Rod supplementing control method for efficient storage and transportation of long drilling tool

Abstract

The invention discloses a rod supplementing control method for efficient storage and transportation of long drilling tools. According to the control method, the rod bin counting and rod supplementing process in a rod supplementing device can be achieved. The rod supplementing device comprises a drill rod bin, a rod supplementing mechanical arm, a horizontal position sensor, a rack guide rail, a sliding guide rail, a transfer tray, an opposite jacking device and a transfer oil cylinder. The position sensor can achieve positioning of motion of the rod supplementing mechanical arm, a series of actions such as drill rod counting and rapid extending and retracting of the mechanical arm are achieved through a control algorithm, during rod supplementing operation, the drilling machine has the rod bin capacity meeting the single-shift footage average value in actual construction, one-time rod supplementing of a single shift can be achieved, and auxiliary personnel do not need to wait for rod supplementing basically; the automatic directional drilling machine is suitable for underground coal mine automatic directional drilling machine construction, integral layout can be achieved, and the structure is compact.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic directional drilling construction in coal mine, and relates to a method for controlling rod supplementing of long drilling tools. BACKGROUND

[0002] The measurement-while-drilling directional drilling technology equipment is widely used in coal mine enterprises in China, and plays an important role in efficient gas extraction, water hazard prevention and control, roof overall fracturing pressure relief, and accurate exploration of hidden disaster-causing geological factors. In order to improve the utilization rate of drilling, the depth of directional drilling is gradually developed to kilometers, and a large amount of drilling rods are required for single-hole construction. At the same time, trajectory control is required during directional drilling, and the drilling rod is generally long and large in diameter, and at least one person is required to operate the drilling machine, and another two persons are required to assist in carrying and assembling the drilling rod. The above construction method not only has high labor intensity and requires many auxiliary personnel, but also has poor safety, and cannot meet the actual needs of intelligent drilling in coal mines.

[0003] At present, the directional drilling machine with automatic drilling rod assembling and disassembling system has the following problems. When the drilling main machine is transversely arranged at the front end of the drilling machine, the corresponding rod bin is arranged inside the vehicle body, and the assembling and disassembling of the drilling rod is completed through the mutual transmission of the rod supplementing mechanical arm and the rod adding mechanical hand. Since the main machine is transversely arranged at the front end, the length of the machine body should not be too long to occupy space, and therefore only short drilling rods with a length of less than 1 meter can be assembled and disassembled in the middle. However, the directional drilling process requires drilling rods with a length of more than 1.5 meters, and therefore cannot be completely applied. In addition, the drilling rod transmission path is long, and the assembling and disassembling efficiency is relatively low. In the case of adding the rod assembling and disassembling mechanical arm to the drilling machine body, the drilling machine body does not have the rod storage function, and the drilling rod tray is externally hung on the side of the main machine. Five to seven drilling rods are placed in the tray by manual or auxiliary hoisting equipment each time, and the rod assembling and disassembling mechanical arm picks up and places the drilling rods, and then transports them to the main machine rod assembling and disassembling position. In this way, the drilling rod tray is externally hung on the side of the main machine, which not only increases the width of the drilling machine and occupies space, but also needs to move synchronously with the main machine as the drilling angle changes, so that the rod supplementing position is not fixed, which increases the difficulty of rod supplementing. In addition, the small capacity of the drilling rod in the tray also requires auxiliary personnel to supplement and take the rod at any time, which is low in efficiency, high in labor intensity, and has safety hazards. In the case of arranging the drilling main machine and the drilling rod bin side by side on the drilling machine platform, since the directional drilling machine mainly faces medium-depth hole construction, the hole depth is mainly in the range of hundreds of meters or kilometers, and the drilling machine platform has limited space. During drilling, the rod bin needs to be supplemented or taken by manual operation, and the rod bin is arranged on the platform, which is relatively high in height. The drilling tool is long and heavy, and it is extremely inconvenient to carry the drilling rod up and down. Reducing the number of personnel does not significantly increase efficiency. SUMMARY

[0004] In view of the problems in the prior art, the present application aims to provide a long drill rod efficient storage and transportation rod supplementing control method, which solves the problems of low drill rod loading and unloading efficiency, the need for rod supplementing personnel to wait for rod supplementing in the automatic directional drilling machine single shift single hole construction, the high and indefinite rod supplementing position, high labor intensity, poor safety and the like.

[0005] To solve the above technical problems, the present application adopts the following technical solutions: A long drill rod efficient storage and transportation rod supplementing control method, which comprises a rod bin counting process in a rod supplementing device and a rod supplementing process. The rod supplementing device comprises a drill rod bin, a rod supplementing mechanical arm, a horizontal position sensor, a rack guide rail, a sliding guide rail, a transfer tray, a counter-pressing device and a transfer oil cylinder; the side surface and the end surface of the drill rod bin are fixed with the sliding guide rail and the rack guide rail respectively; the rod supplementing mechanical arm comprises a first-stage rod supplementing vertical arm, a cross beam, a second-stage rod supplementing vertical arm and a mechanical hand claw which are connected in sequence; the rod supplementing mechanical arm is clamped on the rack guide rail and can slide horizontally along the rack guide rail; the horizontal position sensor is used for positioning the horizontal movement of the rod supplementing mechanical arm; the transfer tray is clamped on the sliding guide rail and slides along the sliding guide rail under the action of the transfer oil cylinder; the counter-pressing device is symmetrically arranged at both ends of the transfer tray. The rod bin counting process comprises the following steps: Step a1, first, it is judged whether there is a drill rod in the mechanical hand claw, if there is no drill rod in the mechanical hand claw, the mechanical hand claw is opened, at the same time, the first-stage rod supplementing vertical arm is extended and the second-stage rod supplementing vertical arm is retracted, so that the rod supplementing mechanical arm is lifted to above the rod bin; Step a2, then the rod supplementing mechanical arm is horizontally moved to the Xth column of the drill rod bin, then the first-stage rod supplementing vertical arm is retracted, when the drill rod is contacted, the proximity switch on the mechanical hand claw is triggered, the displacement of the first-stage rod supplementing vertical arm at this time is recorded, and the number of drill rods in the column is calculated; if the mechanical hand claw does not detect the drill rod, the rod bin counting of this column is 0; Step a3, after the rod bin counting of one column is completed, the first-stage rod supplementing vertical arm is extended and the second-stage rod supplementing vertical arm is retracted, so that the rod supplementing mechanical arm is located above the drill rod bin, and the rod bin counting of the next column is carried out, until all columns complete the rod bin counting; The rod supplementing process comprises the following steps: Step b1, after the rod bin counting is completed, the number of drill rods in each column is recorded and stored, and the rod supplementing mechanical arm is moved above the last column of the drill rod bin; Step b2, it is judged whether there is a drill rod in the mechanical hand claw, if there is no drill rod, the mechanical hand claw is opened, the first-stage rod supplementing vertical arm is retracted, the second-stage rod supplementing vertical arm is extended, and the drill rod located at the manual rod supplementing position of the last column is grabbed, if there is no drill rod at the manual rod supplementing position at this time, the first-stage rod supplementing vertical arm is extended, the second-stage rod supplementing vertical arm is retracted, and the rod supplementing mechanical arm is lifted to above the drill rod bin to wait for manual rod supplementing; Step b3, if the drill pipe of the artificial supplement rod position is detected, the mechanical hand is closed to grab the drill pipe, the first level supplement rod stand is stretched out, the second level supplement rod stand is retracted, the supplement rod mechanical arm is lifted to the upper part of the rod bin, and the rod bin column with the number of drill pipes less than 8 is selected as the target column from the first column; Step b4, if the number of drill pipes in the target column is greater than 1, only the first level supplement rod stand is retracted, the drill pipe is placed at the position with the number of drill pipes plus 1, if the number of drill pipes in the target column is not greater than 1, the first level supplement rod stand is retracted and the second level supplement rod stand is stretched out, and the drill pipe is placed in the lower part of the drill pipe bin; Step b5, after the supplement of the drill pipe, it is judged whether each column of the rod bin is full, if yes, the supplement rod mechanical arm is moved to the first column to wait, if not, the supplement rod mechanical arm is moved to the last column to continue the supplement rod cycle.

[0006] The application also comprises the following technical features: Specifically, in step a2, when the second level supplement rod stand is fully retracted, the first level supplement rod stand can detect 3-8 layers of drill pipes; when no drill pipe is detected in the state that the second level supplement rod stand is fully retracted, the first level supplement rod stand and the second level supplement rod stand are stretched out at the same time, after the second level supplement rod stand is fully stretched out, the first level supplement rod stand is retracted, and 1-2 layers of drill pipes are detected.

[0007] Specifically, in the supplement process, in order to ensure the speed and stability of the action execution, when the first level supplement rod mechanical arm is stretched out or retracted to the specified height, a linear normalization algorithm is used, the inputs of the algorithm are the maximum height MAX_HEIGHT of the lifting of the mechanical arm, the allowed deviation value DEVIATION of the mechanical arm to the position, the maximum and minimum control values OUTPUT_HIGH and OUTPUT_LOW of the electromagnetic valve, the absolute value C of the difference between the current supplement rod mechanical arm height and the target height is calculated each time, the value is adjusted to the middle value between the maximum control value and the minimum control value through linear change, the value decreases with the decrease of C, the supplement rod stand is quickly close to the target when the distance to the target is far, and the speed is reduced when the distance to the target is close to prevent overshoot.

[0008] Specifically, the drill pipe bin comprises a rod bin body, a drill pipe baffle and a drill pipe pad; the drill pipe baffle is riveted and fixed to the inner side of the two ends of the rod bin body, and the drill pipe pad is riveted and fixed to the bottom of the rod bin body; the drill pipe baffle divides the inside of the drill pipe bin into multiple columns; two proximity switches are installed in the last column to judge whether there is a drill pipe in the artificial supplement rod position.

[0009] Specifically, the drill pipe baffles on the two end faces of the drill pipe bin are perpendicular to the end face and the bottom face of the drill pipe bin; the drill pipe baffles on the two end faces of the drill pipe bin are opposite to each other.

[0010] Specific, the said rod mechanical arm includes drive motor, drive gear, first stage lift oil cylinder, first stage rod vertical arm, lift position sensor, crossbeam, second stage lift oil cylinder, second stage rod vertical arm, mechanical hand grab, probe rod sensor assembly; The drive motor is riveted and fixed with the first stage rod vertical arm, the drive gear is hinged and fixed with the drive motor, the first stage lift oil cylinder is installed in the first stage rod vertical arm, one end of the first stage lift oil cylinder is riveted and fixed with the outer cylinder of the first stage rod vertical arm, the other end is hinged and connected with the crossbeam, the inner cylinder of the first stage rod vertical arm is riveted and fixed with one end of the crossbeam, the other end of the crossbeam is riveted and fixed with the side surface of the outer cylinder of the second stage rod vertical arm, one end of the second stage lift oil cylinder is riveted and fixed with the upper surface of the outer cylinder of the second stage rod vertical arm, the other end is hinged and fixed with the mechanical hand grab, the mechanical hand grab is riveted and fixed with the inner cylinder of the second stage rod vertical arm at the same time, and the probe rod sensor assembly is riveted and fixed with the side surface of the mechanical hand grab; the rod mechanical arm is stretched and contracted through the vertical lift of the first stage lift oil cylinder and the second stage lift oil cylinder, so that the vertical direction of the drill rod in the drill rod warehouse is grabbed and placed.

[0011] Specifically, the drive gear is installed in cooperation with the rack guide rail.

[0012] Specifically, the mechanical hand grab grabs the middle line direction, which is consistent with the direction of the drill rod in the drill rod warehouse.

[0013] Specifically, the sliding guide rail is parallel to the direction of the drill rod placed in the drill rod warehouse; and the sliding guide rail and the rack guide rail are perpendicular to each other.

[0014] Specifically, the side wall and the bottom surface of the drill rod warehouse are hollowed out.

[0015] Compared with the prior art, the present application has the following technical effects: When the rod is supplemented, the drilling machine has a rod warehouse capacity that meets the average single-shift footage in actual construction, so that the rod can be supplemented once in a single shift, and auxiliary personnel is basically not needed to wait for the rod, thereby achieving the purpose of reducing the number of workers and increasing efficiency. At the same time, the design of the rod warehouse can realize the multi-mode operation of always manually adding / taking the rod at a low position and a fixed position, and the mechanical arm automatically loading / taking the drill rod in the rod warehouse, thereby greatly reducing the labor intensity of workers and significantly improving the safety of the operation of adding and removing the drill rod.

[0016] The present application adopts an integrated structure design of the transfer tray and the drill rod warehouse, and designs the manual rod placement position and the automatic rod supplementing control program, so that the effective space of the directional drilling machine can be fully utilized to realize the overall layout, and the labor intensity of the directional drilling construction rod supplementing can be greatly reduced, and the problems of the indefinite manual drill rod loading position and the inconvenience of high-position rod taking and placing are solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure schematic diagram of the rod supplementing device.

[0018] Figure 2 It is a structure schematic diagram of the end surface of the rod supplementing device.

[0019] Figure 3 This is a schematic diagram of the robotic arm structure for repairing rods.

[0020] Figure 4 This is a schematic diagram of the main structure of the lever storage unit.

[0021] Figure 5 The control flow algorithm diagram for lever counting.

[0022] Figure 6 The control flow algorithm diagram for the supplementary rod.

[0023] Figure 7 A schematic diagram of the algorithm for controlling the speed of the pole support arm.

[0024] The meanings of the labels in the diagram are as follows: 1-1. Drill pipe chamber; 1-2. Drill pipe replenishing robotic arm; 1-3. Sliding guide rail; 1-4. Transfer pallet; 1-5. Transfer cylinder; 1-6. Top alignment device; 1-7. Rack and pinion guide rail; 1-8. Horizontal position sensor. 2-1. Drive motor; 2-2. Primary lifting cylinder; 2-3. Primary lifting guide cylinder; 2-4. Lifting position sensor; 2-5. Drive gear; 2-6. Crossbeam; 2-7. Secondary lifting cylinder; 2-8. Secondary lifting guide cylinder; 2-9. Robotic gripper. 3-1. Drill pipe baffle, 3-2. Drill pipe chamber body, 3-3. Drill pipe pad block. Detailed Implementation

[0025] 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.

[0026] Example 1: like Figures 1 to 6 As shown, this embodiment provides a method for efficient storage and transportation of long drill bits and a rod replenishment control method, which includes a rod counting process in the rod replenishment device and a rod replenishment process.

[0027] The rod supplement device comprises a drill rod bin 1-1, a rod supplement mechanical arm 1-2, a horizontal position sensor 1-8, a rack guide rail 1-7, a sliding guide rail 1-3, a transfer tray 1-4, a jacking device 1-6 and a transfer cylinder 1-5. The side surface and the end surface of the drill rod bin 1-1 are fixed with the sliding guide rail 1-3 and the rack guide rail 1-7 respectively. The rod supplement mechanical arm 1-2 comprises a first rod supplement vertical arm 2-3, a cross beam 2-6, a second rod supplement vertical arm 2-8 and a mechanical hand 2-9 which are sequentially connected. The rod supplement mechanical arm 1-2 is clamped on the rack guide rail 1-7 and can slide horizontally along the rack guide rail 1-7. One end of the horizontal position sensor 1-8 is fixed with the rod supplement mechanical arm 1-2 and the other end is fixed with the drill rod bin 1-1, so as to realize the positioning of the horizontal movement of the rod supplement mechanical arm 1-2. The transfer tray 1-4 is clamped on the sliding guide rail 1-3. One end of the transfer cylinder 1-5 is fixed with the sliding guide rail 1-3 and the other end is fixed with the drill rod bin 1-1. The transfer tray 1-4 slides along the sliding guide rail 1-3 under the action of the transfer cylinder 1-5. The jacking device 1-6 is symmetrically arranged at both ends of the transfer tray 1-4 and is riveted and fixed with the transfer tray 1-4. The jacking device acts in pairs to ensure that the position of the drill rod placed each time is relatively fixed and the control precision is improved. The rod supplement device is riveted and fixed on the track vehicle body of the walking mechanism. The drilling main machine and the rod supplement device are arranged in parallel and are staggered along the length direction of the track vehicle body of the walking mechanism. The rod supplement mechanical arm is arranged at the upper position between the two. The three are cooperated to realize the multiple working modes of automatic rod supplement, rod adding and rod unloading.

[0028] The rod bin counting process comprises: Before the rod supplement device of the drilling machine, the rod supplement mechanical arm traverses the number of drill rods in each column of the drill rod bin through the proximity switch on the mechanical hand to count the rod bin. The specific process is shown in Figure 5 In step a1, firstly, it is judged whether there is a drill rod in the mechanical hand. If there is a drill rod, the mechanical hand is closed, the first rod supplement vertical arm is extended, the second rod supplement vertical arm is retracted, the rod supplement mechanical arm is controlled to rise above the drill rod bin, then the rod supplement horizontal arm is moved horizontally to the fourth column, the first rod supplement vertical arm is retracted, and the rod supplement mechanical arm is waited until there is no drill rod in the mechanical hand. If there is no drill rod in the mechanical hand, the mechanical hand is opened, the first rod supplement vertical arm is extended, the second rod supplement vertical arm is retracted, and the rod supplement mechanical arm is raised above the rod bin; ​Step a2, then the rod mechanical arm rod horizontal movement to the drill rod warehouse X column, the first time the rod warehouse count, X = 3, then retract a level of rod vertical arm, when the rod vertical arm contact to the drill rod, the mechanical hand grab the proximity switch is triggered, the controller records the time of the first rod vertical arm displacement, the displacement is divided by the diameter of the drill rod, the number of drill rods in the column can be calculated; Because the vertical displacement sensor can only reflect the displacement of the first rod vertical arm, the second rod vertical arm is not equipped with displacement sensor, so the second rod vertical arm only has two states of fully retracted / fully extended, when the second rod vertical arm is fully retracted, the first rod vertical arm can detect 3~8 layers of drill rods, when the second rod vertical arm is fully retracted and no drill rod is detected, the first and second rod vertical arms are extended, and after the second rod vertical arm is fully extended, the first rod vertical arm is retracted to detect 1~2 layers of drill rods; If the vertical displacement sensor value is 0 after detecting the drill rod, the drill rod count is 1, if the vertical displacement sensor value is the diameter of the drill rod, the drill rod count is 2; If the mechanical hand grab does not detect the drill rod, the rod count of this column is 0; Step a3, after completing the rod count of a column, the first rod vertical arm is extended and the second rod vertical arm is retracted, so that the rod mechanical arm is above the drill rod warehouse, and the next column is counted.

[0029] The rod supplement process includes: Step b1, after completing the rod count, the drill rig controller stores the number of drill rods in each column of the drill rod warehouse, and the rod mechanical arm moves to the top of the last column, the fourth column; Step b2, at this time, it is judged whether there is a drill rod in the mechanical hand grab, if there is no drill rod, the mechanical hand grab is opened, the first rod vertical arm is retracted, and the second rod vertical arm is extended to grab the drill rod at the artificial rod position in the last column, if there is no drill rod at the artificial rod position at this time, the first rod vertical arm is extended and the second rod vertical arm is retracted, the rod mechanical arm is lifted to the top of the drill rod warehouse and moved to the first column to wait for artificial rod supplement; Step b3, if the drill rod at the artificial rod position is detected, the mechanical hand grab is closed to hold the drill rod, the first rod vertical arm is extended, the second rod vertical arm is retracted, the rod mechanical arm is lifted to the top of the rod warehouse, and the column with less than 8 drill rods is selected as the target column from the first column; Step b4, the horizontal arm is moved to the target rod column, if the number of drill rods in the target column is greater than 1, only the first rod vertical arm is retracted, and the drill rod is placed at the position of the number of drill rods +1 through the vertical position sensor, if the number of drill rods in the target column is not greater than 1, the first rod vertical arm is retracted and the second rod vertical arm is extended, so that the mechanical hand grab can place the drill rod lower in the drill rod warehouse.

[0030] Step b5: After replenishing the poles, determine whether the number of poles in each column is 8. If it is 8, it means that the poles are full. Then move the pole replenishing robot arm to the first column to wait. If there is a column with a number of poles other than 8, move the pole replenishing robot arm to the last column (fourth column) to continue the pole replenishing cycle.

[0031] When extending and retracting the primary lever arm to the designated height, in order to ensure the speed and stability of the motion execution, the following methods were used: Figure 7 The linear normalization algorithm shown takes as input the maximum lifting height of the robotic arm (MAX_HEIGHT), the allowable deviation value (DEVIATION) for the robotic arm to be in position, and the maximum and minimum control values ​​(OUTPUT_HIGH and OUTPUT_LOW) of the solenoid valve. During the controller's scanning cycle, the absolute value (C) of the difference between the current height of the supplementary arm and the target height is calculated each time. This value is then adjusted linearly to a value between the maximum and minimum control values. This value decreases as C decreases, ensuring that the supplementary arm approaches the target quickly at a high speed when it is far away from the target, and decreases its speed when it is close to the target to prevent overshoot.

[0032] Upon reaching the target location, the robotic arm extends, the number of drill pipes in that column is incremented by 1 in the controller, the primary replenishing arm extends, the secondary replenishing arm retracts, and the replenishing robotic arm is raised above the rod magazine. It is then determined whether each column of rod magazines contains 8 rods. If all columns contain 8, the rod magazine is full, and the replenishing arm is moved to the first column to wait. If any column contains more than 8 rods, the replenishing arm is moved to the fourth column to continue the replenishment cycle. During this process, the worker only needs to continuously add drill pipes to the fourth column's manual replenishment position, and the program will cyclically add rods to the rod magazine, making it easy to operate.

[0033] The drill pipe chamber 1-1 includes a chamber body 3-2, a drill pipe baffle 3-1, and a drill pipe pad 3-3. The drill pipe baffle 3-1 is riveted to the inner sides of both ends of the chamber body 3-2, and the drill pipe pad 3-3 is riveted to the bottom of the chamber body 3-2. The drill pipe baffle 3-1 divides the interior of the drill pipe chamber 1-1 into multiple rows. Two proximity switches are installed in the fourth row of the last row to determine whether there is a drill pipe at the manual rod replenishment position.

[0034] The drill pipe baffle 3-1 is perpendicular to the end face and bottom face of the drill pipe chamber 1-1; the drill pipe baffles 3-1 on the two end faces of the drill pipe chamber 1-1 are opposite each other.

[0035] The pole-repairing robotic arm 1-2 includes a drive motor 2-1, a drive gear 2-5, a primary lifting cylinder 2-2, a primary pole-repairing arm 2-3, a lifting position sensor 2-4, a crossbeam 2-6, a secondary lifting cylinder 2-7, a secondary pole-repairing arm 2-8, a robotic gripper 2-9, and a probe sensor assembly.

[0036] The driving motor 2-1 is riveted and fixed with the first-stage supplementary rod vertical arm 2-3, the driving gear 2-5 is hinged and fixed with the driving motor 2-1, the first-stage lifting oil cylinder 2-2 is installed in the first-stage supplementary rod vertical arm 2-3, one end of the first-stage lifting oil cylinder 2-2 is riveted and fixed with the outer cylinder of the first-stage supplementary rod vertical arm 2-3, the other end is hinged and connected with the crossbeam 2-6, the inner cylinder of the first-stage supplementary rod vertical arm 2-3 is riveted and fixed with one end of the crossbeam 2-6, the other end of the crossbeam 2-6 is riveted and fixed with the outer cylinder side of the second-stage supplementary rod vertical arm 2-8, the two key grooves of the outer cylinder are distributed at 90° on the rod bin side and the front, thereby increasing the stability of the oil cylinder when ascending and descending, one end of the second-stage lifting oil cylinder 2-7 is riveted and fixed with the upper surface of the outer cylinder of the second-stage supplementary rod vertical arm 2-8, the other end is hinged and fixed with the mechanical hand 2-9, the mechanical hand 2-9 is simultaneously riveted and fixed with the inner cylinder of the second-stage supplementary rod vertical arm 2-8, and the probe rod sensor assembly is riveted and fixed with the side of the mechanical hand 2-9; the supplementary rod mechanical arm 1-2 is telescopic through the first-stage lifting oil cylinder 2-2 and the second-stage lifting oil cylinder 2-7, thereby realizing the vertical direction grabbing / placing of the drill rod in the drill rod bin 1-1.

[0037] In the supplementary rod mechanical arm, the first-stage lifting oil cylinder 2-2 drives the first-stage supplementary rod vertical arm, the second-stage lifting oil cylinder 2-8 drives the second-stage supplementary rod vertical arm, the displacement sensor is located in the first-stage supplementary rod vertical arm, and through the action cooperation of the first-stage supplementary rod vertical arm and the second-stage supplementary rod vertical arm, the mechanical hand is placed at the highest position when the first-stage supplementary rod vertical arm is completely extended and the second-stage supplementary rod vertical arm is retracted, the mechanical hand is placed at the lowest position when the first-stage supplementary rod vertical arm is completely retracted and the second-stage supplementary rod vertical arm is extended, the drill rod at the bottom layer of the rod bin is grabbed, the drill rod at the 3-8 layer is grabbed when the first-stage supplementary rod vertical arm is extended by a fixed value and the second-stage supplementary rod vertical arm is retracted, and the drill rod at the 1-2 layer is grabbed when the first-stage supplementary rod vertical arm is extended by a fixed value and the second-stage supplementary rod vertical arm is extended, different action combinations are completed under the premise of reducing the number of sensors and ensuring stability, all drill rod taking requirements can be met, and the space in the vertical direction is saved.

[0038] The driving gear 2-5 is cooperatively installed with the rack guide rail 1-7. The mechanical hand 2-9 grabs the drill rod in the drill rod bin 1-1 in the central line direction. The sliding guide rail 1-3 is parallel to the direction of placing the drill rod in the drill rod bin 1-1. The sliding guide rail 1-3 and the rack guide rail 1-7 are perpendicular to each other. The side wall and the bottom surface of the drill rod bin 1-1 are hollowed out.

[0039] The automatic supplementary rod mode of the present application only needs a very short time of workers, realizes the single rod bin full state, meets the next single shift footage demand, realizes single shift labor reduction and efficiency increase, greatly reduces the labor intensity, improves the construction safety, and is not easy to cause the drill rod sequence disorder in the drill rod bin due to manual rod placing, leads to rod adding program error, and improves the system reliability.

[0040] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the specific details of the above-described embodiments. Various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0041] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present application.

[0042] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the present application, and it should also be considered as disclosed by the present application.

Claims

1. A method for controlling the length of a long drill pipe for efficient storage and transportation, characterized in that, The control method includes the bar counting process in the bar replenishment device and the bar replenishment process; The rod replenishment device includes a drill pipe chamber (1-1), a rod replenishment robotic arm (1-2), a horizontal position sensor (1-8), a rack guide rail (1-7), a sliding guide rail (1-3), a transfer tray (1-4), a top-aligning device (1-6), and a transfer cylinder (1-5); the sides and ends of the drill pipe chamber (1-1) are fixed to the sliding guide rail (1-3) and the rack guide rail (1-7) respectively; the rod replenishment robotic arm (1-2) includes a first-stage rod replenishment vertical arm (2-3), a crossbeam (2-6), and a second-stage rod replenishment vertical arm connected in sequence. (2-8) and robotic gripper (2-9); the rod-repairing robotic arm (1-2) is clamped on the rack guide rail (1-7) and can slide horizontally along the rack guide rail (1-7); the horizontal position sensor (1-8) positions the horizontal movement of the rod-repairing robotic arm (1-2); the transfer tray (1-4) is clamped on the sliding guide rail (1-3), and under the action of the transfer cylinder (1-5), the transfer tray (1-4) slides along the sliding guide rail (1-3); the top-aligning device (1-6) is symmetrically arranged at both ends of the transfer tray (1-4); The lever counting process includes: Step a1: First, determine whether there is a drill rod in the robotic arm gripper. If there is no drill rod in the robotic arm gripper, then open the robotic arm gripper. At the same time, the first-level rod replenishing arm extends and the second-level rod replenishing arm retracts, so that the rod replenishing robotic arm rises above the rod magazine. Step a2, then move the rod replenishing robot arm horizontally to column X of the drill pipe compartment, and then retract the first-stage rod replenishing arm. When it contacts the drill pipe, the proximity switch on the robot arm is triggered. Record the displacement of the first-stage rod replenishing arm at this time and calculate the number of drill pipes in that column. If the robot arm does not detect a drill pipe, the rod compartment count for this column is 0. Step a3: After completing the counting of the rod cylinders in one column, extend the first-level rod replenishment arm and retract the second-level rod replenishment arm so that the rod replenishment robot arm is positioned above the drill rod cylinder, and start counting the rod cylinders in the next column until all columns have completed the rod cylinder counting. The pole repair process includes: Step b1: After completing the rod magazine counting, store and record the number of drill pipes in each column, and move the rod replenishment robot arm to the top of the last column of the drill pipe magazine; Step b2: Determine whether there is a drill rod in the robotic arm gripper. If there is no drill rod, open the robotic arm gripper, retract the first-level rod replenishment arm, extend the second-level rod replenishment arm, and grab the drill rod located in the last row of manual rod replenishment positions. If there is no drill rod in the manual rod replenishment position at this time, extend the first-level rod replenishment arm, retract the second-level rod replenishment arm, and raise the rod replenishment robotic arm above the drill rod chamber to wait for manual rod replenishment. Step b3: If a drill rod at the manual replacement position is detected, the closing manipulator grabs the drill rod, extends the first-level replacement arm, retracts the second-level replacement arm, raises the replacement manipulator above the pole storage, and selects the pole storage column with fewer than 8 drill rods as the target column, starting from the first column. Step b4: If the number of drill pipes in the target column is greater than 1, only the first-level auxiliary rod arm is retracted and the drill pipe is placed at the position of drill pipe number + 1. If the number of drill pipes in the target column is not greater than 1, the first-level auxiliary rod arm is retracted at the same time, the second-level auxiliary rod arm is extended, and the drill pipe is placed further below the drill pipe compartment. Step b5: After replenishing the pole, determine whether each column of pole holders is full. If it is full, move the pole replenishing robot arm to the first column to wait. If it is not full, move the pole replenishing robot arm to the last column to continue the pole replenishing cycle.

2. The method of claim 1, wherein, In step a2, when the secondary auxiliary rod arm is fully retracted, the primary auxiliary rod arm can detect drill rods in layers 3 to 8. When no drill rod is detected when the secondary auxiliary rod arm is fully retracted, both the primary and secondary auxiliary rod arms are extended simultaneously. After the secondary auxiliary rod arm is fully extended, the primary auxiliary rod arm is retracted to detect drill rods in layers 1 to 2.

3. The method of claim 1, wherein the method further comprises: During the lever-complementation process, to ensure the speed and stability of the action execution, a linear normalization algorithm is used when extending / retracting the first-stage lever-complementation robotic arm to the specified height. The algorithm's inputs are the maximum lifting height of the robotic arm (MAX_HEIGHT), the allowable deviation value (DEVIATION) for the robotic arm to determine its positioning, and the maximum and minimum control values ​​(OUTPUT_HIGH and OUTPUT_LOW) of the solenoid valve. Each time, the absolute value C of the difference between the current lever-complementation robotic arm height and the target height is calculated and adjusted linearly to a value between the maximum and minimum control values. This value decreases as C decreases, ensuring that the lever-complementation arm quickly approaches the target when it is far away and reduces its speed when it is close to the target to prevent overshoot.

4. The method of claim 1, wherein the method further comprises: The drill pipe chamber (1-1) includes a chamber body (3-2), a drill pipe baffle (3-1), and a drill pipe pad (3-3). The drill pipe baffle (3-1) is riveted to the inner sides of both ends of the chamber body (3-2), and the drill pipe pad (3-3) is riveted to the bottom of the chamber body (3-2). The drill pipe baffle (3-1) divides the drill pipe chamber (1-1) into multiple rows. Two proximity switches are installed in the last row to determine whether there is a drill pipe at the manual drill pipe replenishment position.

5. The method for efficient storage and transportation of long drill bits and rod replenishment control as described in claim 4, characterized in that, The drill pipe baffle (3-1) is perpendicular to the end face of the drill pipe chamber (1-1) and the bottom face of the drill pipe chamber (1-1); the drill pipe baffles (3-1) on the two end faces of the drill pipe chamber (1-1) are opposite each other.

6. The method for efficient storage and transportation of long drill strings and control of replacement rods as described in claim 1, characterized in that, The pole-repairing robotic arm (1-2) includes a drive motor (2-1), a drive gear (2-5), a first-stage lifting cylinder (2-2), a first-stage pole-repairing arm (2-3), a lifting position sensor (2-4), a crossbeam (2-6), a second-stage lifting cylinder (2-7), a second-stage pole-repairing arm (2-8), a robotic gripper (2-9), and a probe sensor assembly; The drive motor (2-1) is riveted and fixed to the first-stage support arm (2-3), the drive gear (2-5) is hinged and fixed to the drive motor (2-1), the first-stage lifting cylinder (2-2) is installed inside the first-stage support arm (2-3), one end of the first-stage lifting cylinder (2-2) is riveted and fixed to the outer cylinder of the first-stage support arm (2-3), and the other end is hinged to the crossbeam (2-6). The inner cylinder of the first-stage support arm (2-3) is riveted and fixed to one end of the crossbeam (2-6), and the other end of the crossbeam (2-6) is connected to the outer cylinder of the second-stage support arm (2-8). The secondary lifting cylinder (2-7) is riveted and fixed at one end to the upper surface of the outer cylinder of the secondary rod support arm (2-8), and the other end is hinged and fixed to the robotic gripper (2-9). The robotic gripper (2-9) is also riveted and fixed to the inner cylinder of the secondary rod support arm (2-8). The probe sensor assembly is riveted and fixed to the side of the robotic gripper (2-9). The rod support robotic arm (1-2) extends and retracts through the vertical lifting primary lifting cylinder (2-2) and the secondary lifting cylinder (2-7) to realize the vertical gripping / placement of the drill rod in the drill rod chamber (1-1).

7. The method for efficient storage and transportation of long drill strings and rod replenishment control as described in claim 6, characterized in that, The drive gear (2-5) is installed in conjunction with the rack and pinion guide (1-7).

8. The method for efficient storage and transportation of long drill bits and the control of rod replenishment as described in claim 6, characterized in that, The gripper (2-9) grips in the same direction as the drill rod inside the drill rod chamber (1-1).

9. The method for efficient storage and transportation of long drill strings and control of replacement rods as described in claim 1, characterized in that, The sliding guide rail (1-3) is parallel to the drill rod placement direction inside the drill rod chamber (1-1); the sliding guide rail (1-3) and the rack guide rail (1-7) are perpendicular to each other.

10. The method for efficient storage and transportation of long drill strings and control of replacement rods as described in claim 1, characterized in that, The drill pipe chamber (1-1) has hollowed-out side walls and bottom surfaces.

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