A method for controlling the length of a drill string

Abstract

The application discloses a long drill rod efficient storage and transportation rod supplementing control method, which can realize rod bin counting and rod supplementing process in a rod supplementing device; 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 position sensor can realize positioning of the rod supplementing mechanical arm movement, and through a control algorithm, a series of actions such as drill rod counting and mechanical arm fast extension and retraction can be realized. When the rod supplementing operation is performed, the drilling machine has a rod bin capacity meeting the average single-shift footage in actual construction, and can realize single-shift rod supplementing, and basically does not need auxiliary personnel to wait for rod supplementing. The application is suitable for coal mine underground automatic directional drilling machine construction, and the drilling machine can realize integral layout and compact structure.

Description

Technical Field

[0001] This invention belongs to the field of construction technology of automatic directional drilling rigs in coal mines, and relates to a method for controlling the efficient storage and transportation of long drill bits. Background Technology

[0002] Measurement-while-drilling (MWD) technology and equipment are widely used in my country's coal mining enterprises, playing a vital role in efficient gas extraction, advanced water hazard prevention and control, overall roof fracturing and pressure relief, and precise exploration of hidden geological factors causing disasters. To improve borehole utilization, the depth of directional drilling holes is gradually increasing to the kilometer level, resulting in a large demand for drill rods per hole. Simultaneously, trajectory control is required during directional drilling, and drill rods are generally long and large in diameter. Typically, at least one person is needed to operate the drilling rig, while two others are needed to assist in transporting and loading / unloading the drill rods. This construction method not only involves high labor intensity for workers and requires a large number of auxiliary personnel, but also has poor safety, failing to meet the actual needs of intelligent drilling in coal mines.

[0003] 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 arm 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, it 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. In cases where a rod addition robot arm is added to the drilling rig body, the rig body 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 addition robot arm then grabs and places the drill pipes from the tray before transferring them to the rig. 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. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a method for controlling the efficient storage and transportation of drill rods for long drill bits, thereby solving problems such as low drill rod loading and unloading efficiency, the need for personnel to wait for rod replenishment during single-shift, single-hole construction of automatic directional drilling rigs, the high and unpredictable location of rod replenishment, high labor intensity, and poor safety.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A method for controlling the efficient storage and transportation of rod replenishment in long drill bits, the method comprising a rod chamber counting process and a rod replenishment process within the rod replenishment device;

[0007] The rod replenishment device includes a drill rod chamber, a rod replenishment robotic arm, a horizontal position sensor, a rack and pinion guide rail, a sliding guide rail, a transfer tray, a jacking device, and a transfer cylinder. The sides and ends of the drill rod chamber are fixed to the sliding guide rail and the rack and pinion guide rail, respectively. The rod replenishment robotic arm includes a first-stage rod replenishment arm, a crossbeam, a second-stage rod replenishment arm, and a robotic gripper connected in sequence. The rod replenishment robotic arm is clamped on the rack and pinion guide rail and can slide horizontally along the rack and pinion guide rail. The horizontal position sensor positions the horizontal movement of the rod replenishment robotic arm. The transfer tray is clamped on the sliding guide rail and slides along the sliding guide rail under the action of the transfer cylinder. The jacking device is symmetrically arranged at both ends of the transfer tray.

[0008] The lever counting process includes:

[0009] 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.

[0010] 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.

[0011] 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.

[0012] The pole repair process includes:

[0013] 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;

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] The present invention also includes the following technical features:

[0019] Specifically, 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, 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.

[0020] Specifically, 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.

[0021] 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 drill pipe chamber 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.

[0022] 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.

[0023] Specifically, the pole-repairing robotic arm includes a drive motor, drive gear, primary lifting cylinder, primary pole-repairing arm, lifting position sensor, crossbeam, secondary lifting cylinder, secondary pole-repairing arm, robotic gripper, and probe sensor assembly;

[0024] The drive motor is riveted and fixed to the first-stage supplementary rod arm, and the drive gear is hinged and fixed to the drive motor. The first-stage lifting cylinder is installed inside the first-stage supplementary rod arm. One end of the first-stage lifting cylinder is riveted and fixed to the outer cylinder of the first-stage supplementary rod arm, and the other end is hinged to the crossbeam. The inner cylinder of the first-stage supplementary rod arm is riveted and fixed to one end of the crossbeam, and the other end of the crossbeam is riveted and fixed to the side of the outer cylinder of the second-stage supplementary rod arm. One end of the second-stage lifting cylinder is riveted and fixed to the upper surface of the outer cylinder of the second-stage supplementary rod arm, and the other end is hinged and fixed to the robotic gripper. The robotic gripper is also riveted and fixed to the inner cylinder of the second-stage supplementary rod arm. The probe sensor assembly is riveted and fixed to the side of the robotic gripper. The supplementary rod robotic arm can grasp / place the drill rod in the vertical direction in the drill rod chamber by extending and retracting the first-stage and second-stage lifting cylinders, which are vertically lifting and lowering.

[0025] Specifically, the drive gear is installed in conjunction with the rack and pinion guide.

[0026] Specifically, the gripper's grasping centerline direction is consistent with the drill rod direction inside the drill rod chamber.

[0027] Specifically, the sliding guide rail is parallel to the drill rod placement direction inside the drill rod chamber; the sliding guide rail and the rack guide rail are perpendicular to each other.

[0028] Specifically, the side walls and bottom of the drill pipe chamber are hollowed out.

[0029] Compared with the prior art, the present invention has the following technical effects:

[0030] During rod replenishment operations, the drilling rig has a rod magazine capacity sufficient to meet the average single-shift drilling footage in actual construction, enabling rod replenishment to be completed in one shift with minimal need for auxiliary personnel to wait, thus reducing manpower and increasing efficiency. Simultaneously, the rod magazine design allows for multiple operation modes, including manual low-position and fixed-position rod loading / removal, and automatic loading / removal of drill rods by a robotic arm, significantly reducing worker labor intensity and substantially improving the safety of drill rod loading and unloading operations.

[0031] This invention adopts an integrated structure design of transfer tray and drill pipe chamber, and a manual rod placement design and automatic rod replenishment control program design. It can not only make full use of the effective space of the directional drilling rig to achieve an overall layout, but also significantly reduce the labor intensity of rod replenishment during directional drilling construction, and solve the problems of uncertain positions for manual drill rod installation and inconvenience in high-level rod retrieval and placement. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the rod-repairing device.

[0033] Figure 2 This is a schematic diagram of the end face structure of the rod-repairing device.

[0034] Figure 3 This is a schematic diagram of the robotic arm structure for repairing rods.

[0035] Figure 4 This is a schematic diagram of the main structure of the lever storage unit.

[0036] Figure 5 The control flow algorithm diagram for lever counting.

[0037] Figure 6 The control flow algorithm diagram for the supplementary rod.

[0038] Figure 7 A schematic diagram of the algorithm for controlling the speed of the pole support arm.

[0039] The meanings of the labels in the diagram are as follows:

[0040] 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.

[0041] 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.

[0042] 3-1. Drill pipe baffle, 3-2. Drill pipe chamber body, 3-3. Drill pipe pad block. 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:

[0045] like Figures 1 to 6As 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.

[0046] 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 and pinion 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 and pinion 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, a second-stage rod replenishment vertical arm 2-8, and a robotic gripper 2-9 connected in sequence. The rod replenishment robotic arm 1-2 is clamped onto the rack and pinion guide rail 1-7 and can slide horizontally along the rack and pinion guide rail 1-7. The horizontal position sensor... Sensor 1-8 is fixed at one end to the rod replenishing robotic arm 1-2 and at the other end to the drill pipe chamber 1-1, enabling the horizontal positioning of the rod replenishing robotic arm 1-2. The transfer tray 1-4 is clamped onto the sliding guide rail 1-3. One end of the transfer cylinder 1-5 is fixed to the sliding guide rail 1-3 and at the other end to the drill pipe chamber 1-1. Under the action of the transfer cylinder 1-5, the transfer tray 1-4 slides along the sliding guide rail 1-3. The jacking device 1-6 is symmetrically arranged at both ends of the transfer tray 1-4 and riveted to it. The jacking devices work in pairs to ensure that the drill pipe is placed in a relatively fixed position each time, improving control accuracy. The rod replenishing device is riveted to the tracked vehicle body of the traveling mechanism. The drilling host and the rod replenishing device are arranged parallel and staggered along the length of the crawler body of the traveling mechanism. The rod loading and unloading robotic arm is positioned in the upper middle position between the two. Through the coordinated action of these three components, multiple working modes of automatic rod replenishment, rod loading, and rod unloading are achieved.

[0047] The lever counting process includes:

[0048] Before the drilling rig replenishes drill rods, the replenishment robotic arm uses a proximity switch on its robotic gripper to count the number of drill rods in each column of the drill rod magazine; the specific process is as follows: Figure 5 As shown:

[0049] Step a1: First, determine whether there is a drill rod in the robotic arm gripper. If there is a drill rod, close the robotic arm gripper, simultaneously extend the first-stage rod replenishing arm and retract the second-stage rod replenishing arm, and control the rod replenishing robotic arm to rise above the drill rod magazine. Then, move the rod replenishing horizontal arm horizontally to the fourth column, retract the first-stage rod replenishing arm, and wait until there is no drill rod in the gripper. If there is no drill rod in the robotic arm gripper, open the robotic arm gripper, simultaneously extend the first-stage rod replenishing arm and retract the second-stage rod replenishing arm, and raise the rod replenishing robotic arm above the rod magazine.

[0050] Step a2: Then, the horizontal arm of the rod replenishment robot is moved horizontally to column X of the drill pipe compartment. During the initial rod counting, X=3. Next, the first-stage rod replenishment arm is retracted. When the replenishment arm contacts the drill pipe, the proximity switch on the robot gripper is triggered. The controller records the displacement of the first-stage replenishment arm at this moment. Dividing the displacement by the drill pipe diameter yields the number of drill pipes in that column. Since the vertical displacement sensor only reflects the displacement of the first-stage replenishment arm, and no displacement sensor is installed on the second-stage replenishment arm, the second-stage replenishment arm can only be fully retracted or fully extended. In this state, when the secondary auxiliary arm is fully retracted, the primary auxiliary arm can detect drill rods on layers 3-8. If no drill rod is detected when the secondary auxiliary arm is fully retracted, both the primary and secondary auxiliary arms extend simultaneously. After the secondary auxiliary arm is fully extended, the primary auxiliary arm retracts to detect drill rods on layers 1-2. If the vertical displacement sensor value is 0 after a drill rod is detected, the drill rod count is 1; if the vertical displacement sensor value is the drill rod diameter, the drill rod count is 2. If the robotic arm does not detect a drill rod, the rod count for this column is 0.

[0051] 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 three columns have completed the rod cylinder counting.

[0052] The process of repairing a pole includes:

[0053] Step b1: After completing the rod counting, the drilling rig controller stores and records the number of drill rods in each column of the drill rod magazine, and the rod replenishment robot arm moves to the top of the fourth column of the last column of the drill rod magazine;

[0054] Step b2: At this point, it is determined whether there is a drill rod in the robotic arm gripper. If there is no drill rod, the robotic arm gripper is opened, the first-level rod replenishment arm is retracted, and the second-level rod replenishment arm is extended to grab the drill rod located in the fourth manual rod replenishment position of the last column. If there is no drill rod in the manual rod replenishment position at this time, the first-level rod replenishment arm is extended, the second-level rod replenishment arm is retracted, the rod replenishment robotic arm is raised above the drill rod chamber and moved to the first column to wait for manual rod replenishment.

[0055] 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.

[0056] Step b4: Move the horizontal arm to the target rod magazine. If the number of drill rods in the target magazine is greater than 1, only retract the first-level supplementary rod arm and place the drill rod at the position of drill rod number + 1 using the vertical position sensor. If the number of drill rods in the target magazine is not greater than 1, retract the first-level supplementary rod arm at the same time and extend the second-level supplementary rod arm so that the robotic arm can place the drill rod further below the drill rod magazine.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The drive motor 2-1 is riveted and fixed to the first-stage pole 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 pole 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 pole support arm 2-3, and the other end is hinged to the crossbeam 2-6. The inner cylinder of the first-stage pole 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 riveted and fixed to the side of the outer cylinder of the second-stage pole support arm 2-8. The two keyways of the outer cylinder are distributed at 90° on the pole compartment side. The front and back sides increase the stability of the hydraulic cylinder during ascent and descent. One end of the secondary lifting hydraulic cylinder 2-7 is riveted and fixed to the upper surface of the outer cylinder of the secondary supplementary rod 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 supplementary rod arm 2-8. The probe sensor assembly is riveted and fixed to the side of the robotic gripper 2-9. The supplementary rod robotic arm 1-2 achieves vertical gripping / placement of the drill rod in the drill rod chamber 1-1 by extending and retracting the primary lifting hydraulic cylinder 2-2 and the secondary lifting hydraulic cylinder 2-7.

[0064] In the rod replenishment robotic arm, the first-stage lifting cylinder 2-2 drives the first-stage rod replenishment arm, and the second-stage lifting cylinder 2-8 drives the second-stage rod replenishment arm. The displacement sensor is located inside the first-stage rod replenishment arm. Through the coordinated movements of the first and second-stage rod replenishment arms: when the first-stage rod replenishment arm is fully extended and the second-stage rod replenishment arm retracts, the robotic arm grips the highest position; when the first-stage rod replenishment arm is fully retracted and the second-stage rod replenishment arm extends, the robotic arm grips the lowest position, grabbing the bottom layer of drill rods in the rod magazine; when the first-stage rod replenishment arm is extended at a fixed value and the second-stage rod replenishment arm retracts, it grabs layers 3-8 of drill rods; when the first-stage rod replenishment arm is extended at a fixed value and the second-stage rod replenishment arm extends, it grabs layers 1-2 of drill rods. Under the premise of reducing the number of sensors and ensuring stability, different action combinations are completed, which can meet all drill rod retrieval needs, while saving vertical space.

[0065] The drive gear 2-5 is installed in conjunction with the rack and pinion guide rail 1-7. The gripper 2-9 grips the centerline of the drill rod, which is aligned with the direction of the drill rod inside the drill rod chamber 1-1. The sliding guide rail 1-3 is parallel to the direction in which the drill rod is placed inside the drill rod chamber 1-1; the sliding guide rail 1-3 and the rack and pinion guide rail 1-7 are perpendicular to each other. The side walls and bottom of the drill rod chamber 1-1 are openwork.

[0066] This invention's automatic rod replenishment mode allows workers to fill a single rod chamber in a very short time, meeting the progress requirements of the next shift and achieving increased efficiency with reduced manpower per shift. It significantly reduces labor intensity, improves construction safety, and prevents errors in the rod replenishment process caused by manual rod placement, thus improving system reliability.

[0067] 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.

[0068] 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.

[0069] 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 method for controlling the efficient storage and transportation of long drill strings, characterized in that, The control method includes the bar counting process and the bar replenishment process within the bar replenishment device; 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 for efficient storage and transportation of long drill bits and rod replenishment control as described in claim 1, characterized in that, 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 for efficient storage and transportation of long drill strings and control of replacement rods as described in claim 1, characterized in that, 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 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) 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 bits 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 the centerline 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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