle and displacement encoders on the mechanism, which can reflect the motion state of the mechanism in real time. Combined with the proposed control algorithm, it can achieve precise and continuous drilling rod loading and unloading operations for various drilling rig body angles, effectively avoiding interference.

[0029] This invention, through reasonable mechanical design and sensor configuration, solves problems such as large space occupation and poor roadway adaptability while ensuring mechanical precision. The central controller centrally configures and optimizes the drill rod loading and unloading steps, which can meet the precise control under different drilling conditions. The cooperation between the various mechanisms is without interference and the timing is minimized, which shortens the time required for a single rod loading. The rod chamber design can accommodate a number of drill rods at a time, which can ensure that a single rod replenishment can meet the required drilling progress in a single shift without interrupting the automatic process.

[0030] During drill pipe loading and unloading operations, the rod loading mechanism of this invention can perform rod loading and unloading functions at different drilling angles. The motion combines linear and rotary motion, enabling rod loading and unloading actions within a small angle range (0-90°). A combination of mechanical limiters and angle sensors achieves precise positioning at multiple angles, improving the efficiency and reliability of drill pipe loading and unloading. This invention employs a combination of linear and rotary trajectory motion, enabling rod loading and unloading actions within the confined space of the drilling host and rod loading mechanism, while also achieving low working height, small rotation angle, and high efficiency. Furthermore, its ingenious two-stage telescopic structure of the robotic arm allows for repeated mechanical positioning of rod loading and unloading within a small angle range, improving the control accuracy and reliability of the rod loading and unloading system.

[0031] During rod replenishment operations, the drilling rig possesses a rod magazine capacity sufficient to meet the average single-shift drilling footage in actual construction, enabling rod replenishment in a single shift with minimal need for auxiliary personnel waiting for replenishment, thus reducing manpower and increasing efficiency. Simultaneously, the rod magazine design allows for multiple operation modes, including manual low-position and fixed-position rod addition / removal, and automatic loading / removal of drill rods by a robotic arm, significantly reducing worker labor intensity and greatly improving the safety of drill rod loading and unloading operations. This invention employs a novel integrated structure design of the transfer tray and drill rod magazine, along with a manual rod placement position and an automatic rod replenishment control program. This not only fully utilizes the effective space of the directional drilling rig to achieve an integrated layout but also significantly reduces the labor intensity of rod replenishment during directional drilling construction, solving the problems of uncertain drill rod loading positions and inconvenient high-position rod retrieval. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the drilling rig.

[0033] Figure 2 for Figure 1 Top view of the drilling rig's overall structure.

[0034] Figure 3 This is a schematic diagram of the linkage mechanism.

[0035] Figure 4 This is a schematic diagram of the lever storage and transfer mechanism.

[0036] Figure 5 This is a schematic diagram of the end face structure of the lever storage and transfer mechanism.

[0037] Figure 6 This is a schematic diagram of the main structure of the lever storage unit.

[0038] Figure 7 This is a schematic diagram of the supplementary rod mechanism.

[0039] Figure 8 The flowchart shows the control algorithm for the three mechanisms working together to add drill rods.

[0040] Figure 9This is a schematic diagram showing the location of the proximity switch on the device.

[0041] Figure 10 This is a schematic diagram of the pole-repairing mode.

[0042] The meanings of the labels in the diagram are as follows: 1. Tracked vehicle body; 2. Drilling rig main unit; 3. Power pump station; 4. Rod adding mechanism; 5. Rod chamber and transfer mechanism; 6. Rod replenishment mechanism; 7-1. Angle-adjusting cylinder; 7-2. Primary rotating arm; 7-3. Secondary rotating arm; 7-4. Rotating support beam; 7-5. Drill pipe gripper; 7-6. Telescopic arm; 7-7. Telescopic arm limit assembly; 7-8. Secondary telescopic cylinder; 7-9. Primary telescopic cylinder; 7-10. Translation support beam. 8-1. Drill pipe chamber; 8-2. Pipe replenishment robot; 8-3. Sliding guide rail; 8-4. Transfer pallet; 8-5. Transfer cylinder; 8-6. Alignment device; 8-7. Rack and pinion guide rail; 8-8. Horizontal position sensor. 9-1. Drive motor; 9-2. First-stage lifting cylinder; 9-3. First-stage lifting guide cylinder; 9-4. Lifting position sensor; 9-5. Drive gear; 9-6. Crossbeam; 9-7. Second-stage lifting cylinder; 9-8. Second-stage lifting guide cylinder; 9-9. Robotic gripper; 10-2. Drill cylinder body; 10-1. Drill pipe baffle; 10-3. Drill pipe pad. Detailed Implementation

[0043] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0044] Example 1: This embodiment provides a long drill bit rod adding robot. The rod adding robot is hinged to the drilling host and arranged in the upper middle position between the drilling host and the rod adding device. Through the coordinated transmission of actions among the three, multiple working modes such as automatic rod adding, rod adding and rod unloading are realized.

[0045] The lever-attaching manipulator includes, in sequence, an angle-adjusting cylinder 7-1, a primary rotating arm 7-2, a secondary rotating arm 7-3, a rotating support beam 7-4, a translational support beam 7-10, a primary telescopic cylinder 7-9, a telescopic arm 7-6, a drill pipe gripper 7-5, and a secondary telescopic cylinder 7-8. The angle-adjusting cylinder 7-1 can adjust the angle of the primary rotating arm 7-2. The secondary rotating arm 7-3 can drive the rotating support beam 7-4, the translational support beam 7-10, the primary telescopic cylinder 7-9, and the telescopic arm 7-6 to rotate as a whole around its rotation center from 0 to 90°. The translational support beam 7-10 is clamped on the outside of the guide rail of the telescopic arm 7-6 so that the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the primary telescopic cylinder 7-9. The secondary telescopic cylinder 7-8 inside the telescopic arm 7-6 can slide axially as a whole under the action of the extension / retraction of the drill pipe gripper 7-5.

[0046] The primary rotating arm is hinged to the angle-adjusting cylinder 7-1; the secondary rotating arm 7-3 is riveted to the primary rotating arm 7-2; one end of the rotating support beam 7-4 is riveted to the secondary rotating arm 7-3, and the other end is riveted to the translation support beam 7-10; one end of the primary telescopic cylinder 7-9 is hinged to the translation support beam 7-10, and the other end is hinged to the telescopic arm 7-6; the front end of the inner cylinder of the telescopic arm 7-6 is riveted to the drill rod gripper 7-5, and the outer cylinder is riveted to the probe sensor assembly; a telescopic arm limiting assembly 7-7 is riveted to the side of the telescopic arm 7-6. The secondary rotating arm 7-3 allows the rotating and translation support beam 7-10 and the telescopic arm 7-6 to reciprocate within an angle of 0~90°. This reciprocating motion is achieved using a hydraulically driven swing cylinder, which also provides a certain load-bearing capacity. The rotating mechanism is designed with an adjustable mechanical limit device. The limit is achieved by the protruding part of the irregularly shaped limit plate. The protruding part is equipped with an adjusting screw. Rotating the screw allows for fine adjustment of the initial and final angles of the turntable, which not only meets the limit requirements but also allows for flexible adjustment to compensate for accumulated errors.

[0047] The lower end of the adjusting cylinder 7-1 is hinged to the mounting lug, and the upper end is hinged to the lower part of the first-stage rotating arm 7-2.

[0048] The upper end of the first-stage rotating arm 7-2 is riveted to one end of the horizontal second-stage rotating arm 7-3. The other end of the second-stage rotating arm 7-3 is the slewing end, which is riveted to one end of the rotating support beam 7-4. The other end of the rotating support beam 7-4 is riveted to the translation support beam 7-10.

[0049] The telescopic arm 7-6 is perpendicular to the secondary rotating arm 7-3. A guide rail is provided on the outer wall of the telescopic arm 7-6 along its length. The translation support beam 7-10 is clamped on the guide rail. Under the telescopic action of the primary telescopic cylinder 7-9, the telescopic arm 7-6 can move relative to the translation support beam 7-10.

[0050] The cylinder barrel of the secondary telescopic cylinder 7-8 is fixed to one end of the outer cylinder of the telescopic arm 7-6, and the cylinder rod of the secondary telescopic cylinder 7-8 is fixedly connected to the inner cylinder of the telescopic arm 7-6.

[0051] The probe sensor assembly is positioned close to the drill pipe gripper 7-5.

[0052] In automatic rod-adding mode, the rod-adding robot is in an initial vertical state before each loading and unloading of drill rods. The secondary rotating arm is in an initial 0° position, and the telescopic arm is in a fully retracted vertical state. The drilling host rotary head can drill normally along the machine axis without affecting the rod-adding robot. When a drill hole on the drilling host is fed into the hole, the rotary head retracts to the rear end of the feed device. At this time, the rod-adding and fastening procedure can be executed.

[0053] During construction, the drilling rig may encounter different working conditions such as horizontal, elevation, and depression angles, requiring different rod loading and unloading procedures. When the drilling rig is operating horizontally or at an elevation angle, the elevation rod loading procedure must be selected in the drilling rig control program, while the depression rod loading procedure must be executed when operating at a depression angle.

[0054] The process of adding a drill rod during horizontal or vertical drilling operations begins with the telescopic boom extending vertically. The extension length is entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper grasps the drill rod, the telescopic boom retracts to its initial position. For vertical drilling, the primary rotating boom rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt angle is determined by the tilt sensor assembly fixed on the feed device. When the sensor scans the primary rotating boom... When the upper calibration plate is on the robotic arm, the angle adjustment cylinder stops moving. At this time, the extension robot and the feeding device are at the same tilt angle, and the tilt angle is detected. Then, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. An angle limit block is installed on the end face of the secondary rotating arm, enabling mechanical positioning of the rotating arm from 0° to 90°. At this time, the telescopic arm is in a horizontal state. Simultaneously, the primary telescopic cylinder is fully retracted, and the secondary telescopic cylinder is fully extended, bringing the telescopic arm to its longest horizontal position. Its position is determined by the sum of the strokes of the primary and secondary telescopic cylinders. Mechanical positioning is now initiated. At this point, the secondary rotating arm drives the drill rod to be added and the telescopic arm to rotate counterclockwise by a certain angle. As the telescopic arm is fully extended, it causes the telescopic arm limiting component fixed to its side to extend as well. During counterclockwise rotation, the telescopic arm limiting component collides with the limiting device fixed to the side of the feed device, restricting the telescopic arm from continuing to rotate counterclockwise. At this moment, the drill rod inside the drill rod gripper rotates to the center of the rotary head, coaxial with the active drill rod assembly, and is limited. Then, the upper clamping procedure is executed, and the gripper clamps the drill rod to be added. The rotary head rotates and the feed operates simultaneously. At this point, the drill rod gripper of the rod-adding robot continues to hold the drill rod. Once the active drill rod assembly and the drill rod to be added are successfully engaged, the drill rod gripper releases the drill rod, the first-stage telescopic cylinder extends fully, the second-stage telescopic cylinder retracts fully, and the telescopic arm retracts completely along a straight line. The second-stage rotating arm is now indefinitely locked and can continue to rotate counterclockwise back to the initial rod-adding position. The first-stage rotating arm also rotates a certain angle to return to the initial position. The initial position is determined by the sensor assembly of the center angle adjustment device, which is scanned and fixed by the lower calibration plate on the first-stage rotating arm. This completes the single drill rod adding process.

[0055] The rod-addition process during drilling at a downward angle: The telescopic boom extends vertically, its extension length entirely set by the stroke of the secondary telescopic cylinder, achieving mechanical positioning in the vertical direction. At this point, the center axis of the drill rod gripper is aligned with the center axis of the drill rod to be added. After the drill rod gripper grasps the drill rod, the telescopic boom retracts to its initial position. For downward angle drilling, first, the secondary rotating arm is controlled to rotate 90° clockwise around its rotation center. An angle limit block is installed on the end face of the secondary rotating arm, enabling mechanical positioning from 0° to 90°. Then, the primary rotating arm rotates to a certain angle under the action of the angle-adjusting cylinder. Its tilt angle position is determined by the tilt sensor assembly fixed on the feed device. When the sensor scans the upper calibration plate on the primary rotating arm, the angle-adjusting cylinder stops. At this point, the rod-addition manipulator is parallel to the feed device. Subsequent processes are the same as for horizontal or upward angle drilling.

[0056] In automatic rod unloading mode, the rod-adding robot switches to rod unloading control mode. First, the first-stage rotating arm of the rod-adding robot is controlled to rotate, forming the same angle as the feeding device. The drill rod gripper moves to the center of the rotary device, clamps the drill rod to be unloaded in the middle, and returns to the initial position along the original path to wait. At this time, the transfer tray of the rod-adding device extends, and the telescopic arm of the rod-adding robot partially extends under the action of the second-stage telescopic cylinder, placing the drill rod to be unloaded in the transfer tray. After the top-mounting device clamps the drill rod in the tray, the drill rod gripper releases the drill rod. The transfer tray retracts to the initial position, and then the top-mounting device releases.

[0057] Example 2: This embodiment provides a rod replenishment device for efficient storage and transportation of long drill bits. The rod replenishment device is riveted and fixed to the tracked vehicle body of the traveling mechanism. The drilling host and the rod replenishment device are arranged in parallel and staggered along the length of the crawler body of the traveling mechanism. The rod loading and unloading robot arm is arranged in the upper middle position between the two. Through the coordinated transmission of actions among the three, multiple working modes of automatic rod replenishment, rod loading and rod unloading are realized.

[0058] The rod replenishment device includes a drill pipe chamber 8-1, a rod replenishment robot 8-2, a horizontal position sensor 8-8, a rack and pinion guide rail 8-7, a sliding guide rail 8-3, a transfer tray 8-4, a top alignment device 8-6, and a transfer cylinder 8-5. The drill pipe chamber 8-1 is riveted and fixed to the sliding guide rail 8-3 and the rack and pinion guide rail 8-7 on its side and front, respectively. The rod replenishment robot 8-2 is clamped on the rack and pinion guide rail 8-7. Driven by a hydraulic motor, the rod replenishment robot 8-2 can slide along the rack and pinion guide rail 8-7 through gear meshing transmission. One end of the horizontal position sensor 8-8 is riveted to the rod replenishment robot 8-2. One end is fixed, and the other end is riveted to the drill pipe chamber 8-1 to achieve the positioning of the horizontal movement of the rod replenishment robot 8-2; the transfer tray 8-4 is clamped on the sliding guide rail 8-3, and one end of the transfer cylinder 8-5 is hinged to the sliding guide rail 8-3 and the other end is hinged to the drill pipe chamber 8-1. Under the action of the transfer cylinder 8-5, the transfer tray 8-4 slides along the sliding guide rail 8-3. The jacking device 8-6 is symmetrically arranged at both ends of the transfer tray 8-4 and riveted to it. The jacking devices 8-6 work together in pairs to ensure that the position of the drill pipe is relatively fixed each time, thereby improving the control accuracy.

[0059] The drill pipe chamber 8-1 includes a chamber body 10-2, a drill pipe baffle 10-1, and a drill pipe pad 10-3. The drill pipe baffle 10-1 is riveted to the inner sides of both ends of the chamber body 10-2, and the drill pipe pad 10-3 is riveted to the bottom of the chamber body 10-2. The drill pipe baffle 10-1 divides the interior of the drill pipe chamber 8-1 into multiple rows. The number of drill pipe baffles 10-1 is N, and the number of drill pipe rows is arranged in an N+1 pattern. The number 1 indicates that only one drill pipe is placed in the outermost bottom position of the drill pipe chamber 8-1. This position is for manual placement / retrieval of drill pipes, which facilitates manual placement and retrieval of drill pipes in a fixed and low position, reducing the intensity of manual labor.

[0060] The drill pipe baffle 10-1 is perpendicular to both the end face and the bottom face of the drill pipe chamber 8-1; the drill pipe baffles 10-1 on the two end faces of the drill pipe chamber 8-1 are opposite each other.

[0061] The probe-mounting robot 8-2 includes a drive motor 9-1, a drive gear 9-5, a primary lifting cylinder 9-2, a primary lifting guide cylinder 9-3, a lifting position sensor 9-4, a crossbeam 9-6, a secondary lifting cylinder 9-7, a secondary lifting guide cylinder 9-8, a robot gripper 9-9, and a probe sensor assembly. The drive motor 9-1 is riveted to the primary lifting guide cylinder 9-3, and the drive gear 9-5 is hinged to the drive motor 9-1. The primary lifting cylinder 9-2 is installed inside the primary lifting guide cylinder 9-3, with one end riveted to the outer cylinder of the primary lifting guide cylinder 9-3 and the other end hinged to the crossbeam 9-6. Next, the inner cylinder of the first-stage lifting guide cylinder 9-3 is riveted to one end of the crossbeam 9-6, and the other end of the crossbeam 9-6 is riveted to the side of the outer cylinder of the second-stage lifting guide cylinder 9-8. One end of the second-stage lifting cylinder 9-7 is riveted to the upper surface of the outer cylinder of the second-stage lifting guide cylinder 9-8, and the other end is hinged to the robotic gripper 9-9. The robotic gripper 9-9 is also riveted to the inner cylinder of the second-stage lifting guide cylinder 9-8. The probe sensor assembly is riveted to the side of the robotic gripper 9-9. The rod replenishing robotic arm 8-2 extends and retracts through the vertically lifting first-stage lifting cylinder 9-2 and the second-stage lifting cylinder 9-7 to achieve the vertical gripping / placement of the drill rod in the drill rod chamber 8-1.

[0062] The drive gear 9-5 is fitted with the rack and pinion guide rail 8-7. The gripper arm 9-9 grips in the same direction as the drill rod inside the drill rod chamber 8-1. The sliding guide rail 8-3 is parallel to the direction in which the drill rod is placed inside the drill rod chamber 8-1. The sliding guide rail 8-3 and the rack and pinion guide rail 8-7 are perpendicular to each other. The side walls and bottom of the drill rod chamber 8-1 are openwork.

[0063] This invention provides an automatic rod replenishment control method. Before drilling operations, a single drill rod is manually placed in the rod replenishment position of the drill rod chamber. Upon receiving a command, the rod replenishment robot moves horizontally to the outermost rod replenishment row in the drill rod chamber. The primary and secondary lifting cylinders work together to raise and lower the rod replenishment robot. After the probe sensor assembly touches the drill rod, a command to stop the robot's raising and lowering is sent. At this point, the robot's gripping center coincides with the drill rod's center. After gripping the drill rod, the robot lifts it to its highest point and then moves horizontally to the innermost first row of drill rods. The entire rod replenishment robot then lowers to release the drill rod. The placement position is determined by manually set initial coordinates (x, y), where x represents the drill pipe column coordinates and y represents the drill pipe row height. Once the initial coordinates are determined, each time a drill pipe is manually loaded, the drill pipe replenishment robot receives a trigger command, executing the automatic replenishment program to place the drill pipe to be loaded at coordinates (x, y + A), where A represents the drill pipe diameter. Since the replenishment control system knows the initial coordinates (x, y) and the number and height of drill pipes that can be accommodated in a single row of the drill pipe bin, when the replenishment control system determines that coordinates (x, y + A) ≥ (x, y + A), the robot will replenish the drill pipe at coordinates (x, y + A) ≥ (x, y + A). max y maxWhen the drill rod reaches the maximum number and height that a single column can accommodate, the drill rod replenishment robot automatically changes its coordinates to (x+1, y). Similarly, when the horizontal column coordinates are full, the system prompts that the automatic replenishment program can no longer be executed, the replenishment robot fully retracts its lifting position, and stops at the replenishment position, maintaining a minimum waiting posture. This automatic replenishment mode can be used during shift changes on directional drilling rigs in coal mines. Workers only need a short time to fill a single rod chamber, meeting the progress requirements of the next shift. Replenishment personnel do not need to intervene in construction, achieving reduced manpower and increased efficiency per shift. Simultaneously, the replenishment positions designed outside the rod chamber are low in horizontal height and fixed in position. The robot automatically fills and drills according to the program, significantly reducing labor intensity, improving construction safety, and preventing errors in the drill rod replenishment program caused by manual rod placement, thus improving system reliability.

[0064] Example 3: This embodiment provides a three-mechanism cooperative drill rod loading and unloading system for a directional drilling rig, such as... Figures 1 to 7 As shown, the rod-adding mechanism, rod storage and transfer mechanism, and rod-replenishing mechanism consist of the long drill rod-adding robot and the long drill rod efficient storage and transportation device as described in Examples 1 and 2; Figure 1 and Figure 2 In the middle, the crawler vehicle body 1 is equipped with the drilling rig host 2 and the power pump station 3. The rod adding mechanism 4 is hinged to the drilling host 2 and is arranged in the upper part between the drilling host 2 and the rod adding mechanism 6. The rod adding mechanism 6 grabs the drill rod from the rod chamber and the transfer mechanism 5. Through the control algorithm, the three mechanisms cooperate to transmit actions, realize multiple working modes of automatic rod adding, rod adding and rod unloading. Finally, the drill rod is placed in the drilling host parallel to the rod chamber for construction, and the drill rod is automatically added and unloaded.

[0065] The rod-adding mechanism includes, in sequence, an angle-adjusting cylinder 7-1, a primary rotating arm 7-2, a secondary rotating arm 7-3, a primary telescopic cylinder 7-9, a telescopic arm 7-6, a drill pipe gripper 7-5, and a secondary telescopic cylinder 7-8, as well as a proximity switch. The angle-adjusting cylinder 7-1 can adjust the angle of the primary rotating arm 7-2. The secondary rotating arm 7-3 can drive the primary telescopic cylinder 7-9, the secondary telescopic cylinder 7-8, and the telescopic arm 7-6 to rotate as a whole around its rotation center from 0 to 90°. The telescopic arm 7-6 slides along the guide rail axially under the extension / retraction action of the primary telescopic cylinder 7-9. The extension / retraction action of the secondary telescopic cylinder 7-8 inside the telescopic arm 7-6 can cause the drill pipe gripper 7-5 to extend / retract axially. The proximity switch I can determine whether there is a drill pipe in the drill pipe gripper 7-5.

[0066] The rod holder and transfer mechanism include a drill rod holder 8-1, a sliding guide rail 8-3, a transfer tray 8-4, a proximity switch II, a top-aligning device 8-6, a transfer cylinder 8-5, and a rack and pinion guide rail 8-7. The drill rod holder 8-1 is fixed to the sliding guide rail 8-3 on its side, and the rack and pinion guide rail 8-7 is fixed to the end face of the drill rod holder 8-1. The transfer tray 8-4 is clamped on the sliding guide rail 8-3. Under the action of the transfer cylinder 8-5, the transfer tray 8-4 slides along the sliding guide rail 8-3. When the transfer tray 8-4 is close to the rod holder, it is called the rod holder position; when it is close to the rod-adding mechanism, it is called the rod-adding position. The top-aligning device 8-6 is symmetrically arranged at both ends of the transfer tray 8-4 to ensure that the position of the drill rod in the transfer tray 8-4 is relatively fixed by retracting the clamping cylinder, which facilitates the positional accuracy during the transfer of the drill rod.

[0067] The rod-repairing mechanism includes a drive motor 9-1, a drive gear 9-5, a primary lifting cylinder 9-2, a primary lifting guide cylinder 9-3, a lifting position sensor 9-4, a crossbeam 9-6, a secondary lifting cylinder 9-7, a secondary lifting guide cylinder 9-8, a robotic gripper 9-9, and a proximity switch III. The drive motor 9-1 is riveted to the primary lifting guide cylinder 9-3, and the drive gear 9-5 is hinged to the drive motor 9-1. The drive gear 9-5 engages with the rack and pinion guide rail 8-7 to clamp the rod-repairing mechanism onto the end face of the drill pipe chamber 8-1 and allow it to move along the rack and pinion guide rail 8-7. The primary lifting cylinder 9-2 enables the primary lifting... Guide cylinder 9-3 extends and retracts along the Z-axis. Secondary lifting cylinder 9-7 enables secondary lifting guide cylinder 9-8 to extend and retract along the Z-axis. The two ends of crossbeam 9-6 are connected to primary lifting guide cylinder 9-3 and secondary lifting guide cylinder 9-8. The lower end of secondary lifting guide cylinder 9-8 is connected to the robotic gripper. Proximity switch III is riveted to the side of robotic gripper 9-9. The robotic gripper 9-9, through the vertical extension and retraction of primary lifting guide cylinder 9-3 and secondary lifting guide cylinder 9-8, realizes the vertical gripping / placement of drill rods in drill rod chamber 8-1. At the same time, the rod replenishment mechanism can slide along the rack guide rail by clamping on the side of the rod chamber.

[0068] In this embodiment, a proximity switch I is provided next to the drill pipe gripper 7-5; a proximity switch II is provided next to the top device 8-6; and a proximity switch III is provided next to the robotic arm gripper 9-9.

[0069] Example 4: This embodiment provides a control method for the three-mechanism cooperative drilling rod loading and unloading system of the directional drilling rig in Embodiment 3, such as... Figures 8 to 10The control method includes the rod-adding mechanism control process, the rod storage and transfer mechanism control process, and the rod replenishment mechanism control process. Before the drill pipe loading and unloading control process, the rod-adding mechanism, rod storage and transfer mechanism, and rod replenishment mechanism are in their initial states: the first-stage rotating arm is in a vertical state, the second-stage rotating arm is at an angle of 0° and the telescopic arm is in a retracted state, the transfer tray of the rod storage and transfer mechanism is in the rod storage position close to the rod storage, the first-stage lifting guide cylinder of the rod replenishment mechanism is in a fully extended state, and the second-stage lifting guide cylinder is in a fully retracted state.

[0070] The three mechanisms operate simultaneously when the rod is added. The coordination between the mechanisms is controlled and scheduled through an algorithm. The entire machine has 12 pressure sensors to provide feedback on the pump pressure of the drilling rig and the pressure of the actuators. When an actuator is in operation, it simultaneously starts tracking the value of its corresponding pressure sensor. When the pressure sensor value reaches the set arrival pressure, a timer is set in the program. The timer is started when the input of the solenoid valve controlling the actuator is not zero. After the timer reaches the specified time, a second pressure judgment is performed. If the pressure meets the set arrival pressure value, both are closed, and the actuator is judged to be in position.

[0071] The lever extension mechanism control process includes: The first step of the rod extension arm is to determine whether there is a drill rod in the drill rod gripper. If there is no drill rod in the drill rod gripper, the process needs to be controlled in conjunction with the rod magazine and transfer mechanism to grab the drill rod from the transfer tray. If there is a drill rod in the drill rod gripper, the gripper is closed and the machine body angle is determined at this time (by manual selection). If the machine body angle is an upward tilt angle (angle greater than 0°), the first-stage rotating arm is raised. When the proximity switch a on the machine body detects the upper calibration plate of the first-stage rotating arm, the first-stage rotating arm stops rotating. This is called the first-stage rotating arm being raised to its position. Then, the second-stage rotating arm rotates clockwise upward to 90° and stops at the mechanical limit. The telescopic arm of the second-stage rotating arm is fully extended. At this time, the axis of the drill rod and the gripper in the drill rod gripper are in a circle of the same radius. Then, the second-stage rotating arm is rotated counterclockwise downward. Through the control of the angle encoder, it is ensured that its rotation angle is 65°. The drill rod is fully placed into the gripper, completing the drilling under the upward tilt condition. If the machine body angle is not upward (angle less than or equal to 0°), first rotate the secondary rotating arm clockwise upward. When it reaches 90°, stop it through the mechanical limit and fully extend the telescopic arm of the secondary rotating arm. At this time, judge the machine body angle again. If it is horizontal, directly rotate the secondary rotating arm counterclockwise downward to 65° to complete the drilling under the horizontal working condition of the machine body. If it is downward, judge the horizontal displacement Y of the cross arm of the supplementary rod mechanism along the rack guide. If Y is less than 50, there is a risk of interference. It is necessary to coordinate with the action of the supplementary rod arm of the supplementary rod mechanism. Wait until its displacement is greater than 50 before proceeding to the next step. If Y is greater than or equal to 50, lower the primary rotating arm. When the proximity switch a located on the machine body detects the calibration plate on the primary rotating arm, the primary rotating arm stops rotating. This is called the primary rotating arm lowering to the position. Then, rotate the secondary rotating arm counterclockwise downward to 65° to complete the drilling under the downward working condition of the machine body.

[0072] After adding the lever, first retract the secondary telescopic arm of the secondary rotating arm, then rotate the secondary rotating arm clockwise upward to 90° and stop it via a mechanical limit switch. At this point, determine the position of the machine body. If it is in a downward tilt angle, first raise the primary rotating arm to the mechanical limit switch, which is called raising the primary rotating arm to its highest position, and then retract the primary telescopic arm of the secondary rotating arm. Rotate the secondary rotating arm counterclockwise downward to 0°, and then lower the primary rotating arm. When the proximity switch b located on the machine body detects the lower calibration plate of the primary rotating arm, the primary rotating arm stops rotating. At this point, the primary rotating arm is in a horizontal state, forming a closed loop with the initial state. The above process can be repeated continuously.

[0073] The control process for the lever storage and transfer mechanism includes: First, determine if there is a drill rod in the drill rod gripper. If there is a drill rod in the drill rod gripper, wait until there is no drill rod in the drill rod gripper. When there is no drill rod in the drill rod gripper, determine if there is a drill rod in the transfer tray. If there is no drill rod in the transfer tray, the drill rod needs to be placed into the transfer tray in coordination with the rod-adding mechanism. If there is a drill rod in the transfer tray, the top-aligning device of the transfer tray clamps the rod to ensure the positional accuracy of the drill rod in the transfer tray. This process is also called rod-adding. After that, the transfer tray is moved to the rod-adding position close to the rod-adding mechanism, and then the transfer tray is released. At this point, the lever arm of the lever-adding mechanism is in its initial state, i.e., the first-stage rotating arm is in a horizontal state, the second-stage rotating arm is at an angle of 0° and the telescopic arm is in a retracted state. At this point, the lever arm will fully extend the second-stage telescopic arm of the second-stage rotating arm, and the drill rod gripper will be completely in contact with the drill rod in the transfer tray. The lever gripper will close to grab the drill rod and retract the second-stage telescopic arm of the second-stage rotating arm. At this point, the lever-adding mechanism is in its initial state with the drill rod gripper holding the drill rod, and continues to enter the action cycle of the lever-adding mechanism. The transfer tray will then move to the lever compartment position, forming a closed loop with the initial state of the lever compartment and the transfer mechanism.

[0074] The control process of the supplementary lever mechanism includes: The rod replenishment mechanism grabs the drill rod from the rod magazine and places it in the transfer tray. First, it needs to determine whether there is a drill rod in the drill rod gripper or the transfer tray. Then, it needs to determine whether there is a drill rod in the robotic arm gripper and perform corresponding actions according to four different situations. Scenario 1: Neither the drill pipe gripper nor the transfer tray has a drill pipe, but the robotic arm has one: At this point, the rod supplementing arm, i.e. the rod supplementing mechanism, is retracted to Y=0 (where Y is the horizontal movement direction along the rack guide rail). When Y=0, the rod supplementing arm of the rod supplementing mechanism is directly above the transfer tray. The first-stage lifting guide cylinder retracts downward to the height of the transfer tray, the robot gripper is released, the drill rod is placed on the transfer tray, and then the first-stage lifting guide cylinder is moved upward. The rod supplementing arm of the rod supplementing mechanism extends to Y=50. When Y=50, the rod supplementing arm of the rod supplementing mechanism is above the first column of the rod compartment. At this point, the system state changes to having a drill rod on the rod gripper or tray, and no drill rod on the robot gripper. Scenario 2: Neither the drill pipe gripper nor the transfer tray has a drill pipe, and the robotic arm also has no drill pipe. At this point, the drill rod needs to be grabbed from the rod magazine. Release the robotic gripper and select the rod magazine column LengthX to be grabbed. This method ensures the shortest drill rod grabbing path. Extend the rod replenishment mechanism's cross arm to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism's cross arm to Y=50. At this point, the system state becomes that neither the rod replenishment gripper nor the tray has a drill rod, but the robotic gripper has a drill rod. Continue with the procedure in case one. Given the drill pipe counts R1, R2, R3 in the rod magazine, selecting the rod magazine column LengthX to be grabbed involves the following steps: S1: When R1, R2, and R3 are all greater than zero, determine the coordinates of the topmost drill pipe in each column of the rod magazine within the rod magazine. , ), ( , ), ( , ); S2: Record the coordinates of the robotic arm's current position. , If the robotic arm places the gripper lever in a tray located on the side of the lever compartment, then its endpoint coordinates are uniquely determined as ( , ); S3: The time for each column of drill pipe to be picked up and placed onto the transfer tray is determined by the following formula:

[0075] In the formula and For the rod supplementing mechanism, the rod supplementing arm along Figure 10 The movement speed in the X and Y directions is determined by the control current of the solenoid valve.

[0076] S4: Calculate the time required to grab the top bar of each column. ,Will The smallest lever column is denoted as LengthX.

[0077] Scenario 3: The drill pipe gripper or transfer tray has a drill pipe, and the robotic arm is also holding a drill pipe. At this point, in coordination with the actions of the transfer tray and the lever arm, when neither of these two mechanisms has a drill rod, the system state changes to a state where neither the drill rod gripper nor the transfer tray has a drill rod, but the robotic arm has a drill rod, and the program continues to carry out the procedure of situation one. Scenario 4: The drill pipe gripper or transfer tray has a drill pipe, but the robotic arm does not: At this point, the drill rod needs to be grabbed from the rod holder. Release the robotic gripper, select the rod holder column LengthX to be grabbed, extend the rod replenishment mechanism's cross arm to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism's cross arm to Y=50. At this point, the system status changes to drill rod gripper or tray with drill rod, and robotic gripper with drill rod, continuing the procedure of situation three.

[0078] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0079] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0080] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A long drill rod adding robot, characterized in that, It includes the following components connected in sequence: angle adjustment cylinder (7-1), primary rotating arm (7-2), secondary rotating arm (7-3), rotating support beam (7-4), translation support beam (7-10), primary telescopic cylinder (7-9), telescopic arm (7-6), drill pipe gripper (7-5), and secondary telescopic cylinder (7-8). The angle-adjusting cylinder (7-1) can adjust the angle of the first-stage rotating arm (7-2), and the second-stage rotating arm (7-3) can drive the rotating support beam (7-4), the translation support beam (7-10), the first-stage telescopic cylinder (7-9), and the telescopic arm (7-6) to rotate as a whole around its rotation center from 0 to 90°; the translation support beam (7-10) is clamped on the outside of the guide rail of the telescopic arm (7-6) so that the telescopic arm (7-6) can slide as a whole along the axial direction under the extension / retraction action of the first-stage telescopic cylinder (7-9); the second-stage telescopic cylinder (7-8) inside the telescopic arm (7-6) can make the drill pipe gripper (7-5) slide as a whole along the axial direction under the extension / retraction action.

2. The long drill rod extension robot as described in claim 1, characterized in that, The first-stage rotating arm (7-2) is hinged to the angle-adjusting cylinder (7-1), the second-stage rotating arm (7-3) is connected to the first-stage rotating arm (7-2), one end of the rotating support beam (7-4) is connected to the second-stage rotating arm (7-3), and the other end is connected to the translation support beam (7-10). One end of the first-stage telescopic cylinder (7-9) is hinged to the translation support beam (7-10), and the other end is connected to the telescopic arm (7-6). The front end of the inner cylinder of the telescopic arm (7-6) is riveted and fixed to the drill rod gripper (7-5), and the outer cylinder is riveted and fixed to the probe sensor assembly. The telescopic arm limiting assembly (7-7) is riveted and fixed to the side of the telescopic arm (7-6).

3. The long drill rod extension robot as described in claim 1, characterized in that, The lower end of the adjusting cylinder (7-1) is hinged to the mounting lug, and the upper end is hinged to the lower part of the first-stage rotating arm (7-2).

4. The long drill rod extension robot as described in claim 1, characterized in that, The upper end of the first-stage rotating arm (7-2) is riveted to one end of the horizontal second-stage rotating arm (7-3). The other end of the second-stage rotating arm (7-3) is a slewing end, which is riveted to one end of the rotating support beam (7-4). The other end of the rotating support beam (7-4) is riveted to the translation support beam (7-10).

5. The long drill rod extension robot as described in claim 1, characterized in that, The telescopic arm (7-6) is perpendicular to the secondary rotating arm (7-3). A guide rail is provided on the outer wall of the telescopic arm (7-6) along its length. The translation support beam (7-10) is clamped on the guide rail. Under the extension and retraction action of the primary telescopic cylinder (7-9), the telescopic arm (7-6) can move relative to the translation support beam (7-10).

6. The long drill rod extension robot as described in claim 1, characterized in that, The cylinder of the secondary telescopic cylinder (7-8) is fixed to one end of the outer cylinder of the telescopic arm (7-6), and the cylinder rod of the secondary telescopic cylinder (7-8) is fixedly connected to the inner cylinder of the telescopic arm (7-6).

7. The long drill rod extension robot as described in claim 1, characterized in that, The probe sensor assembly is positioned close to the drill rod gripper (7-5).

8. A rod replenishment device for efficient storage and transportation of long drill bits, characterized in that, It includes a drill pipe chamber (8-1), a drill pipe replenishing robot (8-2), a horizontal position sensor (8-8), a rack and pinion guide (8-7), a sliding guide (8-3), a transfer pallet (8-4), a top alignment device (8-6), and a transfer cylinder (8-5). The drill pipe chamber (8-1) is fixed to the sliding guide rail (8-3) and the rack guide rail (8-7) on its side and end face, respectively. The rod replenishing robot (8-2) is clamped on the rack guide rail (8-7) and can slide along the rack guide rail (8-7). One end of the horizontal position sensor (8-8) is fixed to the rod replenishing robot (8-2) and the other end is fixed to the drill pipe chamber (8-1) to realize the positioning of the horizontal movement of the rod replenishing robot (8-2). The transfer tray (8-4) is clamped on the sliding guide rail (8-3). One end of the transfer cylinder (8-5) is fixed to the sliding guide rail (8-3) and the other end is fixed to the drill pipe chamber (8-1). Under the action of the transfer cylinder (8-5), the transfer tray (8-4) slides along the sliding guide rail (8-3). The top-aligning device (8-6) is symmetrically arranged at both ends of the transfer tray (8-4) to ensure that the position of the drill pipe is relatively fixed each time, thereby improving the control accuracy.

9. The long drill string efficient storage and transportation rod replenishment device as described in claim 8, characterized in that, The drill pipe chamber (8-1) includes a chamber body (10-2), a drill pipe baffle (10-1), and a drill pipe pad (10-3); the drill pipe baffle (10-1) is riveted to the inner sides of both ends of the chamber body (10-2), and the drill pipe pad (10-3) is riveted to the bottom of the chamber body (10-2); the drill pipe baffle (10-1) divides the interior of the drill pipe chamber (8-1) into multiple rows.

10. The long drill string efficient storage and transportation rod replenishment device as described in claim 9, characterized in that, The drill pipe baffle (10-1) is perpendicular to the end face of the drill pipe chamber (8-1) and the bottom face of the drill pipe chamber (8-1); the drill pipe baffles (10-1) on the two end faces of the drill pipe chamber (8-1) are opposite each other.

11. The long drill string efficient storage and transportation rod replenishment device as described in claim 8, characterized in that, The rod-repairing robot (8-2) includes a drive motor (9-1), a drive gear (9-5), a first-stage lifting cylinder (9-2), a first-stage lifting guide cylinder (9-3), a lifting position sensor (9-4), a crossbeam (9-6), a second-stage lifting cylinder (9-7), a second-stage lifting guide cylinder (9-8), a robot gripper (9-9), and a probe sensor assembly; The drive motor (9-1) is riveted and fixed to the first-stage lifting guide cylinder (9-3), the drive gear (9-5) is hinged and fixed to the drive motor (9-1), the first-stage lifting cylinder (9-2) is installed inside the first-stage lifting guide cylinder (9-3), one end of the first-stage lifting cylinder (9-2) is riveted and fixed to the outer cylinder of the first-stage lifting guide cylinder (9-3), and the other end is hinged to the crossbeam (9-6). The inner cylinder of the first-stage lifting guide cylinder (9-3) is riveted and fixed to one end of the crossbeam (9-6), and the other end of the crossbeam (9-6) is hinged to the outer cylinder of the second-stage lifting guide cylinder (9-8). The cylinder is riveted and fixed on the side. One end of the secondary lifting cylinder (9-7) is riveted and fixed to the upper surface of the outer cylinder of the secondary lifting guide cylinder (9-8), and the other end is hinged and fixed to the robotic gripper (9-9). The robotic gripper (9-9) is also riveted and fixed to the inner cylinder of the secondary lifting guide cylinder (9-8). The probe sensor assembly is riveted and fixed to the side of the robotic gripper (9-9). The rod replenishment robot (8-2) extends and retracts through the vertically lifting primary lifting cylinder (9-2) and the secondary lifting cylinder (9-7) to realize the vertical gripping / placement of the drill rod in the drill rod chamber (8-1).

12. The long drill string efficient storage and transportation rod replenishment device as described in claim 11, characterized in that, The drive gear (9-5) is installed in conjunction with the rack and pinion guide (8-7).

13. The long drill string efficient storage and transportation rod replenishment device as described in claim 11, characterized in that, The gripper (9-9) grips the centerline in the same direction as the drill rod inside the drill rod chamber (8-1).

14. The long drill string efficient storage and transportation rod replenishment device as described in claim 1, characterized in that, The sliding guide rail (8-3) is parallel to the drill rod placement direction inside the drill rod chamber (8-1).

15. The long drill string efficient storage and transportation rod replenishment device as described in claim 1, characterized in that, The sliding guide rail (8-3) and the rack guide rail (8-7) are perpendicular to each other.

16. The long drill string efficient storage and transportation rod replenishment device as described in claim 1, characterized in that, The drill pipe chamber (8-1) has hollowed-out side walls and bottom surfaces.

17. A three-mechanism cooperative drill rod loading and unloading system for a directional drilling rig, characterized in that, The invention includes the long drill bit rod adding robot as described in claim 2, and the long drill bit efficient storage and transportation rod replenishment device as described in claim 11; wherein, the long drill bit rod adding robot serves as the rod adding mechanism (4); the drill bit chamber (8-1), sliding guide rail (8-3), transfer tray (8-4), transfer cylinder (8-5), top-aligning device (8-6), rack guide rail (8-7), and horizontal position sensor (8-8) serve as the rod chamber and transfer mechanism (5); the rod replenishment robot (8-2) serves as the rod replenishment mechanism (6); a proximity switch I is provided next to the drill bit gripper (7-5); a proximity switch II is provided next to the top-aligning device (8-6); and a proximity switch III is provided next to the robot gripper (9-9).

18. The control method for the three-mechanism cooperative drilling rod loading and unloading system of the directional drilling rig as described in claim 17, characterized in that, The control method includes the rod-adding mechanism control process, the rod storage and transfer mechanism control process, and the rod replenishment mechanism control process. Before the drill pipe loading and unloading control process, the rod-adding mechanism, rod storage and transfer mechanism, and rod replenishment mechanism are in their initial states: the first-stage rotating arm is in a vertical state, the second-stage rotating arm is at an angle of 0° and the telescopic arm is in a retracted state, the transfer tray of the rod storage and transfer mechanism is in the rod storage position close to the rod storage, the first-stage lifting guide cylinder of the rod replenishment mechanism is in a fully extended state, and the second-stage lifting guide cylinder is in a fully retracted state.

19. The control method for the three-mechanism cooperative drilling rod loading and unloading system of a directional drilling rig as described in claim 18, characterized in that, The linkage control process of the linkage mechanism includes: First, determine whether there is a drill rod in the drill rod gripper. If not, coordinate with the rod magazine and transfer mechanism to control the process and grab the drill rod from the transfer tray. If there is a drill rod, close the gripper and determine the machine angle at this time. If the machine body angle is upward, the first-stage rotating arm is raised. When the proximity switch on the machine body detects the upper calibration plate of the first-stage rotating arm, the first-stage rotating arm is raised to the position. The telescopic arm connected to the second-stage rotating arm rotates clockwise upward to 90° and then fully extends. Then it rotates counterclockwise downward to 65° to put the drill rod into the holder, thus completing the drilling under the upward working condition of the machine body. If the machine body angle is not upward, first rotate the telescopic arm clockwise 90° upward and fully extend it; if the machine body angle is horizontal, rotate the telescopic arm counterclockwise downward to 65° to complete drilling under horizontal machine body conditions; if the machine body angle is downward, determine the horizontal displacement Y of the rod-adding mechanism at this time. If Y is greater than or equal to 50, lower the first-level rotating arm. When the proximity switch on the machine body detects the calibration plate on the first-level rotating arm, the first-level rotating arm is lowered into place, and the telescopic arm rotates counterclockwise downward to 65° to complete drilling under downward machine body conditions.

20. The control method for the three-mechanism cooperative drilling rod loading and unloading system of a directional drilling rig as described in claim 19, characterized in that, After adding the lever, first retract the secondary telescopic arm of the secondary rotating arm and rotate it clockwise upwards to 90°. Then determine the position of the fuselage. If it is in a downward tilt angle, first raise the primary rotating arm to the highest position, then retract the primary telescopic arm of the secondary rotating arm and rotate it counterclockwise downwards to 0°. Then lower the primary rotating arm. When the proximity switch located on the fuselage detects the lower calibration plate of the primary rotating arm, the primary rotating arm is in a horizontal state, forming a closed loop with the initial state. Repeat the above process.

21. The control method for the three-mechanism cooperative drilling rod loading and unloading system of a directional drilling rig as described in claim 19, characterized in that, The control process for the lever storage and transfer mechanism includes: First, it is determined whether there is a drill rod in the drill rod gripper. If there is no drill rod in the drill rod gripper, it is determined whether there is a drill rod in the transfer tray. If there is no drill rod in the transfer tray, the drill rod is placed into the transfer tray in coordination with the rod-adding mechanism. If there is a drill rod in the transfer tray, the top-mounting device of the transfer tray clamps the rod and then moves the transfer tray to the rod-adding position near the rod-adding mechanism. The transfer tray is then released. The secondary telescopic arm of the secondary rotating arm is fully extended, and the drill rod gripper is completely in contact with the drill rod in the transfer tray. The rod-adding gripper is closed to grab the drill rod and the secondary telescopic arm of the secondary rotating arm is retracted. At this time, the rod-adding mechanism is in the initial state where the drill rod gripper has a drill rod, and continues to enter the action cycle of the rod-adding mechanism. The transfer tray is then moved to the rod storage position, forming a closed loop with the rod storage and the initial state of the transfer mechanism.

22. The control method for the three-mechanism cooperative drilling rod loading and unloading system of a directional drilling rig as described in claim 21, characterized in that, The control process of the supplementary rod mechanism includes: First, determine whether there is a drill rod in the drill rod gripper or transfer tray. Then, determine whether there is a drill rod in the robotic arm gripper and perform the corresponding actions according to the four different situations. Scenario 1: Neither the drill pipe gripper nor the transfer tray has a drill pipe, but the robotic arm has one: At this point, the rod replenishment mechanism is retracted along the rack guide rail to Y=0 and is directly above the transfer pallet. The first-stage lifting guide cylinder lowers the robot arm to the height of the transfer pallet, places the drill rod on the transfer pallet, and then moves it back up. The rod replenishment mechanism moves to Y=50 and is above the first column of the rod compartment. At this point, the state changes to having a drill rod on the gripper or pallet, and the robot arm grabbing no drill rod. Scenario 2: Neither the drill pipe gripper nor the transfer tray has a drill pipe, and the robotic arm also has no drill pipe. At this point, the drill rod needs to be grabbed from the rod magazine. Release the robotic gripper, select the rod magazine column LengthX to be grabbed, move the rod replenishment mechanism to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism to Y=50. At this point, the system state becomes that there is no drill rod in the rod replenishment gripper and the tray, but the robotic gripper has a drill rod. Continue with the procedure of Case 1. Scenario 3: The drill pipe gripper or transfer tray has a drill pipe, and the robotic arm is also holding a drill pipe. If neither the drill rod gripper nor the transfer tray has a drill rod, but the robotic arm has a drill rod, continue with the procedure in scenario one. Scenario 4: The drill pipe gripper or transfer tray has a drill pipe, but the robotic arm does not: Grab the drill rod from the rod holder, release the robotic gripper, select the rod holder column LengthX to be grabbed, move the rod replenishment mechanism to Y=LengthX, extend the first and second stage lifting guide cylinders to the corresponding height, close the robotic gripper to grab the drill rod, retract the first and second stage lifting guide cylinders, and move the rod replenishment mechanism to Y=50. At this time, the state becomes that the drill rod gripper or tray has a drill rod, and the robotic gripper has a drill rod. Continue with the procedure of case three.

Images