Modular drill pipe handling system and method

Abstract

The application provides a modular drilling rod conveying system, which comprises a drilling rod storage module and a conveying module, the drilling rod storage module comprises an upper frame and a lower frame, and a jacking mechanism is arranged in the lower frame; the conveying module has a receiving end which extends into the lower frame to receive a single drilling rod, and an output end which conveys the drilling rod to a drilling platform; the conveying module comprises a conveying mechanism and a limiting and clamping assembly arranged on the conveying mechanism, and the limiting and clamping assembly is used for radially positioning and self-adapting clamping the drilling rod when the drilling rod is received. The drilling rod storage module and the conveying module are decoupled into independent structures which can be physically separated, so that the upper frame is light and can be conveniently hoisted and transported, the conveying module and the lower frame can be used at fixed points, the self-weight of the equipment and the transportation cost are reduced, the reliability and safety of automatic conveying are improved, and the land occupation area of a well site is saved.

Description

Technical Field

[0001] This invention belongs to the technical field of drilling auxiliary equipment, and in particular relates to a modular drill pipe conveying system and method. Background Technology

[0002] In oil and gas and geothermal drilling operations, the automated storage and transport of drill pipes and other tubing from the surface to the drilling platform is crucial for improving operational efficiency and reducing the labor intensity of personnel. Currently, common drill pipe storage and transport solutions at well sites often employ integrated automated drill pipe bins or traditional powered catwalks. However, existing integrated automated drill pipe bins typically couple the drill pipe storage frame, lifting mechanism, and transport function into a single integrated bin structure. This fixed design results in a complex and heavy overall device. When it is necessary to move or replace a bin filled with drill pipes, the heavy internal actuators must be moved along with it, making it impossible to achieve lightweight independent lifting and rapid bin replacement of storage units. This leads to inconvenient transportation and poor economic efficiency. Furthermore, existing independent transport equipment (such as powered catwalks) often lacks the capacity for high-density, intensive storage of drill pipes. During transport, traditional transport mechanisms struggle to adapt to drill pipes of different diameters, lacking effective adaptive clamping and precise radial positioning methods, making it easy for drill pipes to roll or shift during transport. Summary of the Invention

[0003] In view of this, the present invention aims to overcome the deficiencies in the prior art and proposes a modular drill pipe delivery system and method.

[0004] To achieve the above objectives, the technical solution created by this invention is implemented as follows: A modular drill pipe delivery system, comprising: The drill pipe storage module includes an upper frame for storing drill pipes and a lower frame for supporting the upper frame. The upper frame and the lower frame are detachably connected by a positioning mechanism, and a lifting mechanism is provided inside the lower frame. The conveying module is set independently of the drill pipe storage module. The conveying module has a receiving end that extends into the lower frame to receive a single drill pipe, and an output end that conveys the drill pipe toward the drilling platform. The conveying module includes a conveying mechanism and a limiting clamping assembly disposed on the conveying mechanism. The limiting clamping assembly is used to radially position and adaptively clamp the drill pipe when receiving it.

[0005] Furthermore, the positioning mechanism includes a positioning protrusion disposed on the top of the lower frame and a positioning groove disposed on the bottom of the upper frame, wherein the upper frame engages with the positioning protrusion of the lower frame through the positioning groove.

[0006] Furthermore, the upper frame has multiple drill rod racks supported by releasable clips on the support rods for storing drill rods in rows; the support rods of the lower frame have notches for drill rods to pass through, and lower fixing clips located below the notches for receiving empty drill rod racks; the lifting mechanism includes a slide rail disposed on the bottom surface of the lower frame and a lifting cylinder mounted thereon, the piston rod of the lifting cylinder can simultaneously lift or lower the drill rod racks, so that the drill rods fall into the independent conveying module through the notches.

[0007] Furthermore, the limiting clamping assembly includes a U-shaped opening structure and clamping plates on both sides. The opening width of the U-shaped opening structure is greater than the maximum diameter of the drill rod to be conveyed, so that the drill rod automatically rolls to the bottom of the groove under the action of gravity to achieve radial positioning. The clamping plates are connected to the conveying mechanism by hinges. When the drill rod falls to the bottom of the groove and pressure is applied, the clamping plates on both sides retract towards the middle, generating an adaptive clamping force that automatically matches the diameter of the drill rod.

[0008] Furthermore, the radius of curvature at the bottom of the U-shaped opening structure is smaller than the radius of the smallest specification drill pipe.

[0009] Furthermore, the conveying module also includes: A gear transmission mechanism, wherein the transmission mechanism includes a chain driven by the gear transmission mechanism, the gear transmission mechanism being driven by a motor, and the U-shaped opening structure being spaced apart on the chain; A lifting mechanism, located below the end of the chain conveyor path, is used to receive the drill pipe and lift it to the working height of the drilling platform; and Multiple sets of support legs are used to support and level the independent conveying module.

[0010] Furthermore, a lateral limiting rod is provided on the lower frame, and a positioning sensor is installed on the lateral limiting rod; when drill rods are added into the chamber, the end of the drill rod touches the lateral limiting rod to trigger the positioning sensor, thereby controlling the conveying mechanism to stop.

[0011] The following is a method for automatic storage, retrieval, and chamber changing using the above-mentioned modular drill pipe conveying system, including the following steps: The control system controls the lifting mechanism within the lower frame to lift the drill rod frame to release the row of drill rods, and controls the lifting mechanism to descend, so that the drill rods fall one by one into the limiting clamping assembly of the independent conveying module by gravity and are clamped; the conveying module conveys the single drill rods in sequence and lifts them to the working height of the drilling platform via the lifting mechanism to realize the drill rod exiting the chamber; The conveying module is controlled to run in reverse, conveying the drill rod into the chamber in the reverse direction; when the end of the drill rod touches the lateral limit bar of the lower frame, a control signal is triggered to stop the conveying, and then the lifting mechanism is controlled to lift the drill rod frame to support the row of drill rods, so as to realize the drill rod entering the chamber; The empty or ready-to-use upper frame is lifted off the lower frame, and another upper frame fully loaded with drill pipe is lifted onto the lower frame. The upper frame fully loaded with drill pipe and the lower frame are positioned by the positioning mechanism to achieve the chamber swapping.

[0012] Furthermore, during the drill rod exit process, when the positioning sensor on the limiting clamping assembly detects that the drill rod has completely fallen in and been clamped, the lifting mechanism is controlled to continue to descend until the empty drill rod frame is supported and fixed by the lower fixing card of the lower frame, and then the independent conveying module is started to convey a single drill rod. During the drill rod insertion process, after the lifting mechanism lifts the drill rod frame to support the row of drill rods, the locking mechanism on the linkage support rod locks and fixes the drill rod frame. Then, the independent conveying module is briefly rotated forward to disengage the limit clamping assembly from the drill rod.

[0013] Furthermore, during the chamber replacement process, before the upper frame is lifted off the ground, the control system stops all moving parts and resets them to a safe position; When hoisting the upper frame of the fully loaded drill rod, positioning is achieved by the positioning groove at the bottom of the upper frame cooperating with the positioning protrusion at the top of the lower frame; After the upper frame of the fully loaded drill pipe is in place, the control system receives the placement confirmation signal, automatically identifies the status information of the new upper frame, and updates the drill pipe inventory count.

[0014] Compared with existing technologies, the present invention has the following advantages: This invention decouples the drill pipe storage module and the conveying module into physically separable independent structures, achieving lightweight and convenient hoisting of the upper frame. The conveying module and lower frame can be reused at fixed points, reducing equipment weight and transportation costs. The conveying module uses a gear transmission mechanism combined with a limiting clamping component, which not only eliminates the risk of slippage during conveying but also achieves adaptive and stable clamping and precise radial positioning for drill pipes of different diameters. Combined with closed-loop control of the positioning sensor, it effectively improves the reliability and safety of automated conveying. At the same time, the drill pipe storage module can be flexibly placed on the side of the drilling platform, saving well site space and breaking through the space bottleneck of compact sites. Furthermore, the fully automated process reduces manual intervention and non-production auxiliary time, improving the overall efficiency and economy of drilling operations. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This invention provides a structural schematic diagram of a modular drill pipe delivery system in application. Figure 2A schematic diagram of a modular drill pipe delivery system is provided for this invention. Figure 3 A schematic diagram of the upper and lower frames of the drill pipe storage module in a separated state in an embodiment of the present invention; Figure 4 A schematic diagram of the upper frame portion in an embodiment of the present invention; Figure 5 A schematic diagram of the lower frame portion in an embodiment of the present invention; Figure 6 This is a schematic diagram of the conveying module in an embodiment of the present invention; Figure 7 A schematic diagram of the limiting clamping component in an embodiment of the present invention; Figure 8 for Figure 7 A schematic diagram of the U-shaped opening structure supporting the drill pipe; Figure 9 This is a schematic diagram of the lifting mechanism lifting the drill rod frame in an embodiment of the present invention; Figure 10 for Figure 9 A schematic diagram of the process of the central lifting mechanism lowering the drill pipe frame; Figure 11 for Figure 9 A schematic diagram showing the central lifting mechanism lowering the drill rod frame to the conveying module; Figure 12 This is a schematic diagram illustrating the process of the drill rod moving under the drive of the chain in an embodiment of the present invention; Figure 13 A schematic diagram of the drill rod being transported by chain to the top of the lifting arm in an embodiment of the present invention; Figure 14 This is a schematic diagram of the lifting arm raising the drill rod to the desired grab height in an embodiment of the present invention. Figure 15 This is a schematic diagram illustrating the use of ropes to lift the upper frame in an embodiment of the present invention. Figure 16 This is a schematic diagram illustrating the use of a forklift to install the upper frame in an embodiment of the present invention. Figure 17 This is a schematic diagram of the structural layout of the conveying module and drilling platform for this invention. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] This embodiment provides a modular drill pipe delivery system, such as Figures 1 to 17 As shown, it includes: The drill pipe storage module 10 includes an upper frame 11 for storing drill pipes D and a lower frame 12 for supporting the upper frame 11. The upper frame 11 and lower frame 12 are detachably connected via a positioning mechanism, and the lower frame 12 contains a lifting mechanism. By concentrating the storage function in the detachable upper frame 11, the drill pipe storage is "containerized," facilitating overall lifting and transportation. Figure 15 The diagram shown illustrates the use of hoisting ropes to lift the upper frame. Figure 16 The diagram shows the upper frame being installed using a forklift. The lower frame 12 and the subsequent conveying module 20 can be reused as fixed facilities at the well site, solving the problems of bulkiness and difficult handling caused by the integration of storage and conveying in the prior art.

[0021] The positioning mechanism includes a positioning protrusion 12a disposed on the top of the lower frame 12 and a positioning groove 11a disposed on the bottom of the upper frame 11. During hoisting, the upper frame 11 cooperates with the positioning protrusion 12a of the lower frame 12 through the positioning groove 11a to achieve fast and accurate positioning and anti-horizontal misalignment connection, which greatly improves the efficiency of changing compartments.

[0022] The upper frame 11 has multiple layers of drill pipe racks 15 supported by releasable clips on support rods 13, for storing drill pipes D in rows. The lower frame 12 has a notch 19 on its support rods 14 for drill pipes D to pass through, and a lower fixing clip 18 located below the notch 19 for receiving empty drill pipe racks 15. The lifting mechanism includes a slide rail 17 disposed on the bottom surface inside the lower frame 12 and a lifting cylinder 16 mounted thereon. Figures 9 to 11 During operation, the piston rod of the lifting cylinder 16 can simultaneously lift or lower the drill rod frame 15, so that the drill rod D can fall into the conveying module 20 below through the notch 19 after disengaging from the clamp, thus realizing a smooth handover of the drill rod from "static storage in rows" to "dynamic conveying in a single row".

[0023] The conveying module 20 is set up independently of the drill pipe storage module 10. For example... Figure 1 and Figure 5 As shown, the conveying module 20 has a receiving end that extends into the lower frame 12 (through the space below the notch 19) to receive a single drill rod D, and an output end that conveys the drill rod D toward the drilling platform. The conveying module 20 includes a conveying mechanism and a limiting clamping assembly 22 disposed on the conveying mechanism. The limiting clamping assembly is used to radially position and adaptively clamp the drill rod D when receiving it.

[0024] The limiting clamping assembly includes a U-shaped opening structure and clamping plates on both sides. The opening width of the U-shaped opening structure 22 is greater than the maximum diameter of the drill rod D to be transported (e.g., 140mm), ensuring that drill rods D of various specifications can fall into the groove without obstruction and automatically roll to the bottom of the groove under gravity to achieve radial positioning (gravity automatic centering). The clamping plates are connected to the conveying mechanism by hinges. When the drill rod D falls to the bottom of the groove and pressure is applied, the clamping plates on both sides retract towards the middle, generating an adaptive clamping force that automatically matches the diameter of the drill rod. This "immediate positioning upon falling, clamping according to diameter" design can adapt to drill rods of different diameters without any mechanical adjustment. Preferably, the radius of curvature at the bottom of the U-shaped opening structure is smaller than the radius of the smallest specification drill rod, ensuring that drill rods of various diameters can form line contact or point contact with the bottom of the groove after falling in, achieving reliable radial positioning and preventing the drill rod from rolling during transport.

[0025] The conveying module 20 also includes a gear transmission mechanism 21a, a lifting mechanism 24, and multiple sets of support legs 23. The conveying mechanism includes a chain 21b driven by the gear transmission mechanism 21a, which is driven by a motor. The U-shaped opening structure is spaced apart on the chain 21b. Using a synchronous chain gear transmission instead of belt transmission completely eliminates the risk of slippage and ensures smooth drill pipe conveying. The lifting mechanism 24 (such as a lifting arm) is located at the end of the conveying path of the chain 21b and is used to receive the drill pipe and lift it to the working height of the drill platform P. Multiple sets of support legs 23 with hydraulic cylinders are used to support and level the independent conveying module 20 to adapt to different site conditions.

[0026] In addition, a lateral limiting rod 12b is provided on the lower frame 12, and a positioning sensor is installed on the lateral limiting rod 12b. When drill rods are added to the bin, the end of the drill rod touches the lateral limiting rod 12b, triggering the positioning sensor to control the conveying mechanism to stop, ensuring that the entire row of drill rods is neatly stacked in the bin.

[0027] Based on the above-mentioned modular drill pipe conveying system, the present invention also provides a method for automatic storage, retrieval, and chamber changing using the above-mentioned modular drill pipe conveying system. This method relies on the system's control system (such as a PLC) and mainly includes the following steps: Step S1 (Drill Pipe Removal Step): The control system controls the lifting cylinder 16 inside the lower frame 12 to lift the drill pipe frame 15 to release the row of drill pipes D, and controls the lifting cylinder 16 to descend, so that the drill pipes D fall one by one through the notch 19 into the U-shaped opening structure 22 of the independent conveying module 20 and are clamped; as Figures 12 to 14 As shown, the conveying module 20 then conveys the single drill rod D sequentially and lifts it to the working height of the drilling platform via the lifting arm 24.

[0028] Furthermore, during the drill pipe exit process, once the positioning sensor on the limiting clamping assembly detects that the drill pipe D has completely fallen in and been clamped, the control system controls the lifting cylinder 16 to continue descending until the empty drill pipe frame 15 is received and fixed by the lower fixing clip 18 of the lower frame 12. At this point, the control system then activates the independent conveying module 20 for single-pipe conveying. This logic ensures that no single-pipe conveying malfunction occurs before the "row handover" is completed, achieving a safe interlock in the process.

[0029] Step S2 (Drill Rod Insertion Step): The control system controls the conveying module 20 to run in reverse, conveying the drill rod D into the bin in reverse; when the end of the drill rod touches the lateral limit rod 12b of the lower frame 12 and triggers the positioning sensor, a control signal is triggered to stop the conveying. Subsequently, the control system controls the lifting cylinder 16 to lift the drill rod frame 15 to support the row of drill rods D.

[0030] Furthermore, during the drill rod insertion process, the control system controls the lifting cylinder 16 to lift the drill rod frame 15 to support the row of drill rods. Then, the locking mechanism (such as a pneumatic or electric clamp) on the linkage support rod locks and fixes the drill rod frame 15. Subsequently, the control system controls the independent conveying module 20 to rotate forward briefly, so that the limit clamping assembly disengages from the drill rod D, in preparation for receiving the next drill rod.

[0031] Step S3 (Quick Chamber Change Step): The emptied or ready-to-use upper frame 11 is lifted off the lower frame 12; another fully loaded drill pipe upper frame 11 is lifted onto the lower frame 12, and the fully loaded drill pipe upper frame 11 and the lower frame 12 are positioned together by the positioning groove 11a and the positioning protrusion 12a to achieve quick chamber change.

[0032] Furthermore, during the chamber change process, before lifting the upper frame 11, the control system stops and resets all moving parts (such as the lifting cylinder 16 and the lifting arm 24) to a safe position. When lifting the upper frame 11 fully loaded with drill rods, precise positioning is achieved through the cooperation of the positioning groove 11a at the bottom of the upper frame 11 and the positioning protrusion 12a at the top of the lower frame 12. After the upper frame 11 fully loaded with drill rods is in place, the control system receives a positioning confirmation signal (e.g., a pin status sensor signal or manual HMI confirmation), automatically identifies the status information of the new upper frame (e.g., via an RFID tag or by entering the chamber number), and updates the drill rod inventory count. Subsequently, it can automatically return to the "automatic rod delivery" mode. Normal drill rods are picked up by the robotic arm M and placed on the drilling platform; damaged drill rods are picked up by the robotic arm and then transferred to the slide for lowering.

[0033] This invention decouples the drill pipe storage module and the conveying module into physically separable independent structures, achieving lightweight and convenient hoisting of the upper frame. The conveying module and lower frame can be reused at fixed points, reducing equipment weight and transportation costs. The conveying module employs a gear transmission mechanism combined with limiting clamping components, eliminating the risk of slippage during conveying and achieving adaptive, stable clamping and precise radial positioning of drill pipes of different diameters. Combined with closed-loop control using position sensors, this effectively improves the reliability and safety of automated conveying; simultaneously, as... Figure 17 As shown, the drill pipe storage module can be flexibly placed on the side of the drilling platform, saving the area occupied by the well site, breaking the space bottleneck of compact sites, and reducing manual intervention and non-production auxiliary time through full-process automation, thereby improving the overall efficiency and economy of drilling operations.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A modular drill pipe handling system, characterized by, include: The drill pipe storage module includes an upper frame for storing drill pipes and a lower frame for supporting the upper frame. The upper frame and the lower frame are detachably connected by a positioning mechanism, and a lifting mechanism is provided inside the lower frame. The conveying module is set independently of the drill pipe storage module. The conveying module has a receiving end that extends into the lower frame to receive a single drill pipe, and an output end that conveys the drill pipe toward the drilling platform. The conveying module includes a conveying mechanism and a limiting clamping assembly disposed on the conveying mechanism. The limiting clamping assembly is used to radially position and adaptively clamp the drill pipe when receiving it.

2. The modular drill pipe conveying system according to claim 1, characterized in that: The positioning mechanism includes a positioning protrusion disposed on the top of the lower frame and a positioning groove disposed on the bottom of the upper frame. The upper frame engages with the positioning protrusion of the lower frame through the positioning groove.

3. The modular drill pipe conveying system according to claim 1, characterized in that: The upper frame has multiple drill rod racks supported by releasable clips on support rods for storing drill rods in rows. The support rods of the lower frame have notches for drill rods to pass through, and lower fixing clips located below the notches for receiving empty drill rod racks. The lifting mechanism includes a slide rail located on the bottom surface inside the lower frame and a lifting cylinder mounted thereon. The piston rod of the lifting cylinder can simultaneously lift or lower the drill rod rack, allowing the drill rods to fall into the independent conveying module through the notches.

4. The modular drill pipe conveying system according to claim 1, characterized in that: The limiting clamping assembly includes a U-shaped opening structure and clamping plates on both sides. The opening width of the U-shaped opening structure is greater than the maximum diameter of the drill rod to be conveyed, so that the drill rod automatically rolls to the bottom of the groove under the action of gravity to achieve radial positioning. The clamping plates are connected to the conveying mechanism by hinges. When the drill rod falls to the bottom of the groove and pressure is applied, the clamping plates on both sides retract towards the middle, generating an adaptive clamping force that automatically matches the diameter of the drill rod.

5. A modular drill pipe conveying system according to claim 4, characterized in that: The radius of curvature at the bottom of the U-shaped opening structure is smaller than the radius of the minimum specification drill pipe.

6. A modular drill pipe conveying system according to claim 1, characterized in that, The conveying module further includes: A gear transmission mechanism, wherein the transmission mechanism includes a chain driven by the gear transmission mechanism, the gear transmission mechanism being driven by a motor, and the U-shaped opening structure being spaced apart on the chain; A lifting mechanism, located below the end of the chain conveyor path, is used to receive the drill pipe and lift it to the working height of the drilling platform; and Multiple sets of support legs are used to support and level the independent conveying module.

7. A modular drill pipe conveying system according to claim 1, characterized in that: The lower frame is provided with a lateral limiting rod, and a positioning sensor is installed on the lateral limiting rod; when drill rods are added into the chamber, the end of the drill rod touches the lateral limiting rod, triggering the positioning sensor to control the conveying mechanism to stop.

8. A method for automatic storage, retrieval, and chamber changing using the modular drill pipe conveying system according to any one of claims 1 to 7, characterized in that, Includes the following steps: The control system controls the lifting mechanism within the lower frame to lift the drill rod frame to release the row of drill rods, and controls the lifting mechanism to descend, so that the drill rods fall one by one into the limiting clamping assembly of the independent conveying module by gravity and are clamped; the conveying module conveys the single drill rods in sequence and lifts them to the working height of the drilling platform via the lifting mechanism to realize the drill rod exiting the chamber; The conveying module is controlled to run in reverse, conveying the drill rod into the chamber in the reverse direction; when the end of the drill rod touches the lateral limit bar of the lower frame, a control signal is triggered to stop the conveying, and then the lifting mechanism is controlled to lift the drill rod frame to support the row of drill rods, so as to realize the drill rod entering the chamber; The empty or ready-to-use upper frame is lifted off the lower frame, and another upper frame fully loaded with drill pipe is lifted onto the lower frame. The upper frame fully loaded with drill pipe and the lower frame are positioned by the positioning mechanism to achieve the chamber swapping.

9. The method for automatic storage, retrieval, and chamber changing of a modular drill pipe conveying system according to claim 8, characterized in that: During the drill rod exit process, when the positioning sensor on the limiting clamping assembly detects that the drill rod has completely fallen in and been clamped, the lifting mechanism is controlled to continue to descend until the empty drill rod frame is supported and fixed by the lower fixing card of the lower frame, and then the independent conveying module is started to convey a single drill rod. During the drill rod insertion process, after the lifting mechanism lifts the drill rod frame to support the row of drill rods, the locking mechanism on the linkage support rod locks and fixes the drill rod frame. Then, the independent conveying module is briefly rotated forward to disengage the limit clamping assembly from the drill rod.

10. The method for automatic storage, retrieval, and chamber changing of a modular drill pipe conveying system according to claim 8, characterized in that: During the chamber changing process, before the upper frame is lifted off the ground, the control system stops all moving parts and resets them to a safe position; When hoisting the upper frame of the fully loaded drill rod, positioning is achieved by the positioning groove at the bottom of the upper frame cooperating with the positioning protrusion at the top of the lower frame; After the upper frame of the fully loaded drill pipe is in place, the control system receives the placement confirmation signal, automatically identifies the status information of the new upper frame, and updates the drill pipe inventory count.

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