An automatic pipe loading and unloading box and method

Abstract

The present application relates to the field of engineering machinery automation construction technology, disclose a kind of automatic loading and unloading drill rod box and method, including rack, the rack outside is equipped with connecting frame, the rack outside is equipped with gear electric push rod, the gear electric push rod outside is provided with limit plate, the rack top is equipped with rod feeding mechanism, the rack top is fixedly connected with lifting structure, the rack top is equipped with multiple drill rod box body, multiple the drill rod box body inside is equipped with a column drill rod body, the bottom of the drill rod box body is detachably locked on support platform by drill rod box fixed nut sleeve, the outside of the drill rod box body is equipped with side plate.The present application is configured with sensor in the bottom of drill rod box body discharge port, and executes filtering delay confirmation operation in combination with logic operation unit in control module, improves the accuracy of drill rod empty detection and the reliability of equipment operation under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of automated construction technology for engineering machinery, specifically to an automatic loading and unloading method for drill rod boxes. Background Technology

[0002] In geological exploration and rotary drilling operations, the automatic grabbing, storage, and transportation of drill rods is a fundamental aspect of ensuring construction progress. Existing drill rod loading and unloading equipment typically stores multiple rows of drill rods in a single integrated drill rod box. During the transportation and consumption of drill rods, the equipment mainly relies on construction personnel to visually inspect whether a particular row of drill rods has been completely emptied. This manual observation and manual shifting method increases the time spent on intermediate confirmation and transfer, resulting in a lag in the equipment's shifting action.

[0003] Some highly automated equipment attempts to introduce conventional position sensors for venting detection. However, under the strong low-frequency mechanical vibration conditions at the construction site, the shaking caused by the drill rod falling downwards will create a brief spatial and temporal physical gap at the discharge port, causing the sensor detection beam or signal to jump instantaneously. The control system will mistakenly interpret this as a venting state, which will lead to equipment malfunction or shutdown.

[0004] Furthermore, traditional drill pipe storage equipment often uses a bottom-support structure to support the stored drill pipes. This mechanical structure means that the replacement of spare drill pipe boxes can only be carried out after the entire machine has been completely stopped and the bottom support device has been removed. Since the existing boxes are mostly integrated structures, their connection method cannot achieve independent disassembly and separate hoisting of a single row of empty boxes. This causes direct physical interference between the drill pipe box preparation and replacement operation and the bottom rod feeding mechanism's grabbing and conveying operation. The equipment must interrupt the current construction operation to wait for the hoisting and box replacement, which restricts the overall efficiency of deep hole continuous drilling operations. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic loading and unloading method for drill pipe boxes, solving the problems of drill pipe box emptying detection being easily affected by mechanical vibration leading to misjudgment of status, low efficiency of manual gear shifting, and the inability to independently replace drill pipe boxes during construction work breaks due to the integrated lifting structure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic drill pipe box loading and unloading system includes a frame, a connecting frame mounted on the outside of the frame, a shift electric push rod mounted on the outside of the frame, a limit plate provided on the outside of the shift electric push rod, a rod feeding mechanism mounted on the top of the frame, a lifting structure fixedly connected to the top of the frame, multiple drill pipe box bodies mounted on the top of the frame, a row of drill pipe bodies installed inside the multiple drill pipe box bodies, the bottom of the drill pipe box body being detachably locked to a support platform by a drill pipe box fixing nut sleeve, and a side plate provided on the outside of the drill pipe box body.

[0007] Preferably, the plurality of drill pipe box bodies are single drill pipe boxes arranged side by side and independently. Each drill pipe box body is independent of each other and is equipped with a separate lifting position to realize the independent disassembly, lifting and installation of a single drill pipe box body.

[0008] Preferably, a control module is installed on the bottom inner side of each drill pipe box body, and a sensor is installed inside the control module.

[0009] Preferably, the sensor is electrically connected to an external control system and is used to detect in real time whether the drill rod body inside the corresponding drill rod box body is emptied and output an electrical signal.

[0010] Preferably, the output end of the shifting electric push rod is connected to the rod feeding mechanism for driving the rod feeding mechanism to perform linear reciprocating shifting along the lateral arrangement direction of the multiple drill rod box bodies.

[0011] Preferably, the limiting plate is provided with multiple limiting grooves or limiting contacts corresponding to the center distance of the multiple drill rod box bodies, for physical or electronic precise gear positioning of the pushing stroke of the shifting electric push rod.

[0012] Preferably, the support platform is fixedly installed on the top of the frame, and the support platform is provided with a locking bolt that is compatible with the drill rod box fixing nut sleeve. Each drill rod box body is fastened to the support platform through the threaded engagement of the drill rod box fixing nut sleeve and the locking bolt.

[0013] Preferably, the lifting structure is disposed between the rod feeding mechanism and the drill rod box body, and is used to lift the drill rod body on the rod feeding mechanism into the drill rod box body during the loading and unloading of the drill rod body, or to receive and lower the drill rod body in the drill rod box body onto the rod feeding mechanism.

[0014] Preferably, the shifting electric push rod is configured to output linear thrust. When the rod feeding mechanism is paused, the linear thrust acts directly on the drill rod body and pushes the drill rod body upward, and locks the drill rod body inside the drill rod box body at a preset retention height.

[0015] The present invention also provides a method for automatically loading and unloading drill pipe boxes, comprising the following steps: S1, control the rod feeding mechanism to run directly below the first drill rod box body and perform loading and unloading conveying of the drill rod body. At the same time, the sensor fixed at the bottom of the drill rod box body detects the presence or absence of the drill rod body at the discharge port in real time and outputs a low-level material status signal. S2, the external control system receives the low-level material status signal and performs a filtering delay confirmation operation. When the duration of the rodless state reaches a preset time threshold and it is determined that the drill rod box body of the first example is in a completely emptied state, a stop signal is sent to the rod feeding mechanism and the rod feeding mechanism suspends the current mechanical gripping action. S3, send a start signal to the shift electric push rod and make the shift electric push rod output a horizontal linear thrust that directly acts on the drill rod body, pushes the drill rod body to move upward and locks it in the drill rod box body, and at the same time pulls the rod feeding mechanism and the lifting structure as a whole along the transverse guide rail to move to the next row of drill rod gears until they touch the limit plate and generate a feedback level signal. S4, the external control system cuts off the power supply of the shift electric push rod according to the feedback level signal and applies the electromagnetic brake, so that the rod delivery mechanism stops precisely below the drill rod box body of the second example. Then, the power supply circuit of the rod delivery mechanism is closed again, the power input of the rod delivery mechanism is restored, and the loading and unloading operation of the drill rod body of the second example is started. S5, during the construction gap when the drill pipe box body described in the second example is being loaded and unloaded, by releasing the threaded fit of the drill pipe box fixing nut sleeve, the drill pipe box body described in the first example, which has been emptied, is independently lifted off the frame by external lifting equipment along the corresponding individual lifting position, and the spare drill pipe box body filled with drill pipes is replaced and locked in the original position.

[0016] This invention provides an automatic loading and unloading method for drill pipe boxes. It has the following beneficial effects: 1. This invention, by configuring a sensor at the discharge port at the bottom of the drill rod box and combining it with a logic unit within the control module to perform filtering and delay confirmation calculations, can avoid misjudgments of the box's emptying status caused by brief temporal and spatial physical gaps resulting from mechanical vibration or the downward fall of the drill rod during construction operations. This control logic eliminates the instability of relying on a single transient level for judgment, improving the accuracy of drill rod emptying detection and the reliability of the equipment under complex operating conditions.

[0017] 2. This invention uses a shifting electric push rod to output horizontal linear thrust that directly acts on the drill rod, pushing it upward and locking it at a preset height. This replaces the traditional bottom-supporting structure and physically blocks a single row of drill rods. Simultaneously, the shifting electric push rod pulls the rod delivery mechanism laterally through the connecting frame. Combined with the discrete feedback level signal generated when the limit plate is touched, the rod delivery mechanism automatically switches and precisely hovers between different drill rod box gears, eliminating the intermediate steps of manual observation and manual shifting, and shortening the shifting time.

[0018] 3. This invention employs a single-row structure with multiple drill pipe boxes arranged side-by-side and independently. Each box has its own lifting position, and its bottom is detachably connected to the frame support platform via a drill pipe box fixing nut sleeve. This independent mechanical assembly structure allows external lifting equipment to independently lift the emptied box and replace it with a spare box filled with drill pipes during the construction gap when the rod delivery mechanism is working on the next row of drill pipe boxes. This achieves physical separation and asynchronous parallel operation of box lifting and replacement with drill pipe delivery, ensuring the continuity of drilling operations. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the rod feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the connecting frame of the present invention; Figure 4 This is a schematic diagram of the side plate of the present invention; Figure 5 This is a schematic diagram of the structure of the drill pipe box body of the present invention; Figure 6 This is a schematic diagram of the sensor structure of the present invention; Figure 7 This is a diagram of the module architecture of the present invention; Figure 8 This is a bar chart comparing the experimental results of the present invention.

[0020] The components include: 1. Frame; 2. Connecting frame; 3. Shifting electric push rod; 4. Limiting plate; 5. Rod feeding mechanism; 6. Lifting structure; 7. Drill rod box body; 8. Drill rod body; 9. Drill rod box fixing nut sleeve; 10. Side plate; 11. Sensor; 100. Control module. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 - Appendix Figure 6 This invention provides an automatic loading and unloading method for drill pipe boxes, including a frame 1. The frame 1 is used to install and fasten multiple drill pipe box bodies 7. The exterior and top of the frame 1 provide transverse guide rails and installation positioning references for core moving components such as connecting frame 2, shift electric push rod 3, and rod feeding mechanism 5, ensuring the physical stability of the overall system in a strong vibration construction environment. The connecting frame 2 is installed on the outside of the frame 1, and the shift electric push rod 3 is installed on the outside of the frame 1. The shift electric push rod 3 outputs a horizontal linear thrust to the drill pipe body 8, causing it to move upward and lock in place. Meanwhile, the connecting frame 2 pulls the rod feeding mechanism 5 to perform precise linear reciprocating shifting between different drill rod box body 7 gear positions. The outside of the shift electric push rod 3 is equipped with a limit plate 4. The rod feeding mechanism 5 is installed on the top of the frame 1. The lifting structure 6 is fixedly connected to the top of the frame 1. The lifting structure 6 is used to adjust the height difference during loading and unloading, and lift the drill rod body 8 on the rod feeding mechanism 5 into the drill rod box body 7. Multiple drill rod box bodies 7 are installed on the top of the frame 1. The drill rod box body 7 is a single-row material storage container set up side by side. It contains a row of drill rod bodies 8. Each box is equipped with a separate lifting position. The drill rod box fixing nut sleeve 9 realizes the independent disassembly, overall lifting and spare replacement of the box body. Multiple drill rod box bodies 7 contain a row of drill rod bodies 8. The drill rod body 8 is the core working component of geological exploration or rotary drilling rig construction operation. It is stored in the drill rod box body 7 and is the direct force object and physical carrier for the rod feeding mechanism 5 to grab and transport and the shift electric push rod 3 to push and retain. The bottom of the drill pipe box body 7 is detachably locked to the support platform by the drill pipe box fixing nut sleeve 9. The drill pipe box body 7 is provided with side plates 10. Multiple drill pipe box bodies 7 are single drill pipe boxes arranged side by side and independently. Each drill pipe box body 7 is independent of each other and is equipped with a separate lifting position to realize the independent disassembly, lifting and installation of a single drill pipe box body 7. A control module 100 is installed on the bottom inner side of each drill pipe box body 7. The control module 100 is equipped with a sensor 11. The sensor 11 transmits and receives light beams. Alternatively, electromagnetic waves can be used to detect the presence or absence of the drill rod body 8 in the physical space of the discharge port in real time, and output a low-level material status signal to the external control system when the physical obstruction disappears. This serves as the underlying trigger data source for the system's shifting logic. The sensor 11 is electrically connected to the external control system and is used to detect in real time whether the drill rod body 8 in the corresponding drill rod box body 7 is emptied and output an electrical signal. The output end of the shifting electric push rod 3 is connected to the rod feeding mechanism 5 and is used to drive the rod feeding mechanism 5 to perform linear reciprocating shifting and switching along the lateral arrangement direction of multiple drill rod box bodies 7.

[0023] Please see the appendix Figure 1 - Appendix Figure 6 In a preferred embodiment of the present invention, the limiting plate 4 is provided with multiple limiting grooves or limiting contacts corresponding to the center distance of multiple drill rod box bodies 7, for physical or electronic precise gear positioning of the pushing stroke of the shift electric push rod 3. The support platform is fixedly installed on the top of the frame 1, and the support platform is provided with locking bolts adapted to the drill rod box fixing nut sleeve 9. The drill rod box fixing nut sleeve 9 is used to detachably and rigidly lock the drill rod box body 7 to the support platform. During the box changing operation, the box body is quickly separated by releasing the threaded engagement. Each drill rod box body 7 is connected by the drill rod box fixing nut sleeve. 9 is fastened to the support platform with the threaded engagement of the locking bolt. The lifting structure 6 is set between the rod feeding mechanism 5 and the drill rod box body 7. It is used to lift the drill rod body 8 on the rod feeding mechanism 5 into the drill rod box body 7 during the loading and unloading of the drill rod body 8, or to receive and lower the drill rod body 8 in the drill rod box body 7 onto the rod feeding mechanism 5. The shift electric push rod 3 is configured to output linear thrust. When the rod feeding mechanism 5 is not in operation, the linear thrust acts directly on the drill rod body 8 and pushes the drill rod body 8 upward, and locks the drill rod body 8 at a preset retention height inside the drill rod box body 7.

[0024] See attached document Figure 7The automatic loading and unloading drill rod box provided by the present invention includes a control module 100, which includes a sensing and detection unit, a logic operation unit, and an execution drive unit. The sensing and detection unit includes a sensor 11 fixedly installed inside the drill rod box body 7. The sensor 11 is a diffuse reflection photoelectric sensor 11 or an inductive proximity switch. The signal output terminal of the sensing and detection unit is electrically connected to the input terminal of the logic operation unit. The sensing and detection unit detects the presence or absence of the drill rod body 8 in the physical space of the discharge port in real time and outputs a status signal to the logic operation unit. As a preferred embodiment, the sensor 11 uses a built-in filter capacitor to block electromagnetic interference, thereby maintaining the physical stability of the output signal.

[0025] As a preferred embodiment, sensor 11 is internally configured with independent transmitting and receiving circuits. Based on the transmitting circuit generating a detection beam or electromagnetic wave, when a drill rod body 8 is present at the discharge port inside the drill rod box 7, the detection beam or electromagnetic wave is physically blocked. The receiving circuit receives the reflected signal and drives the internal detection circuit to generate a closed loop. At this time, the sensing and detection unit outputs a high-level signal. However, when there is no drill rod body 8 at the discharge port, the physical blockage disappears, and the receiving circuit cannot receive the corresponding reflected wave signal. The internal detection circuit physically disconnects and outputs a low-level signal. This alternation of high and low levels constitutes the material status signal transmitted to the logic operation unit, thereby realizing the digital real-time mapping of the drill rod inventory status in the discharge area at the bottom of the single-row box.

[0026] The logic unit integrates a programmable microcontroller circuit and multiple software timers. The logic unit receives material status signals uploaded by the sensing and detection unit through the internal bus. When a falling edge transition of the level signal is detected, the internal software timer is immediately triggered to perform filtering and delay calculations. The read-only memory of the logic unit pre-stores a specific emptying anti-shaking confirmation algorithm program. This algorithm program automatically avoids false judgments of the box emptying status caused by the brief spatial and temporal physical gaps generated when the drill rod body 8 falls downwards by its own weight or during the strong vibration of the overall construction machinery by continuously monitoring the physical length of the rodless state in the discharge channel. The judgment structure and mathematical constraint relationship of this emptying anti-shaking confirmation algorithm program are fully expressed by formulas.

[0027] ; In the formula: This is the cumulative time parameter for emptying; The initial moment at which the falling edge of the material status signal is detected; This refers to the real-time dynamic monitoring time of the system operation; These are the parameters of the material state function, i.e., the parameters of the logic operation unit at any given time. The received normalized level value is 1 when a drill rod is present and 0 when no drill rod is present. The independent variable is a continuous-time variable; The time differential term; The preset time threshold parameter is the anti-misjudgment security delay constant set in the internal memory, with a value range of 2 to 5 seconds; The time start parameter is defined as the initial moment when the falling edge of the material state signal is detected. The current moment parameter is defined as the real-time dynamic monitoring moment of the system operation. The material state function parameter is defined as the normalized binary value received by the logic operation unit at the real-time monitoring moment, where the value is 1 when a drill rod is present and 0 when no drill rod is present. The purging cumulative time parameter is defined as the duration of the no-drill-rod signal. The preset time threshold parameter is defined as the safety delay constant set in the internal memory. As a preferred method, the value range of the preset time threshold parameter is configured to be 2 seconds to 5 seconds. When the material state function parameter suddenly becomes 1 at the real-time monitoring moment, the purging cumulative time parameter is immediately cleared and reset in the logic operation unit to eliminate the algorithm logic dead zone caused by the instantaneous recovery of the signal.

[0028] When the cumulative emptying time parameter is greater than or equal to the preset time threshold parameter, the logic operation unit determines that the drill rod body 8 inside the first drill rod box body 7 currently performing construction work has been completely emptied. The microprocessor inside immediately triggers the external hardware interrupt subroutine, generates a digital shift instruction with a specific pulse width through its transistor output port, and sends the digital shift instruction to the execution drive unit. This digital shift instruction ensures the timeliness of instruction transmission by shielding the ordinary cyclic scanning mechanism. In this embodiment, since the intermediate flow link of traditional manual observation and confirmation is eliminated, the logic operation unit realizes the direct digital expression of the emptying status, thereby providing a stable and unique electrical signal source triggering basis for the subsequent actions of the execution drive unit.

[0029] The hardware architecture of the execution drive unit specifically includes an optocoupler isolation circuit, an electromagnetic relay group, and a motor servo driver. After receiving a digital shift command, the optocoupler isolation circuit inside the execution drive unit performs strong and weak electrical signal isolation conversion and outputs a stop signal to the rod feeding mechanism 5. Specifically, it disconnects the power supply circuit of the gripping motor in the rod feeding mechanism 5 by changing the normally closed contact state of the internal electromagnetic relay, thereby cutting off the power source and causing the rod feeding mechanism 5 to release the transmission spindle and immediately pause the current mechanical gripping action. As a preferred method, at the moment the power supply circuit is disconnected, the execution drive unit absorbs the residual energy of the motor through the reverse electromotive force discharge resistor, thereby shortening the mechanical inertia time of the rod feeding mechanism 5 from the full-speed running state to the stationary state.

[0030] After the rod feeding mechanism 5 comes to a complete stop, the drive unit sends a start signal to the shift electric push rod 3. The internal motor servo driver outputs a frequency conversion pulse control signal to the servo motor inside the shift electric push rod 3. The screw nut mechanism inside the shift electric push rod 3 directly converts the rotational motion of the servo motor into reciprocating linear telescopic motion and applies a horizontal thrust to the outside. This horizontal thrust acts directly on the drill rod body 8 and pushes the drill rod body 8 upward, thereby keeping the drill rod body 8 inside the drill rod box body 7. As a preferred method, this linear thrust output matches the structural shape of the drill rod body 8 to ensure the axial stability of the drill rod body 8 during the upward reset process. This push reset method changes the traditional bottom support structure and achieves precise isolation and blocking of a single row of drill rods.

[0031] In this embodiment, the limiting plate 4 is fixedly installed at the end of the linear movement path of the shift electric push rod 3. When the shift electric push rod 3 pushes the drill rod body 8 to a set height, its moving end physically touches and squeezes the mechanical micro switch spring on the limiting plate 4, thereby generating a closed feedback level signal and immediately transmitting it back to the logic operation unit. When the execution drive unit receives the feedback signal forwarded by the logic operation unit, it quickly cuts off the power supply of the shift electric push rod 3. At the same time, it applies a reverse electromagnetic brake to the servo motor, so that the drill rod body 8 is precisely locked in the drill rod box body 7 at the preset retention height. Then, the execution drive unit recloses the power supply circuit of the rod feeding mechanism 5 and sends a running signal. The rod feeding mechanism 5 restores the power input and starts the gripping and loading / unloading operation of the drill rod body 8 in the second drill rod box body 7.

[0032] Application Examples: To aid in understanding the technical solution of this invention, the following provides an application example based on continuous rotary drilling construction for geological exploration, along with experimental verification and effect comparison.

[0033] In this application embodiment, a first drill rod box, a second drill rod box, and a third drill rod box are installed side by side on the top of the frame. When the system is started, the rod feeding mechanism performs drill rod grabbing and lowering operations directly below the first drill rod box.

[0034] As the drill rods in the first drill rod box are removed one by one, when the last drill rod leaves the bottom discharge port, the sensor installed inside the first drill rod box loses its physical obstruction, causing its receiving circuit to be unable to receive the reflected light beam. The sensing and detection unit then outputs a low-level material status signal to the logic operation unit of the control module.

[0035] In response to the phenomenon of short-term physical gaps caused by low-frequency vibration of machinery at the construction site, which causes the drill rod at the discharge port to shake, the logic operation unit starts the internal software timer to perform anti-shake delay confirmation calculation after capturing the low-level signal. After the set three-second safety delay, the low-level state is maintained, and the logic operation unit determines that the first drill rod box has been completely emptied.

[0036] The logic unit sends a digital shift command to the execution drive unit. The execution drive unit disconnects the power supply to the gripping motor of the rod feeding mechanism to stop its mechanical gripping action and sends a start signal to the shift electric push rod. The shift electric push rod outputs a horizontal linear thrust to push the drill rod upward and lock it at a preset height. Then, the shift electric push rod pulls the rod feeding mechanism to move horizontally to the second drill rod box through the connecting frame.

[0037] When the shifting electric push rod is moved directly below the second drill pipe box, the moving end of the shifting electric push rod physically contacts the mechanical micro switch on the limit plate to generate a closed feedback level signal. After receiving the feedback signal, the drive unit cuts off the power supply to the shifting electric push rod and applies the brake, causing the system to hover below the second drill pipe box. Then, the power supply circuit of the rod feeding mechanism is closed again to start the drill pipe grabbing operation in the second drill pipe box. During the loading and unloading operation of the second drill pipe box by the rod feeding mechanism, the external lifting equipment independently lifts the empty first drill pipe box off the frame along an independent lifting position and replaces and locks the spare drill pipe box full of drill pipe in the original position.

[0038] This experiment compares the continuous operation parameters of the traditional bottom-supported semi-automatic drill pipe box and the automatic loading and unloading drill pipe box of this invention under the same geological conditions. The test period is thirty days. The average time for a single gear shift, the number of misjudgments in loading and unloading 100 drill pipes, the number of manual interventions per shift, and the average daily continuous operation time without failure of the system are recorded.

[0039] Table 1: Statistical Table of Experimental Data for Automatic Drill Pipe Box Loading and Unloading

[0040] According to Table 1 and Figure 8 The data shows that the average time for a single gear shift in the present invention is reduced from 185 seconds in the traditional scheme to 24 seconds, the number of misjudgments in loading and unloading of 100 drill pipes is reduced from 12 to 0, the number of manual interventions per shift is reduced from 35 to 2, and the average daily continuous operation time without failure of the system is increased from 16.5 hours to 22.8 hours.

[0041] The logic operation unit performs filtering and delay confirmation operations based on the material status signal output by the sensor, shielding the signal interference caused by the brief spatial and temporal physical gap under strong mechanical vibration conditions. Within the experimental period, the number of misjudgments in loading and unloading of hundreds of drill pipes is completely reduced to zero, avoiding misjudgments caused by relying on a single transient level.

[0042] The horizontal linear thrust output by the electric shift rod directly pushes the drill rod upward and remains inside the drill rod box. This changes the bottom support structure of the traditional equipment to free up the bottom physical space, so that the hoisting and replacement action of the spare drill rod box and the cross-gear shifting operation of the rod delivery mechanism can be completely physically separated, thereby reducing the number of manual interventions per shift from 35 to 2.

[0043] The control module constructs a closed-loop control circuit through digital shift commands and discrete feedback level signals, realizing seamless connection between the start and stop of the rod delivery mechanism and the translation and positioning of the electric push rod for shifting. This eliminates the intermediate steps of manually observing the emptying status and manually operating the shift, thereby reducing the average time for a single shift to 24 seconds and extending the average daily continuous operation time without failure to 22.8 hours.

[0044] Working principle: During the normal loading and unloading phase, the rod feeding mechanism 5 and the lifting structure 6 at the top of the frame 1 work together to grab and lower the drill rod body 8 one by one directly below the first drill rod box body 7. When the last drill rod in the first drill rod box body 7 leaves the discharge port, the sensor 11 at the bottom outputs a low-level signal to the control module 100 due to the disappearance of physical obstruction. In order to avoid the drill rod shaking caused by strong mechanical vibration at the construction site, resulting in false emptying, the control module 100 does not act immediately after receiving the signal, but starts the internal software timer to perform filtering and delay calculation. Only when the low-level state continues to exceed the set safety time threshold, the system officially determines that the current drill rod box has been completely emptied.

[0045] After confirming the emptying, the system enters the automatic shifting and positioning stage. The control module 100 first cuts off the power of the rod feeding mechanism 5 to stop its mechanical gripping action. Then, it starts the shifting electric push rod 3, which outputs a horizontal linear thrust outward. This thrust acts directly on the drill rod body 8 and pushes it upward and locks it at a preset height, thereby completely releasing the physical space at the bottom of the box. Immediately afterwards, the shifting electric push rod 3 pulls the rod feeding mechanism 5 and the lifting structure 6 through the connecting frame 2 and moves them along the transverse guide rail of the frame 1 towards the second drill rod box body 7.

[0046] When the rod delivery mechanism 5 moves to the bottom of the second drill rod box, the moving end of the shift electric push rod 3 physically touches the limit contact on the limit plate 4, triggering a closed feedback level signal. After receiving the feedback signal, the control system quickly cuts off the power supply to the shift electric push rod 3 and applies the electromagnetic brake, so that the rod delivery mechanism 5 is precisely hovered and positioned. Subsequently, the system recloses the power supply circuit of the rod delivery mechanism 5, restores its power, and begins to perform the gripping and conveying operation on the drill rod body 8 in the second drill rod box.

[0047] During the normal construction operation of the second drill rod box by the rod delivery mechanism 5, the on-site personnel released the threaded locking fit between the bottom drill rod box fixing nut sleeve 9 of the first drill rod box body 7 and the support platform. Using external lifting equipment, they connected the independent lifting position of the first drill rod box, lifted it off the frame 1 as a whole, and directly replaced it with a spare box filled with drill rods in the original position and re-locked it. Since the shift electric push rod 3 has released the bottom space, this lifting and box replacement process does not interfere with the operation of the bottom rod delivery mechanism 5, realizing the continuous and uninterrupted operation of the equipment.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic drill pipe box loading and unloading system, comprising a frame (1), characterized in that: A connecting frame (2) is installed on the outside of the frame (1), a shift electric push rod (3) is installed on the outside of the frame (1), a limit plate (4) is provided on the outside of the shift electric push rod (3), a rod feeding mechanism (5) is installed on the top of the frame (1), a lifting structure (6) is fixedly connected to the top of the frame (1), a plurality of drill rod box bodies (7) are installed on the top of the frame (1), a row of drill rod bodies (8) is installed inside the plurality of drill rod box bodies (7), the bottom of the drill rod box body (7) is detachably locked to the support platform by a drill rod box fixing nut sleeve (9), and a side plate (10) is provided on the outside of the drill rod box body (7).

2. The automatic loading and unloading drill pipe box according to claim 1, characterized in that: The multiple drill pipe box bodies (7) are single drill pipe boxes arranged side by side and independently. Each drill pipe box body (7) is independent of each other and is equipped with a separate lifting position to realize the independent disassembly, lifting and installation of a single drill pipe box body (7).

3. The automatic drill pipe loading and unloading box according to claim 1, characterized in that: Each drill pipe box body (7) has a control module (100) installed on the bottom inside, and the control module (100) has a sensor (11) installed inside.

4. The automatic drill pipe loading and unloading box according to claim 3, characterized in that: The sensor (11) is electrically connected to the external control system and is used to detect in real time whether the drill rod body (8) inside the corresponding drill rod box body (7) is emptied and output an electrical signal.

5. The automatic drill pipe loading and unloading box according to claim 1, characterized in that: The output end of the shift electric push rod (3) is connected to the rod feeding mechanism (5) for driving the rod feeding mechanism (5) to perform linear reciprocating shifting along the lateral arrangement direction of the multiple drill rod box bodies (7).

6. The automatic drill pipe loading and unloading box according to claim 5, characterized in that: The limiting plate (4) is provided with multiple limiting grooves or limiting contacts corresponding to the center distance of the multiple drill rod box bodies (7), which are used to perform physical or electronic precise gear positioning of the pushing stroke of the shift electric push rod (3).

7. The automatic drill pipe loading and unloading box according to claim 1, characterized in that: The support platform is fixedly installed on the top of the frame (1), and the support platform is provided with a locking bolt that is compatible with the drill rod box fixing nut sleeve (9). Each drill rod box body (7) is fastened to the support platform by the threaded engagement of the drill rod box fixing nut sleeve (9) and the locking bolt.

8. The automatic drill pipe loading and unloading box according to claim 1, characterized in that: The lifting structure (6) is located between the rod feeding mechanism (5) and the drill rod box body (7) and is used to lift the drill rod body (8) on the rod feeding mechanism (5) into the drill rod box body (7) during the loading and unloading of the drill rod body (8), or to receive and lower the drill rod body (8) in the drill rod box body (7) onto the rod feeding mechanism (5).

9. The automatic drill pipe loading and unloading box according to claim 5, characterized in that: The shifting electric push rod (3) is configured to output linear thrust. When the rod feeding mechanism (5) is in a paused state, the linear thrust acts directly on the drill rod body (8) and pushes the drill rod body (8) upward, and locks the drill rod body (8) inside the drill rod box body (7) at a preset retention height.

10. A method for automatically loading and unloading drill pipe boxes, characterized in that, The method of using an automatic drill pipe box according to any one of claims 1-9 includes the following steps: S1, control the rod feeding mechanism (5) to run directly below the first drill rod box body (7) and perform loading and unloading of the drill rod body (8). At the same time, the sensor (11) fixed at the bottom of the drill rod box body (7) detects the presence or absence of the drill rod body (8) at the discharge port in real time and outputs a low-level material status signal. S2, the external control system receives the low-level material status signal and performs a filtering delay confirmation operation. When the duration of the rodless state reaches a preset time threshold and it is determined that the drill rod box body (7) of the first example is in a completely emptied state, a stop signal is sent to the rod feeding mechanism (5) and the rod feeding mechanism (5) suspends the current mechanical gripping action. S3, send a start signal to the shift electric push rod (3) and make the shift electric push rod (3) output a horizontal linear thrust that directly acts on the drill rod body (8), push the drill rod body (8) to move upward and lock it in the drill rod box body (7), and at the same time, pull the rod delivery mechanism (5) and the lifting structure (6) along the transverse guide rail to move to the next row of drill rod positions until they touch the limit plate (4) and generate a feedback level signal; S4, the external control system cuts off the power supply of the shift electric push rod (3) according to the feedback level signal and applies electromagnetic brake, so that the rod delivery mechanism (5) stops precisely below the drill rod box body (7) of the second example, and then closes the power supply circuit of the rod delivery mechanism (5) again, restores the power input of the rod delivery mechanism (5) and starts the loading and unloading operation of the drill rod body (8) of the second example; S5, during the construction gap when the drill rod box body (7) described in the second example is being loaded and unloaded, by releasing the threaded engagement of the drill rod box fixing nut sleeve (9), the drill rod box body (7) described in the first example, which has been emptied, is independently lifted off the frame (1) along the corresponding individual lifting position by external lifting equipment, and the spare drill rod box body (7) filled with drill rods is replaced and locked in the original position.

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