Electric post-positioned automatic rod adding device for electric drilling rig and use method thereof

Abstract

This invention discloses an electric rear-mounted automatic drill rod adding device and its usage method for an electric-driven drilling rig. A support base is fixedly installed below the main body of the drilling rig. A horizontal transfer component is horizontally embedded in the top of the support base. A liftable multi-degree-of-freedom robotic arm is vertically installed on the horizontal transfer component. A width-adjustable drill rod gripping mechanism is installed at the end of the liftable multi-degree-of-freedom robotic arm. A dual-group drill rod box is located on one side of the support base and is adapted to the movement trajectory of the horizontal transfer component. The drilling rig control power box and oil tank assembly are respectively installed on the sides of the main body of the drilling rig. The track assembly is installed at the bottom of the main body of the drilling rig to achieve overall device movement. This invention's electric rear-mounted automatic drill rod adding device for drilling rigs places the main body of the automatic drill rod adding device behind the main body of the drilling rig, completely freeing up the core working area in front of the drilling rig, reducing equipment interference failure rate by more than 80%, increasing the safe operating space for personnel by 1.5 to 2 times, significantly reducing the risk of injury or death, and adapting to narrow underground tunnels.

Description

Technical Field

[0001] This invention relates to the field of drilling technology and equipment, and in particular to drill rod loading and unloading equipment used in conjunction with automated drilling rigs in underground coal mine drilling operations. Specifically, it is an electric rear-mounted automatic drill rod loading device and its usage method for electric-driven drilling rigs. It is suitable for automated gripping, moving, docking and screwing of drill rods in long borehole construction in underground coal mines, which can significantly improve drilling efficiency and operational safety, and meet the technical requirements of intelligent drilling equipment for smart mine construction. Background Technology

[0002] Long-bore drilling technology in coal mines is a core technology in the field of coal mine safety production. It is widely used in key operations such as gas outburst prevention, mine water hazard control, and geological structure exploration. Its construction efficiency and operational safety directly determine the level of disaster management and overall safety production benefits of coal mines. With the advancement of the national smart mine construction strategy, intelligent drilling rigs with automatic drill rod loading / unloading functions have become an inevitable trend in the industry.

[0003] Existing intelligent drilling rigs are typically equipped with drill rod gripping robots and drill rod storage containers. Through automated mechanical operation, they complete actions such as gripping, moving, and unloading drill rods, enabling continuous drilling of nearly a hundred drill rods. This effectively reduces the labor intensity of underground workers, minimizes their exposure to hazardous environments, and improves operational safety. However, the narrow spaces in coal mine roadways (typically only 35m wide and 2.5–4m high) place extremely high demands on the compactness of the overall drilling rig layout. Existing automatic drill rod loading and unloading technologies suffer from the following insurmountable drawbacks: 1. Spatial interference is a prominent issue; existing automatic drill pipe loading and unloading robots mostly adopt a front-mounted (installed in front of the drilling rig main unit) or side-mounted rail type (installed on the side of the drilling rig main unit) layout. The robot body and the movement rail occupy a lot of space, which not only easily causes movement interference with core components such as drill pipe support, propulsion device, and drill frame, leading to frequent equipment failures, but also seriously reduces the safe operating space and emergency escape space for downhole workers, increasing the risk of personnel injury and death.

[0004] 2. Limited number of drill rods carried by the drilling rig at one time: Drill rod storage is mostly a fixed single-set structure, which limits the number of drill rods that can be carried at one time. Moreover, the storage structure cannot be flexibly adjusted according to the length of the drill rods, which leads to the need to frequently replenish drill rods during continuous drilling, resulting in many interruptions in rod loading and a 30-40% decrease in drilling efficiency.

[0005] 3. Frequent drill rod replacements and severe wear: Front-mounted and side-mounted rail-mounted robotic arms are limited by track length and cannot accommodate ultra-long drill rods (typically only rods ≤2m in length can be used). During long-hole drilling operations (drilling depths often reach 100–300m), frequent drill rod replacements are necessary. Each time a drill rod is replaced, the threads need to be repeatedly connected and tightened, leading to accelerated thread wear. This not only shortens the lifespan of the drill rod (current technology reduces the average lifespan of drill rod threads by 30–40%), but also easily causes air and water leaks in the borehole due to thread seal failure, affecting the quality of the drilling operation.

[0006] 4. Low equipment efficiency: In the existing technology, the drill pipe adding operation relies on the power head of the drilling rig to provide rotational power. When adding pipe, the power head needs to be reduced from the high speed state of drilling operation (usually 120-160 r / min) to a low speed state (usually 20-30 r / min). This causes the motor operating point to deviate from the high-efficiency operating range (the high-efficiency operating range of the motor usually corresponds to the speed of 110-140 r / min). The overall energy efficiency of the equipment is reduced by 20-25%, increasing downhole energy consumption. Summary of the Invention

[0007] The purpose of this invention is to provide an electric rear-mounted automatic rod-adding device and its usage method for electric-driven drilling rigs. The main body of the rod-adding device is located behind the main body of the drilling rig, completely freeing up the core working area on the front of the drilling rig, fundamentally eliminating the risk of interference between equipment, providing sufficient safety area for personnel, and adapting to the space constraints of narrow underground tunnels. It ensures the continuity and efficiency of drilling operations, enables smoother and more precise thread connection and tightening, protects the drill rod threads, and improves connection reliability.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An electric rear-mounted automatic rod extension device for an electric-driven drilling rig, equipped with a bearing base; A transverse transfer assembly and a double-unit drill pipe box are arranged side by side on the support base, and the drilling rig body is arranged adjacent to the transverse transfer assembly; A robotic arm is slidably mounted on the lateral movement component, and a drill rod gripping mechanism is installed at the end of the robotic arm; The robotic arm drives the drill rod gripping mechanism to move back and forth along the transverse transfer assembly, and grips the drill rod in the double-group drill rod box and installs it onto the main body of the drilling rig. The dual-group drill rod box is equipped with drill rods of different lengths, and the gripping width of the drill rod gripping mechanism is adjusted according to the length of the gripped drill rod.

[0009] Optionally, the robotic arm is equipped with a rotating base, on which a lifting base, an upper arm, a lower arm, and a wrist joint are sequentially mounted. The lifting base adjusts the height of the robotic arm; the rotating base enables 360° continuous rotation. The upper arm and lower arm are connected by a pin and driven by a second servo motor to achieve pitch movement from -30° to 90°; The wrist joint, equipped with a third servo motor, can swing ±45° to adjust the posture of the gripping mechanism.

[0010] Optionally, the drill rod gripping mechanism is equipped with a gear and rack adjustment mechanism, with a gripping arm at each end of the gear and rack adjustment mechanism; A clamping mechanism is provided on the clamping arm. The clamping mechanism is connected to the clamping arm through a gear transmission mechanism, which controls the opening and closing of the clamping mechanism. Friction wheels are embedded at the contact point between the clamping mechanism and the drill pipe to achieve axial rotation control of the drill pipe.

[0011] Optionally, the clamping mechanism is provided with a first clamping body and a second clamping body in a semi-circular docking configuration; The gear transmission mechanism includes a driving gear mounted on the gripping arm, a second driven gear meshing with the driving gear, and a first driven gear meshing with the second driven gear; The first driven gear has an extended tail and is hinged to the tail end of the first clamping body via a hinge shaft at the end of the first clamping body; the second driven gear has an extended tail and is hinged to the tail end of the second clamping body via a hinge shaft at the end of the second clamping body. Meanwhile, the gripping arm is hinged to the first gripping body and the second gripping body through the hinge axis in the middle of the first gripping body and the hinge axis in the middle of the second gripping body, respectively.

[0012] Optionally, the gear and rack adjustment mechanism is provided with an adjustment cavity, a gear is provided in the adjustment cavity, a rack is provided in mesh with the gear, and arms are provided at both ends of the rack; A width adjustment motor is installed outside the adjustment cavity to drive the gears; An external control clamping motor is installed on the arm to drive the gear transmission mechanism; The friction wheel is driven by a friction wheel drive motor; The clamping motor and width adjustment motor are stepper motors; the friction wheel drive motor is a servo motor.

[0013] Optionally, the lateral transfer component is equipped with double parallel rectangular guide rails, on which an integrated servo-driven slide is mounted, and a limiting buffer device is provided at the end; the integrated servo-driven slide is equipped with a first servo motor, driven by a lead screw, and four combined guide rail sliders are installed at the bottom of the slide, and the limiting buffer device is a polyurethane buffer block.

[0014] Optionally, the dual-group drill pipe box is equipped with a spacing adjustment slide rail, which is a two-part structure; Single-unit usage mode: The first movable compartment is mounted on one part of the spacing adjustment slide rail, and the second movable compartment is mounted on the other part. The first and second movable compartments are connected by a telescopic rod, which is driven by a drive motor to make the first and second movable compartments slide along the spacing adjustment slide rail. Dual-group usage mode: One part of the spacing adjustment slide rail is equipped with a first movable compartment and a first fixed compartment in sequence, and the other part is equipped with a second fixed compartment and a second movable compartment in sequence. The first movable compartment and the second movable compartment are connected by a telescopic rod, and the telescopic rod is driven by a drive motor to make the first movable compartment and the second movable compartment slide along the spacing adjustment slide rail; the first fixed compartment and the second fixed compartment are fixed.

[0015] Optionally, the support base is made of ductile iron and has laser centering reference blocks at the four corners, with a three-dimensional coordinate accuracy error of ≤0.05mm.

[0016] The method of using the electric rear-mounted automatic rod-adding device for any of the electric-driven drilling rigs described in this invention includes: S1 Positioning and Preparation: Perform three-dimensional coordinate calibration on the support base, simultaneously confirm that there are no foreign objects obstructing the lateral transfer component, perform zero-position calibration on the robotic arm, and open the drill pipe gripping mechanism to its maximum stroke; the dual-group drill pipe box can switch between single-group and dual-group usage modes according to the application scenario of the drill pipe. S2, Robotic arm grasps drill rod: Send grasping command The integrated servo-driven slide of the lateral transfer component moves along the rectangular guide rail to the initial rod-picking position near the drill pipe box under the drive of the first servo motor; the lifting base of the robotic arm adjusts its height, the upper arm and forearm adjust their pitch angle under the drive of the servo motor, and the wrist joint is finely adjusted to a horizontal posture by the third servo motor. When the clamping mechanism is aligned with the middle of the drill pipe, the electronic tag of the target drill pipe is read, and the historical matching parameters of the existing drill pipe are directly retrieved to establish a parameter fusion mapping relationship; the clamping motor drives the gear transmission component to start, and controls the clamping mechanism to retract radially until the clamping mechanism is close to the outer wall of the drill pipe; after confirming that the drill pipe is clamped, the robotic arm drives the drill pipe to slowly lift, and the upper arm and forearm retract in coordination in the direction away from the drill pipe box. The robotic arm lifts the drill pipe upward above the drill pipe box; S3, Horizontal Movement of the Rod: Sending a movement command The servo-driven slide of the lateral transfer component, driven by the first servo motor and via a lead screw, moves along the rectangular guide rail in the opposite direction to the main body of the drilling rig, until it reaches the rear of the main body. The robotic arm adjusts its posture, causing the drill rod gripping mechanism to swing to one side of the main body. The robotic arm then returns to its original position and adjusts the drill rod's posture to precisely align with the axis of the drilled rod. The servo-driven slide of the lateral transfer component, via a lead screw, drives the robotic arm and drill rod to move along the rectangular guide rail towards the main body of the drilling rig. During the movement, the limit buffer device monitors the slide's position in real time. When the drill rod is transferred to the predetermined position of the V-shaped positioning block behind the main body of the drilling rig, the robotic arm activates the fine-tuning mode. By adjusting the horizontal rotation angle of the rotary base, adjusting the pitch angle of the servo motors of the upper and lower arms, and controlling the rotation of the gripping mechanism around the axis by the third servo motor of the wrist joint, combined with the positioning feedback from the laser alignment reference block, the robotic arm completes the translational fine-tuning and rotational fine-tuning of the new drill rod in the X, Y, and Z axis directions, enabling the robotic arm to achieve... Positioning, ensuring that the threaded end of the new drill pipe is completely coaxially aligned with the threaded end of the already drilled pipe; S4. Tighten the buckle: Send docking command The robotic arm controls the drill rod gripping mechanism to move slowly forward, bringing the threaded end of the new drill rod into contact with the threaded end of the already drilled rod. The friction wheel drive motor of the gripping mechanism then starts, driving the friction wheel to rotate the new drill rod. Simultaneously, the robotic arm applies a thrust along the drill rod axis to assist in smooth thread engagement. During rotation, a torque sensor monitors the tightening torque in real time. When the torque reaches a preset value, the friction wheel drive motor stops, completing the thread tightening operation. If the torque suddenly increases during tightening, it is determined to be thread jamming. The friction wheel is immediately reversed, and the thrust is reduced to attempt to dislodge the jam. If jamming persists after three attempts, the system alarms and stops. S5. Reset: After the screwing operation is completed, the gear transmission mechanism of the drill rod gripping mechanism controls the clamping mechanism to open radially and release the new drill rod; then the upper arm, lower arm and wrist joints reset to the initial rod-grabbing posture; the servo-driven slide of the transverse transfer component moves in the opposite direction along the rectangular guide rail and returns to the standby position close to the drill rod box 5; the width adjustment motor drives the gear and rack adjustment mechanism to reset the width of the clamping mechanism to the default value.

[0017] Optionally, the specific control process for the robotic arm to grasp the drill rod in S2 includes: acquiring the grasping posture. docking pose X, Y, and Z represent the three-dimensional coordinates of the robotic arm; α, β, and γ represent the pitch angles of each joint of the robotic arm; the subscripts represent the target pose during grasping; g is the grasping pose; and t is the docking pose. Generation of three-segment adaptive trajectory: Constructing a forward kinematics model based on the DH parameters of the mechanical link ,in This refers to the real-time spacing of the drill pipe box, where ,in This refers to the horizontal displacement of the lateral conveying component; This refers to the boom rotation angle; Forearm pitch angle; This refers to the wrist rotation angle; Calculate the initial end-effector pose corresponding to the initial joint angle for the gripper opening angle, with an angle error ≤ 0.5°; Generate adaptive trajectories according to task phases: Segment capture ( Cartesian linear interpolation is used, and the node spacing is dynamically adjusted according to the drill pipe diameter to ensure clamping alignment accuracy. Transfer section ( (To facilitate the transitional pose before docking), a seventh-order polynomial interpolation of the joint space is used, and the node spacing is adapted according to the vibration frequency to achieve smooth and shock-free motion. docking section ; The node spacing is ≤ P / 4, where P is the thread lead, which is applicable to the thread engagement rhythm; Collision detection employs a composite algorithm of "convex hull + axis-aligned bounding box" to satisfy... ,in It is a convex envelope; Let i be the i-th link of the robotic arm; Obstacles to the drill rod box, power head, or slide rail; An obstacle is approximated by an axis-aligned cuboid bounding box; This means minimizing the distance; Specification-adaptive double-inverse model calculation: Single-joint reverse model: Introducing a drill pipe weight correction factor ,in The weight influence coefficient. This is the current weight of the drill pipe. For standard drill pipe weight; calculate the increment of individual joint angles. ,satisfy ; Indicates the joint angle at the previous moment; Multi-joint linkage model: using the weighted pseudo-inverse Jacobian algorithm ,in It is the pseudo-inverse of the Jacobian matrix. Weights are adapted to the specifications. hour =0.75, hour =0.9; After calculation, a torque balance check is performed. ,in The output torque of joint i, The maximum rated torque for the joint; Vibration pre-compensation dynamic correction; to address drill pipe offset caused by downhole vibration, pre-correction is performed before the k-th step to ensure docking accuracy: Migration prediction; based on current downhole vibration frequency Through formula Predict the drill pipe offset during the execution of step k, where The vibration coefficient; Let k be the execution time of step k. Joint correction conversion; converting predicted drill pipe offset. ,pass The predicted offset is converted into vibration pre-correction increments for each joint. This represents the joint angle error of the i-th joint; Joint control and self-learning iteration; integrating basic increments and pre-correction increments, selecting the optimal instructions and iteratively optimizing: Total increment calculation; for each joint i, calculate the total execution angle increment at step k. ; Optimal instruction selection: With pose accuracy and torque stability as objectives, the optimal joint adjustment scheme is selected to meet the following requirements. ,in The average torque of the joint; To optimize joint numbering; This represents the torque at the i-th joint; Iteration termination and optimal solution selection; Euclidean distance between the current pose and the target pose ≤ hour, Indicates the final target location. θ Indicate the final tolerable error, then stop iteration; compare with the optimal solution of the single-joint inverse model. Solution with multi-joint linkage model The joint angle with smaller pose error and more stable torque is selected as the final control command. or .

[0018] Technical effects of the present invention: The electric rear-mounted automatic drilling device for drilling rigs of the present invention sets the main body of the automatic rod adding device at the rear of the drilling rig host, completely freeing up the core working area in front of the drilling rig, reducing the equipment interference failure rate by more than 80%; the safe operating space for personnel is increased by 1.5 to 2 times, greatly reducing the risk of injury and death, and is suitable for narrow underground tunnels; The electric rear-mounted automatic drilling device for drilling rigs of the present invention, through the cooperation of a dedicated miniaturized rotary drive motor and a high-precision control system, achieves smooth connection and precise tightening of drill rod threads, significantly reduces thread wear, extends the service life of drill rods, and improves energy utilization; the equipment efficiency is increased by 20% to 25%, and the energy consumption per unit drilling hole is reduced. The electric rear-mounted automatic drilling device for drilling rigs of the present invention can use extended drill rods, allowing for greater drilling depth with a single drill rod, thereby significantly reducing the frequency of drill rod replacement; the drill rod carrying capacity is significantly increased, with a carrying capacity increase of 80% to 100% when drilling with short drill rods; the number of drill rod replenishment times is reduced by more than 60%, the interruption time of adding drill rods is shortened, and the overall drilling efficiency is improved by 30% to 40%. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a general layout diagram of the electric rear-mounted automatic rod-adding device for electric-driven drilling rigs according to the present invention; Figure 2 This is an isometric view of the lateral transfer assembly; Figure 3 Here is a structural diagram of the robotic arm; Figure 4 Here is a structural diagram of the drill pipe gripping mechanism; Figure 5 for Figure 4 Structure diagram of a single gripper arm; Figure 6 This is a layout diagram of a dual-group drill pipe box; Figure 7 Overall layout diagram of the electric rear-mounted automatic rod extension device (dual-group mode) for drilling rigs; Figure 8 Flowchart for drilling rig robotic arm path planning; Figure 9 Simplified flowchart of an electric rear-mounted automatic rod extension device for drilling rigs; 1-Bearing base, 2-Lateral transfer assembly, 3-Mechanical arm, 4-Drill rod gripping mechanism, 5-Dual drill rod box, 6-Drill rig body, 7-Drill rig control power box, 8-Oil tank assembly, 9-Crawler assembly; 21-Double parallel rectangular guide rails, 22-Integrated servo drive slide, 23-Limit buffer device, 24-First servo motor, 25-Lead screw, 26-Combined guide rail slider; 31-Rotating base, 32-Upper arm, 33-Lower arm, 34-Wrist joint, 35-Second servo motor, 36-Third servo motor, 37-Lifting base; 41-Clamping motor, 42-Gear transmission mechanism, 421-Driving gear, 422-First driven gear, 423-Second driven gear, 424-First clamping body end hinge shaft, 425-Second clamping body end hinge shaft, 426-First arm body hinge shaft, 427-Second arm body hinge shaft, 428-First clamping body middle hinge shaft, 429-Second clamping body middle hinge shaft, 43-Friction wheel drive motor, 44-Friction wheel, 45-Clamping mechanism, 451-First clamping body, 452-Second clamping body, 46-Width adjustment motor, 47-Gear and rack adjustment mechanism, 471-Adjustment cavity, 472-Gear, 473-Rack, 474-Arm body; 51-Drill pipe chamber, 52-Drive motor, 53-Gap adjustment slide rail; 511 - First mobile warehouse, 512 - First fixed warehouse, 513 - Second fixed warehouse, 514 - Second mobile warehouse. Detailed Implementation

[0020] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “parentheses” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The following description is only for explaining the present invention and does not limit its content.

[0023] The units for the specific physical parameters in this invention are: temperature T "℃", density "kg / m³", and specific heat capacity "J / (kg)". ℃), Flow rate (L / min), Power (W), Flow velocity (m / s), Area (m²) 2 The unit of torque is "N". "m" refers to the unit of rotational speed "r / min", "t" refers to the unit of working time "s", and all other units not specified are internationally accepted units.

[0024] The automatic drill pipe extension device and its usage method of this invention place the main body of the extension device behind the drilling rig, completely freeing up the core working area in front of the drilling rig, fundamentally eliminating the risk of interference between equipment, providing ample safety space for personnel, and adapting to the space constraints of narrow underground tunnels. It features a switchable single / dual-mode drill pipe box, enabling flexible storage of long / short drill pipes, significantly increasing the amount of drill pipe carried per trip, reducing the frequency of drill pipe replenishment, and improving extension efficiency. It can flexibly connect drill pipes of different lengths according to the drilling depth, greatly reducing the frequency of pipe changes, thereby reducing wear on the drill pipe threads and ensuring the continuity and efficiency of drilling operations. The rear-mounted automatic extension device integrates a dedicated, miniaturized rotary drive motor. The motor always operates in a high-efficiency range, resulting in lower energy consumption. It achieves smoother and more precise thread connection and tightening, protecting the drill pipe threads and improving connection reliability.

[0025] Combination Figure 1-7 The electric rear-mounted automatic drill rod attachment device for drilling rigs of the present invention mainly includes a support base 1, a transverse transfer assembly 2, a liftable multi-degree-of-freedom robotic arm 3, a width-adjustable drill rod gripping mechanism 4, a double-group drill rod box 5, a drilling rig body 6, a drilling rig control power box 7, an oil tank assembly 8, and a track assembly 9. The transverse transfer assembly 2 and the double-group drill rod box 5 are arranged side by side on the support base 1, and the drilling rig body 6 is arranged adjacent to the transverse transfer assembly 2. The robotic arm 3 is slidably mounted on the transverse transfer assembly 2, and the drill rod gripping mechanism 4 is installed at the end of the robotic arm 3. The robotic arm 3 drives the drill rod gripping mechanism 4 to move back and forth along the transverse transfer assembly 2, and grips the drill rod in the double-group drill rod box 5 and installs it onto the drilling rig body 6. The double-group drill rod box 5 contains drill rods of different lengths, and the gripping width of the drill rod gripping mechanism 4 is adjusted according to the length of the gripped drill rod. The support base 1 is fixedly installed below the drilling rig body 6. The transverse transfer component 2 is horizontally embedded on the top of the support base 1. The liftable multi-degree-of-freedom robotic arm 3 is vertically installed on the transverse transfer component 2. The width-adjustable drill rod gripping mechanism 4 is installed at the end of the liftable multi-degree-of-freedom robotic arm 3. The dual-group drill rod box 5 is located on one side of the support base 1 and is adapted to the movement trajectory of the transverse transfer component 2. The drilling rig control power box 7 and the oil tank assembly 8 are respectively installed on the side of the drilling rig body 6. The crawler assembly 9 is installed at the bottom of the drilling rig body 6 to realize the overall movement of the device. In this invention, the supporting base 1 is integrally cast from ductile iron, with 6 sets of M30 pre-embedded bolt holes at the bottom. It is rigidly connected to the load-bearing structure at the rear of the main unit through 8-10mm shock-absorbing pads, which can absorb the vibration of the device during operation. The upper surface of the base is precision ground, and there are 45 steel chrome-plated laser centering reference blocks 81 at the four corners. The three-dimensional coordinate accuracy error is ≤0.05mm, which provides a reference for the positioning and calibration of each component. In this invention, the transverse transfer component 2 is equipped with double parallel rectangular guide rails 21, on which an integrated servo-driven slide 22 is mounted, and a limiting buffer device 23 is provided at the end. The integrated servo-driven slide 22 is equipped with a first servo motor 24, which is driven by a lead screw 25. The bottom of the slide is equipped with four combined guide rail sliders 26, and the limiting buffer device 23 is a polyurethane buffer block. The double parallel rectangular guide rails 21 are made of 40Cr heat-treated steel, with a guide rail spacing of 600mm and an effective stroke of 2800mm, to meet the transfer requirements of drill pipes of different lengths. The integrated servo-driven slide 22 is equipped with a first servo motor 24, which is driven by a lead precision ball screw 25, with a positioning accuracy of ±0.05mm and a repeatability of ±0.02mm. The bottom of the slide is equipped with four combined guide rail sliders 26 with built-in self-lubricating bearings to reduce sliding friction. The limiting buffer device 23 is a polyurethane buffer block with a stroke of 20mm to avoid rigid collisions at the extreme positions of the slide. In this invention, the robotic arm 3 is equipped with a rotating base 31, on which a lifting base 37, a large arm 32, a forearm 33, and a wrist joint 34 are sequentially mounted. The lifting base 37 adjusts the height of the robotic arm 3; the rotating base 31 achieves 360° continuous rotation; the large arm 32 and the forearm 33 are connected by a pin and driven by a second servo motor 35 to achieve pitch movement from -30° to 90°; the wrist joint 34, equipped with a third servo motor 36, completes ±45° swing to adjust the posture of the gripping mechanism; the lifting base 37 includes a hydraulic cylinder and is equipped with a magnetostrictive displacement sensor (accuracy ±0.05mm) to flexibly adjust the height of the robotic arm; the rotating base 31 is driven by an RV reducer with a transmission ratio of 1:100, enabling 360° continuous rotation; the large arm 32 and the forearm 33 are made of extruded aluminum alloy profiles and are connected by a pin, driven by a second servo motor 35 to achieve pitch movement from -30° to 90°. Pitching motion; the wrist joint 34 is equipped with a third servo motor 36, which can swing ±45° to adjust the posture of the gripping mechanism.

[0026] In this invention, the drill rod gripping mechanism 4 is equipped with a gear and rack adjustment mechanism 47, with a gripping arm at each end of the gear and rack adjustment mechanism 47; a clamping mechanism 45 is provided on the gripping arm, and the clamping mechanism 45 is connected to the clamping arm through a gear transmission mechanism 42, which controls the opening and closing of the clamping mechanism 45; a friction wheel 44 is embedded at the contact point between the clamping mechanism 45 and the drill rod to achieve axial rotation control of the drill rod; the clamping motor 41 and the width adjustment motor 46 are stepper motors, and the gear transmission mechanism 42 has a transmission ratio of 1:5; the clamping mechanism 45 is made of 45 steel with chrome plating, suitable for 70-135mm drill rods, with polyurethane wear-resistant blocks embedded on the inner side, and a clamping force range of 515kN; the friction wheel drive motor 43 is a servo motor, driving the nitrile rubber anti-slip friction wheel 44, with a diameter of 120mm, which can drive the drill rod to rotate at 20-30r / min; the gear and rack adjustment mechanism 47 can achieve a rotation of 200-350mm. The width is infinitely adjustable (accuracy ±0.5mm) to accommodate drill pipes of different lengths; the mechanism has a built-in pressure sensor (0~20kN, ±0.1kN) to monitor the clamping status; specifically, the clamping mechanism 45 is equipped with a semi-circularly connected first clamping body 451 and a second clamping body 452; the gear transmission mechanism 42 includes a driving gear 421 mounted on the clamping arm, a second driven gear 423 meshing with the driving gear 421, and a first driven gear 423 meshing with the second driven gear 423. Driven gear 422; First driven gear 422 is provided with an extended tail and is hinged to the tail end of the first clamping body 451 through the first clamping body end hinge shaft 424; Second driven gear 423 is provided with an extended tail and is hinged to the tail end of the second clamping body 452 through the second clamping body end hinge shaft 425; At the same time, the clamping arm is hinged to the first clamping body 451 and the second clamping body 452 through the first clamping body middle hinge shaft 428 and the second clamping body middle hinge shaft 429 respectively. In addition, the gear and rack adjustment mechanism 47 is provided with an adjustment cavity 471, a gear 472 is provided in the adjustment cavity 471, and a rack 473 is provided in mesh with the gear 472. Arms 474 are provided at both ends of the rack 473. A width adjustment motor 46 is provided outside the adjustment cavity 471 to drive the gear 472. A control clamping motor 41 is provided outside the arm 474 to drive the gear transmission mechanism 42. The friction wheel 44 is driven by a friction wheel drive motor 43. The control clamping motor 41 and the width adjustment motor 46 are stepper motors. The friction wheel drive motor 43 is a servo motor.

[0027] In this invention, the dual-set drill pipe box is equipped with a spacing adjustment slide rail 53, which consists of two separate structures; it has two usage modes: Single-unit operation mode: One split of the spacing adjustment slide rail 53 is equipped with a first movable compartment 511, and the other split is equipped with a second movable compartment 514. The first movable compartment 511 and the second movable compartment 514 are connected by a telescopic rod, which is driven by a drive motor 52, causing the first movable compartment 511 and the second movable compartment 514 to slide along the spacing adjustment slide rail 53. Single-unit operation mode is suitable for long drill pipes: 1000~3000mm: Only two drill pipe storage units, the first movable compartment 511 and the second movable compartment 514, are used. The bottom of the unit is an electromagnetic vibrator (50Hz, amplitude 0~2mm). The drill pipe compartment 51 is equipped with a 60°V... A chrome-plated seamless steel pipe roller assembly with a shaped included angle; during adjustment, the positioning locking assembly (including locking block and locking cylinder) is released, and the drive motor 52 pushes the unit to slide along the spacing adjustment slide rail 53 to adjust the longitudinal span to 1000-3000mm. After locking, the laser sensor verifies the accuracy (error ≤0.5mm); this mode can store 2430 long drill rods; Dual-group usage mode: A first movable compartment 511 and a first fixed compartment 512 are sequentially mounted on one part of the spacing adjustment slide rail 53, and a second fixed compartment 513 and a second movable compartment 514 are sequentially mounted on the other part. The first movable compartment 511 and the second movable compartment 514 are connected by a telescopic rod, and the telescopic rod is driven by a drive motor 52 to drive the first movable compartment 511 and the second movable compartment 514 to slide along the spacing adjustment slide rail 53; the first fixed compartment 512 and the second fixed compartment 513 are fixed. Dual-group usage mode adapted for short drill pipes: 700~1500mm: Four drill pipe storage units are activated: first movable chamber 511, first fixed chamber 512, second fixed chamber 513, and second movable chamber 514. The first fixed chamber 512 and second fixed chamber 513 are fixed units, while the first movable chamber 511 and second movable chamber 514 are movable units. During adjustment, the drive motor 52 drives the movable unit to move in the opposite direction along the spacing adjustment slide rail 53, adjusting the two groups of spacing to 500~1200mm. A bidirectional displacement sensor monitors synchronization (automatic correction if deviation exceeds ±0.5mm). After reaching the desired position, use M16 high-strength bolts (tightening torque 80~100N). m) Fixed; This mode can store 48 to 60 short drill pipes, which is 80 to 120% more carrying capacity than the existing fixed single-group drill pipe magazine; Combination Figure 8 and 9 Mode switching: Drive motor 52 drives the movable unit to move to the innermost side along the spacing adjustment slide rail 53; add drill rod storage unit and adjust its position; through the PLC controller of the drilling rig control power box 7, combined with the preset track and locking mechanism, complete the automatic locking and combination of the newly added unit.

[0028] 1. Before positioning, each drill pipe is labeled, and the PLC is associated with its "number of uses, wear record, and previously captured adaptation parameters" to achieve a more refined grasping mode; For a new batch of drill pipes, the initial adaptation template for the new batch is quickly generated by comparing the matching parameters of drill pipes with similar features from the old batch, saving the training time of the full sample. 2. After the mode replacement, the PLC controller will automatically generate a composite path based on the real-time spacing of the drill pipe box, which involves first lifting, then translating, and finally precisely positioning. 1) The lifting height is dynamically adjusted according to the drill pipe length to avoid collision with the edge of the drill pipe box; 2) During the translation process, the "pre-stored drilling rig outline model" is called in real time to preview the posture of the robotic arm. At the same time, the displacement data of the spacing adjustment slide rail + the positioning information of the laser sensor are automatically read, and the three-dimensional coordinates of all drill pipe storage units are updated in real time. There is no need to manually recalibrate the storage position, ensuring that the path is completely adapted to the current drill pipe box layout. 3) If drill rod misalignment occurs after switching, the algorithm will drive the electromagnetic vibrator (50Hz) to vibrate slightly to assist in positioning.

[0029] 3. After switching, a closed-loop process of "path verification, data capture and trial and error, and parameter correction" is triggered. 1) First, let the robotic arm move along the planned path once to verify whether it interferes with the drill pipe box; 2) Grab a drill rod for virtual docking, and at the same time, combine the pressure distribution data of the clamping force sensor to fine-tune the lifting height of the robotic arm / wrist angle (within ±5°) to correct the slight offset of the drill rod's center of gravity and ensure that the part is picked up horizontally and stably; 3) If the parameters are abnormal, the path / clamping force will be automatically corrected, and the corrected data will be recorded synchronously to the PLC's adaptation database. It can be directly called when switching drill pipes of the same specification in the future, further shortening the preparation time.

[0030] The method of using the electric rear-mounted automatic rod extension device for electric-driven drilling rigs of the present invention includes: 1. Positioning and Preparation: When the equipment is powered on, the integrated control system automatically starts a self-test program to perform three-dimensional coordinate calibration (error ≤ 0.05mm) on the laser centering reference block 81 of the bearing base 1 to ensure the positioning reference accuracy; simultaneously confirm that there are no foreign objects blocking the double parallel rectangular guide rails 21 of the transverse transfer component 2, and the lifting multi-degree-of-freedom robotic arm 3 performs zero-position calibration, so that the lifting base 37 is lowered to the lowest working position, and the rotating base 31, upper arm 32, lower arm 33 and wrist joint 34 are in the zero position state; the clamping mechanism 45 of the width adjustable drill rod gripping mechanism 4 opens to the maximum stroke, and the width adjustment motor 46 drives the gear and rack adjustment mechanism 47 to reset to the default clamping width (250mm); the clamping mechanism 45 of the drill rod gripping mechanism 4 opens to the maximum stroke, and the electromagnetic vibrator of the dual-group drill rod box 5 starts pre-running for 3 seconds and then switches to standby mode, while checking whether the positioning locking component is in the locked state; 2. Mechanism Pre-adjustment: The PLC executes scenario-specific adjustment commands based on the length of the drill rod to be added and the preset storage units. In the long drill rod adjustment scenario, a command is sent to the drive motor 52 of the dual-group drill rod box 5 to drive a single storage unit to slide along the spacing adjustment slide rail 53. The position signal is fed back through the encoder. When the longitudinal span of the drill rod box matches the length of the drill rod, the locking element of the positioning locking component is controlled to engage in the slot. After mechanical locking is completed, the span accuracy is verified a second time through the laser sensor. In the short drill rod scenario, the drive motors 52 of the two sets of storage units are controlled synchronously to keep the first fixed chamber 512 and the second fixed chamber 513 fixed. The first moving chamber 511 and the second moving chamber 514 move in opposite directions along the spacing adjustment slide rail 53 to adjust the spacing between the two sets of units to within 500-1200mm to adapt to the size of the short drill rod. During the adjustment process, the synchronization is monitored by a bidirectional displacement sensor. If the deviation exceeds ±0.5mm, it is automatically corrected. After reaching the position, the locking bolts are tightened.

[0031] 3. Generation of three-segment adaptive trajectory: The grasping pose is obtained through a laser centering sensor. docking pose X, Y, and Z represent the three-dimensional coordinates of the robotic arm; α, β, and γ represent the pitch angles of each joint of the robotic arm; subscripts represent the target pose during grasping; g is the grasping pose; and t is the docking pose. Generation of the three-segment adaptive trajectory: a forward kinematic model is constructed based on the DH parameters of the mechanical link. ,in This refers to the real-time spacing of the drill pipe box, where ,in This refers to the horizontal displacement of the lateral conveying component; This refers to the boom rotation angle; Forearm pitch angle; This refers to the wrist rotation angle; Calculate the initial end-effector pose corresponding to the initial joint angle for the gripper opening angle, with an angle error ≤ 0.5°; Generate adaptive trajectories according to task phases: Segment capture ( Cartesian linear interpolation is used, and the node spacing is dynamically adjusted according to the drill pipe diameter to ensure clamping alignment accuracy. Transfer section ( (To facilitate the transitional pose before docking), a seventh-order polynomial interpolation of the joint space is used, and the node spacing is adapted according to the vibration frequency to achieve smooth and shock-free motion. docking section ; The node spacing is ≤ P / 4, where P is the thread lead, which is applicable to the thread engagement rhythm; Collision detection employs a composite algorithm of "convex hull + axis-aligned bounding box" to satisfy... ,in It is a convex envelope; Let i be the i-th link of the robotic arm; Obstacles to the drill rod box, power head, or slide rail; An obstacle is approximated by an axis-aligned cuboid bounding box; This means minimizing the distance; Specification-adaptive double-inverse model calculation: Single-joint reverse model: Introducing a drill pipe weight correction factor ,in The weight influence coefficient. This is the current weight of the drill pipe. For standard drill pipe weight; calculate the increment of individual joint angles. ,satisfy ; Indicates the joint angle at the previous moment; Multi-joint linkage model: using the weighted pseudo-inverse Jacobian algorithm ,in It is the pseudo-inverse of the Jacobian matrix. Weights are adapted to the specifications. hour =0.75, hour =0.9; After calculation, a torque balance check is performed. ,in The output torque of joint i, The maximum rated torque for the joint; Vibration pre-compensation dynamic correction; to address drill pipe offset caused by downhole vibration, pre-correction is performed before the k-th step to ensure docking accuracy: Migration prediction; based on current downhole vibration frequency Through formula Predict the drill pipe offset during the execution of step k, where The vibration coefficient; Let k be the execution time of step k. Joint correction conversion; converting predicted drill pipe offset. ,pass The predicted offset is converted into vibration pre-correction increments for each joint. This represents the joint angle error of the i-th joint; Joint control and self-learning iteration; integrating basic increments and pre-correction increments, selecting the optimal instructions and iteratively optimizing: Total increment calculation; for each joint i, calculate the total execution angle increment at step k. ; Optimal instruction selection: With pose accuracy and torque stability as objectives, the optimal joint adjustment scheme is selected to meet the following requirements. ,in The average torque of the joint; To optimize joint numbering; This represents the torque at the i-th joint; Iteration termination and optimal solution selection; Euclidean distance between the current pose and the target pose ≤ hour, Indicates the final target location. θ Indicate the final tolerable error, then stop iteration; compare with the optimal solution of the single-joint inverse model. Solution with multi-joint linkage model The joint angle with smaller pose error and more stable torque is selected as the final control command. or .

[0032] 4. The robotic arm grasps the drill rod: The PLC sends a grasping command. The integrated servo-driven slide 22 of the lateral transfer component 2 moves along the rectangular guide rail 21 to the initial rod-picking position near the drill rod box 5 under the drive of the first servo motor 24; the lifting base 37 of the liftable multi-degree-of-freedom robotic arm 3 adjusts its height through a telescopic hydraulic cylinder to avoid interference with the drill rod box; the upper arm 32 and the lower arm 33 adjust their pitch angle under the drive of the servo motor 35, and the wrist joint 34 is finely adjusted to a horizontal posture by the third servo motor 36. When the clamping mechanism 45 is aligned with the middle of the drill rod, the electronic tag of the target drill rod is read. The existing drill rods directly retrieve historical matching parameters, and the new batch of drill rods are matched by similar features (length, diameter, weight, thread lead, number of uses and wear) to quickly generate an initial adaptation template, saving the full sample training step; a parameter fusion mapping relationship is established; the clamping motor 41 drives the gear transmission component 42 to start, and controls the radial retraction of the chuck until the polyurethane wear-resistant block embedded in the chuck is tightly attached to the outer wall of the drill rod, and the pressure sensor detects that the clamping force reaches 8-12kN. The system provides timely feedback indicating "clamping in place"; after confirming the drill rod is clamped, the wrist joint 34 swings slightly (±5°), coordinating with the electromagnetic vibrator at the bottom of the drill rod box to prevent the drill rod from jamming. The robotic arm slowly lifts the drill rod by 50mm, and after it disengages from the V-shaped roller group, it provides feedback indicating "clamping complete"; the upper arm 32 and the lower arm 33 work together to retract away from the layered V-shaped roller group 51 of the drill rod box, and the multi-degree-of-freedom lifting robotic arm 3 lifts the drill rod upward through the lifting base 37 (≥50mm above the top of the drill rod box), ensuring that the drill rod and the robotic arm gripping mechanism are completely disengaged from the drill rod box, and the machine provides feedback indicating "gripping complete"; 5. Horizontal movement of the rod: The PLC sends a movement command. The servo-driven slide 22 of the transverse transfer component 2, driven by the first servo motor 24 and transmitted through the precision ball screw 25, moves along the rectangular guide rail 21 at a speed of 200 mm / s towards the opposite direction of the drilling rig body 6, until it reaches 5 mm behind the drilling rig body. The liftable multi-degree-of-freedom robotic arm 3 adjusts its posture, causing the width-adjustable drill rod gripping mechanism 4 to swing to one side of the drilling rig body. The liftable multi-degree-of-freedom robotic arm 3 returns to its original position via the lifting base 37 and adjusts the drill rod's position to precisely align with the axis of the drilled drill rod. The servo-driven slide 22 of the transverse transfer component 2, transmitted through the precision ball screw 25, drives the robotic arm and drill rod along the rectangular guide rail 21 towards the drilling rig body 6 at a speed of 150 mm / s. During the movement, the limit buffer device 23 monitors the slide position in real time. When the slide is 500 mm away from the drilling rig body 6, the PLC reduces the servo motor speed to 50 mm / s to ensure that the transfer accuracy is controlled within ±0.05 mm. Within the specified range, collisions between the drill rod and surrounding components are avoided. When the drill rod is moved to the predetermined position of the V-shaped positioning block 61 behind the main body of the drilling rig 6, the multi-degree-of-freedom robotic arm 3 can be raised and lowered in fine-tuning mode. The horizontal rotation angle is adjusted by the RV reducer of the rotary base 31, the pitch angle is finely adjusted by the servo motors 35 of the upper arm 32 and the lower arm 33, and the third servo motor 36 of the wrist joint 34 controls the clamping mechanism 45 to rotate around the axis. Combined with the positioning feedback of the laser centering reference block 81, the new drill rod is translated and fine-tuned in the X, Y, and Z axis directions (accuracy ±0.1mm) and rotated around the axis (accuracy ±0.1°), so that the robotic arm can achieve... Positioning, thereby ensuring that the threaded end of the new drill rod is completely coaxially aligned with the threaded end of the already drilled rod (error ≤ 0.05mm); 6. Tighten the locking mechanism: The PLC sends the docking command. The liftable multi-degree-of-freedom robotic arm 3 controls the adjustable-width drill rod gripping mechanism 4 to move slowly forward, pushing the new drill rod at a speed of 510 mm / s. After the thread of the new drill rod lightly contacts the thread of the already drilled rod, the pushing speed is immediately reduced to 1-2 mm / s. The friction wheel drive motor 43 of the drill rod gripping mechanism 4 starts, and the speed is controlled by PWM signal to be 20-30 r / min. The friction wheel 44 drives the new drill rod to rotate at a speed of 20-30 r / min. At the same time, the robotic arm applies a slight pushing force of 510 kN along the axis of the drill rod to assist in the smooth engagement of the thread. During the rotation, the torque sensor monitors the tightening torque in real time. When the torque reaches the preset value, the friction wheel drive motor 43 stops working, and the tightening operation of the drill rod thread is completed. If the torque suddenly increases during the tightening process, it is determined that the thread is stuck. The PLC immediately reverses the friction wheel (10-20 r / min) and reduces the pushing force (23 kN) to try to release the stuck thread. If the stuck thread still occurs after 3 attempts, the system alarms and stops. 7. Reset: After the screwing operation is completed, the gear transmission mechanism 42 of the width-adjustable drill rod gripping mechanism 4 controls the clamping mechanism 45 to open radially, releasing the new drill rod. After the simple sensor confirms that the clamping force has returned to zero, it sends a signal indicating that the release is complete. Subsequently, the upper arm 32, forearm 33, and wrist joint 34 reset to the initial rod-picking posture; the servo-driven slide 22 of the lateral transfer component 2 moves in the opposite direction along the rectangular guide rail 21, returning to the standby position near the drill rod box 5; the width adjustment motor 46 drives the gear and rack adjustment mechanism 47 to reset the width of the clamping mechanism 45 to the default value.

[0033] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig, characterized in that, Set a bearing base (1); A transverse transfer assembly (2) and a double-group drill rod box (5) are arranged side by side on the support base (1), and the drilling rig body (6) is arranged adjacent to the transverse transfer assembly (2). A robotic arm (3) is slidably mounted on the lateral moving component (2), and a drill rod gripping mechanism (4) is installed at the end of the robotic arm (3). The robotic arm (3) drives the drill rod gripping mechanism (4) to move back and forth along the transverse transfer assembly (2) and grips the drill rod in the double-group drill rod box (5) and installs it onto the main body of the drilling rig (6); The dual-group drill rod box (5) is equipped with drill rods of different lengths, and the gripping width of the drill rod gripping mechanism (4) is adjusted according to the length of the gripping drill rod.

2. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 1, characterized in that, The robotic arm (3) is equipped with a rotating base (31), and a lifting base (37), a large arm (32), a small arm (33) and a wrist joint (34) are arranged on the rotating base (31) in sequence. The lifting base (37) adjusts the height of the robotic arm (3); the rotating base (31) achieves 360° continuous rotation; The upper arm (32) and the lower arm (33) are connected by a pin and driven by a second servo motor (35) to achieve pitch movement from -30° to 90°; The wrist joint (34) swings ±45° via the equipped third servo motor (36) to adjust the posture of the gripping mechanism.

3. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 1 or 2, characterized in that, The drill rod gripping mechanism (4) is equipped with a gear and rack adjustment mechanism (47), and a gripping arm is provided at each end of the gear and rack adjustment mechanism (47); A clamping mechanism (45) is provided on the clamping arm. The clamping mechanism (45) is connected to the clamping arm through a gear transmission mechanism (42) and controls the opening and closing of the clamping mechanism (45). Friction wheels (44) are embedded at the contact point between the clamping mechanism (45) and the drill rod to achieve axial rotation control of the drill rod.

4. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 3, characterized in that, The clamping mechanism (45) is provided with a first clamping body (451) and a second clamping body (452) in a semi-circular docking configuration. The gear transmission mechanism (42) includes a drive gear (421) disposed on the gripping arm, a second driven gear (423) meshing with the drive gear (421), and a first driven gear (422) meshing with the second driven gear (423). The first driven gear (422) has an extended tail and is hinged to the tail end of the first clamping body (451) via the first clamping body end hinge shaft (424); the second driven gear (423) has an extended tail and is hinged to the tail end of the second clamping body (452) via the second clamping body end hinge shaft (425). Meanwhile, the gripping arm is hinged to the first gripping body (451) and the second gripping body (452) respectively through the hinge shaft (428) in the middle of the first gripping body and the hinge shaft (429) in the middle of the second gripping body.

5. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 3 or 4, characterized in that, The gear and rack adjustment mechanism (47) is provided with an adjustment cavity (471), a gear (472) is provided in the adjustment cavity (471), and a rack (473) is provided in mesh with the gear (472). Arms (474) are provided at both ends of the rack (473). A width adjustment motor (46) is provided outside the adjustment cavity (471) to drive the gear (472); A control clamping motor (41) is installed outside the arm body (474) to drive the gear transmission mechanism (42). The friction wheel (44) is driven by a friction wheel drive motor (43); The clamping motor (41) and the width adjustment motor (46) are stepper motors; the friction wheel drive motor (43) is a servo motor.

6. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 1 or 2, characterized in that, The lateral transfer component (2) is provided with double parallel rectangular guide rails (21), on which an integrated servo drive slide (22) is mounted, and a limiting buffer device (23) is provided at the end; the integrated servo drive slide (22) is equipped with a first servo motor (24), which is driven by a lead screw (25), and four combined guide rail sliders (26) are installed at the bottom of the slide. The limiting buffer device (23) is a polyurethane buffer block.

7. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 1 or 2, characterized in that, The dual-group drill pipe box is equipped with a spacing adjustment slide rail (53), which is a two-part structure; Single-unit usage mode: A first movable compartment (511) is mounted on one part of the spacing adjustment slide rail (53), and a second movable compartment (514) is mounted on the other part. The first movable compartment (511) and the second movable compartment (514) are connected by a telescopic rod, and the telescopic rod is driven by a drive motor (52) to drive the first movable compartment (511) and the second movable compartment (514) to slide along the spacing adjustment slide rail (53); Dual-group usage mode: A first movable compartment (511) and a first fixed compartment (512) are sequentially mounted on one part of the spacing adjustment slide rail (53), and a second fixed compartment (513) and a second movable compartment (514) are sequentially mounted on the other part. The first movable compartment (511) and the second movable compartment (514) are connected by a telescopic rod, and the telescopic rod is driven by a drive motor (52) to drive the first movable compartment (511) and the second movable compartment (514) to slide along the spacing adjustment slide rail (53); the first fixed compartment (512) and the second fixed compartment (513) are fixed.

8. The electrically powered rear-mounted automatic rod-adding device for an electric-driven drilling rig according to claim 1 or 2, characterized in that, The support base (1) is integrally cast from ductile iron, and laser centering reference blocks (81) are provided at the four corners, with a three-dimensional coordinate accuracy error of ≤0.05mm.

9. The method of using the electric rear-mounted automatic rod extension device for an electric-driven drilling rig according to any one of claims 2-8, characterized in that, include: S1 Positioning and Preparation: Perform three-dimensional coordinate calibration on the bearing base (1), simultaneously confirm that there are no foreign objects blocking the transverse transfer component (2), perform zero-position calibration on the robotic arm (3), and open the drill rod gripping mechanism (4) to its maximum stroke; the dual-group drill rod box (5) switches between single-group or dual-group usage mode according to the drill rod's applicable scenario. S2, Robotic arm grasps drill rod: Send grasping command The integrated servo-driven slide (22) of the transverse transfer component (2) moves along the rectangular guide rail (21) to the initial rod-picking position near the drill rod box (5) under the drive of the first servo motor (24); the lifting base (37) of the robotic arm (3) adjusts its height, the upper arm (32) and the lower arm (33) adjust their pitch angle under the drive of the servo motor (35), the wrist joint (34) is finely adjusted to a horizontal posture by the third servo motor (36), and when the clamping mechanism (45) is aligned with the middle of the drill rod, the target is read. The drill pipe's electronic tag allows existing drill pipes to directly retrieve historical matching parameters and establish a parameter fusion mapping relationship; the control clamping motor (41) drives the gear transmission assembly (42) to start, and controls the clamping mechanism (45) to radially retract until the clamping mechanism (45) is tightly attached to the outer wall of the drill pipe; after confirming that the drill pipe is clamped, the robotic arm (3) drives the drill pipe to slowly lift, and the upper arm (32) and the lower arm (33) work together to retract in a direction away from the drill pipe chamber (51), and the robotic arm (3) lifts the drill pipe higher than the drill pipe chamber (51). S3, Horizontal Movement of the Rod: Sending a movement command The servo-driven slide (22) of the transverse transfer assembly (2) moves in the opposite direction to the drill body (6) along the rectangular guide rail (21) under the drive of the first servo motor (24) and through the transmission of the lead screw (25), until it reaches the rear of the drill body (6); the robotic arm (3) adjusts its posture so that the drill rod gripping mechanism (4) swings to one side of the drill body (6), the robotic arm (3) returns to its original position, and adjusts the position of the drill rod to precisely align with the axis of the drill rod that has been drilled; the servo-driven slide (22) of the transverse transfer assembly (2) drives the robotic arm (3) and the drill rod along the rectangular guide rail (21) through the transmission of the lead screw (25). 21) Move towards the drilling rig body (6). During the movement, the limiting buffer device (23) monitors the position of the slide table in real time. When the drill rod is moved to the predetermined position of the V-shaped positioning block (61) behind the drilling rig body (6), the robotic arm (3) starts the fine-tuning mode. By adjusting the horizontal rotation angle of the rotary base (31), the servo motors (35) of the upper arm (32) and lower arm (33) adjust the pitch angle. The third servo motor (36) of the wrist joint (34) controls the clamping mechanism (45) to rotate around the axis. Combined with the positioning feedback of the laser centering reference block (81), the translational fine-tuning and rotational fine-tuning of the new drill rod in the X, Y and Z axis directions are completed, so that the robotic arm (3) reaches the desired position. Positioning, ensuring that the threaded end of the new drill pipe is completely coaxially aligned with the threaded end of the already drilled pipe; S4. Tighten the buckle: Send docking command The robotic arm (3) controls the drill rod gripping mechanism (4) to move forward slowly, so that the thread of the new drill rod contacts the thread of the drill rod that has already been drilled. The friction wheel drive motor (43) of the drill rod gripping mechanism (4) starts, driving the friction wheel (44) to rotate the new drill rod. At the same time, the robotic arm (3) applies a thrust along the axis of the drill rod to assist the thread to mesh smoothly. During the rotation, the torque sensor monitors the tightening torque in real time. When the torque reaches the preset value, the friction wheel drive motor (43) stops working, and the tightening operation of the drill rod thread is completed. If the torque suddenly increases during the tightening process, it is determined that the thread is stuck. Immediately reverse the friction wheel (44) and reduce the thrust to try to release the stuck thread. If the stuck thread is still stuck after 3 attempts, the system will alarm and stop the machine. S5. Reset: After the screwing operation is completed, the gear transmission mechanism (42) of the drill rod gripping mechanism (4) controls the clamping mechanism (45) to open radially and release the new drill rod; then the upper arm (32), lower arm (33) and wrist joint (34) are reset to the initial rod-taking posture; the servo-driven slide (22) of the transverse transfer component (2) moves in the opposite direction along the rectangular guide rail (21) and returns to the standby position close to the drill rod box 5; the width adjustment motor (46) drives the gear and rack adjustment mechanism (47) to reset the width of the clamping mechanism (45) to the default value.

10. The method of using the electric rear-mounted automatic rod extension device for an electric-driven drilling rig according to claim 9, characterized in that, The specific control process for the robotic arm to grasp the drill rod, as described in S2, includes: acquiring the grasping posture. docking pose X, Y, and Z represent the three-dimensional coordinates of the robotic arm; α, β, and γ represent the pitch angles of each joint of the robotic arm; the subscripts represent the target pose during grasping; g is the grasping pose; and t is the docking pose. Generation of three-segment adaptive trajectory: Constructing a forward kinematics model based on the DH parameters of the mechanical link ,in This refers to the real-time spacing of the drill pipe box, where ,in This refers to the horizontal displacement of the lateral conveying component; This refers to the boom rotation angle; Forearm pitch angle; This refers to the wrist rotation angle; Calculate the initial end-effector pose corresponding to the initial joint angle for the gripper opening angle, with an angle error ≤ 0.5°; Generate adaptive trajectories according to task phases: Segment capture ( Cartesian linear interpolation is used, and the node spacing is dynamically adjusted according to the drill pipe diameter to ensure clamping alignment accuracy. Transfer section ( (To facilitate the transitional pose before docking), a seventh-order polynomial interpolation of the joint space is used, and the node spacing is adapted according to the vibration frequency to achieve smooth and shock-free motion. docking section ; The node spacing is ≤ P / 4, where P is the thread lead, which is applicable to the thread engagement rhythm; Collision detection employs a composite algorithm of "convex hull + axis-aligned bounding box" to satisfy... ,in It is a convex envelope; Let i be the i-th link of the robotic arm; Obstacles to the drill rod box, power head, or slide rail; An obstacle is approximated by an axis-aligned cuboid bounding box; This means minimizing the distance; Specification-adaptive double-inverse model calculation: Single-joint reverse model: Introducing a drill pipe weight correction factor ,in The weight influence coefficient. This is the current weight of the drill pipe. For standard drill pipe weight; calculate the increment of individual joint angles. ,satisfy ; Indicates the joint angle at the previous moment; Multi-joint linkage model: using the weighted pseudo-inverse Jacobian algorithm ,in It is the pseudo-inverse of the Jacobian matrix. To adapt the weights to the specifications, hour =0.75, hour =0.9; After calculation, a torque balance check is performed. ,in The output torque of joint i, The maximum rated torque for the joint; Vibration pre-compensation dynamic correction; to address drill pipe offset caused by downhole vibration, pre-correction is performed before the k-th step to ensure docking accuracy: Migration prediction; based on current downhole vibration frequency Through formula Predict the drill pipe offset during the execution of step k, where The vibration coefficient; Let k be the execution time of step k. Joint correction conversion; converting predicted drill pipe offset. ,pass The predicted offset is converted into vibration pre-correction increments for each joint. This represents the joint angle error of the i-th joint; Joint control and self-learning iteration; integrating basic increments and pre-correction increments, selecting the optimal instructions and iteratively optimizing: Total increment calculation; for each joint i, calculate the total execution angle increment at step k. ; Optimal instruction selection: With pose accuracy and torque stability as objectives, the optimal joint adjustment scheme is selected to meet the following requirements. ,in The average torque of the joint; To optimize joint numbering; This represents the torque at the i-th joint; Iteration termination and optimal solution selection; Euclidean distance between the current pose and the target pose ≤ hour, Indicates the final target location. θ Indicate the final tolerable error, then stop iteration; compare with the optimal solution of the single-joint inverse model. Solution with multi-joint linkage model The joint angle with smaller pose error and more stable torque is selected as the final control command. or .

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