Crawler integrated drill pipe offloading transfer device and method for automated drilling

Abstract

A tracked integrated drill pipe discharge and transfer device and method for automated drilling is disclosed. The tracked integrated drill pipe discharge and transfer device for automated drilling includes a chassis support and traveling mechanism, a drill pipe storage mechanism connected to the top of the chassis support and traveling mechanism, a positioning and retrieval mechanism connected to the top of the drill pipe storage mechanism, and a transfer docking mechanism connected to one side of the drill pipe storage mechanism. The drill pipe storage mechanism stores drill pipes arranged horizontally along its length. The positioning and retrieval mechanism includes at least two drill pipe grippers, each of which is movable along the width direction of the drill pipe storage mechanism and can be raised and lowered to grip and release drill pipes arranged horizontally along the length direction of the drill pipe storage mechanism. The transfer docking mechanism receives the drill pipes moved by the grippers and aligns them. The tracked integrated drill pipe discharge and transfer device and method for automated drilling has the advantage of requiring no manual labor throughout the entire process, improving the automation level and operational efficiency of drill pipe discharge and transfer operations.

Description

Technical Field

[0001] This application relates to the field of drilling equipment, and more specifically, to a tracked integrated drill pipe discharge and transfer device and method for automated drilling. Background Technology

[0002] With the increasing demand for deep mineral resource exploration, higher requirements are being placed on the automation and intelligence levels of drilling equipment. In deep-hole drilling, the frequent connection and disconnection of drill pipes is a critical factor affecting operational efficiency, labor intensity, and safety. Traditional drill pipe management methods mainly rely on manual handling, overhead crane hoisting, or simple semi-automated pipe racks, which have the following significant drawbacks: I. Low efficiency: Manual operation is slow, auxiliary time is long, and the proportion of pure drilling time is low, which seriously affects the overall exploration efficiency.

[0003] Second, the work is labor-intensive and dangerous: the drill pipe is heavy, and manual handling and operation can easily lead to personal injury, and the risk of working near the wellhead is high.

[0004] Third, low level of automation: Existing semi-automatic pipe laying equipment often has limited functions and can only achieve simple stacking and storage of drill pipes. It cannot achieve precise docking with the drilling rig host and full-process automated operation.

[0005] Fourth, it occupies a large space and is inconvenient to transport: independent drill pipe racks require additional transportation and on-site setup, and are poorly adaptable to narrow or complex exploration sites.

[0006] Therefore, there is an urgent need for a fully automated drill pipe discharge and transfer equipment and method that can integrate storage, automatic identification, precise grasping, rapid transfer, and intelligent collaboration with the host machine. Summary of the Invention

[0007] The purpose of this application is to provide a tracked integrated drill pipe discharge and transfer device and method for automated drilling, which has the advantage that no manual intervention is required in the entire process of drill pipe handling, and significantly improves the automation level and work efficiency of drill pipe discharge and transfer operations.

[0008] This application is implemented as follows: This application provides a tracked integrated drill pipe discharge and transfer device for automated drilling, comprising: The chassis supports the walking mechanism for traveling along the ground. The drill pipe storage mechanism is connected to the top of the chassis support and travel mechanism and is used to store drill pipes that are arranged horizontally along the length of the drill pipe storage mechanism. A positioning and retrieval mechanism is connected to the top of the drill pipe storage mechanism and includes at least two drill pipe grippers. Each drill pipe gripper is configured to move synchronously along the width direction of the drill pipe storage mechanism and to rise and fall synchronously to grip and release drill pipes that are horizontally arranged along the length direction of the drill pipe storage mechanism. The transfer and docking mechanism is connected to one side of the drill pipe storage mechanism and is used to receive and center the drill pipes after they have moved from the various drill pipe grippers.

[0009] In some alternative implementations, the chassis support traveling mechanism includes a chassis and a tracked traveling mechanism connected to the chassis; the chassis includes a power station bracket, a lower support frame connected to the power station bracket, and an upper support frame connected to the top of the lower support frame, and the chassis support traveling mechanism is connected to the top of the upper support frame; the tracked traveling mechanism includes a traveling bracket, two track devices respectively connected to both sides of the traveling bracket, and two drive motors, the two drive motors being used to drive the two track devices to operate.

[0010] In some alternative implementations, the drill pipe storage mechanism is connected to an automatic leveling mechanism, which includes multiple outrigger connecting seats connected to the bottom of the drill pipe storage mechanism, multiple hydraulic outriggers, and multiple outrigger cylinders. The top of the hydraulic outrigger is hinged to a corresponding outrigger connecting seat, and the two ends of the outrigger cylinder are respectively hinged to the outrigger connecting seat and the corresponding hydraulic outrigger. When the outrigger cylinder extends or retracts, it drives the corresponding hydraulic outrigger to rotate to support the ground or retract.

[0011] In some alternative implementations, the drill pipe storage mechanism includes a storage frame and multiple pairs of positioning plates, each pair of positioning plates being connected to both ends of the storage frame, and two adjacent positioning plates forming a positioning slot, with the two positioning slots at both ends used to accommodate and support the two ends of the drill pipe.

[0012] In some alternative implementations, the positioning and retrieval mechanism includes a translation mechanism, a translation drive mechanism, a scissor lift mechanism, and at least two drill rod grippers; the translation mechanism includes two racks, a guide rail beam with both ends connected to one end of each rack, and two pairs of stops, each pair of stops being connected to both ends of one rack. The translation drive mechanism includes a transverse plate and two servo drive mechanisms respectively connected to both ends of the transverse plate. The servo drive mechanism includes a drive mounting base, a motor or motor connected to the drive mounting base, a drive gear connected to the output shaft of the motor or motor, an encoder connected to the drive mounting base, and an encoder gear connected to the encoder. The drive gear and encoder gear of the two servo drive mechanisms respectively mesh with two racks. The scissor lift mechanism includes an upper crossbeam connected to the transverse plate, two scissor arms hinged in the middle, a lower crossbeam, and a scissor cylinder. The top and bottom of the two scissor arms are respectively hinged to the two ends of the upper crossbeam and the two ends of the lower crossbeam. One end of the scissor cylinder is hinged to the upper or lower crossbeam, and the other end is hinged to a scissor arm. The drill rod gripper is connected to the bottom of the lower crossbeam.

[0013] In some alternative implementations, the servo drive mount is also connected to a wear-resistant plate that slides against the bottom surface of the rack via at least one hook plate.

[0014] In some alternative implementations, the transfer docking mechanism includes at least two triangular support mechanisms spaced apart along the length of the drill pipe storage mechanism; the triangular support mechanism includes a variable tilt beam with one end rotatably hinged to one side of the drill pipe storage mechanism along a vertical plane, a support cylinder with both ends respectively hinged to one side of the drill pipe storage mechanism and the variable tilt beam, and a positioning bracket slidably sleeved on the variable tilt beam. The variable tilt beam has a plurality of positioning holes spaced apart along its length, and the positioning bracket is connected to a positioning bolt that can move axially to insert into or disengage from a positioning hole.

[0015] In some optional embodiments, the transfer docking mechanism includes a pair of drill pipe centering and positioning devices arranged opposite to each other. The transfer docking mechanism includes a centering and positioning base connected to one end of the drill pipe storage mechanism, a centering cylinder with one end hinged to the centering and positioning base, an L-shaped centering locator, and two positioning plate holders connected to the centering and positioning base. The cylinder rod of the centering cylinder is hinged to one end of the centering locator. The two positioning plate holders form positioning grooves arranged vertically and horizontally with the centering and positioning base, respectively. The other end of the centering locator slides through the two positioning grooves on its upper and lower sides, respectively. When the cylinder rods of the centering cylinders of the two drill pipe centering and positioning devices extend or retract, they drive the two centering locators to move toward each other or away from each other, so that the drill pipes supported by the variable tilt beams in each triangular support mechanism move axially to the centering position.

[0016] In some alternative implementations, it also includes: At least one tilt sensor mounted on the chassis is used to detect the chassis tilt angle; Multiple first displacement sensors and pressure sensors, each installed in the outrigger cylinder, are used to detect the rotational displacement and supporting pressure of each hydraulic outrigger. At least one first laser rangefinder sensor is mounted on the positioning and storage mechanism to emit a laser and receive reflected signals to detect the number of drill rods stored in the drill rod storage mechanism and the distribution of empty spaces. The second displacement sensor installed inside the scissor lift cylinder is used to detect the lifting height of the scissor lift mechanism; At least one first proximity switch installed at the bottom of the lower crossbeam is used to detect whether the drill pipe is gripped by the drill pipe gripper. At least one second laser rangefinder sensor installed at the bottom of the scissor lift mechanism is used to detect the relative distance between the scissor lift mechanism and the gripping drill rod; Multiple second proximity switches and / or pressure sensors, each mounted on the centering positioner, are used to detect whether the drill pipe supported by the variable tilt beam is on the centering positioner. Multiple third displacement sensors, each installed inside a support cylinder, are used to detect the rotation angle of each variable tilt beam.

[0017] This application also provides a tracked integrated drill pipe discharge and transfer method for automated drilling, which is carried out using the aforementioned tracked integrated drill pipe discharge and transfer device for automated drilling, and includes the following steps: The chassis support walking mechanism drives the tracked integrated drill pipe discharge and transfer device used for automated drilling to a preset position; When drill pipe is being replenished, if a drill pipe needs to be reconnected, the drill pipe grippers of the positioning and storage mechanism are controlled to move synchronously along the width of the drill pipe storage mechanism and then descend, so as to use each drill pipe gripper to grab the drill pipe stored in the drill pipe storage mechanism. Then, the drill pipe grippers of the positioning and storage mechanism are controlled to rise and move synchronously along the width of the drill pipe storage mechanism to release and lower the drill pipe. After receiving the drill rods from each drill rod grabbing component using the transfer docking mechanism, the drill rods are aligned and waited for the drilling rig-side robot arm to grab the drill rods and transfer them to the drilling rig spindle. When drilling rods are being retrieved, and a drilling rod is detected to need to be removed, a transfer docking mechanism is used to receive the drill rod from the drilling rig side manipulator and align it. After each drill rod gripper of the control positioning and storage mechanism moves synchronously along the width direction of the drill rod storage mechanism and then descends, it uses each drill rod gripper to grip the drill rod aligned with the transfer and docking mechanism. Then, after each drill rod gripper of the control positioning and storage mechanism rises, it moves synchronously along the width direction of the drill rod storage mechanism to release and lower the drill rod into the drill rod storage mechanism for storage.

[0018] The beneficial effects of this application are as follows: The tracked integrated drill pipe discharge and transfer device for automated drilling provided by this application includes a chassis support walking mechanism for walking along the ground, a drill pipe storage mechanism connected to the top of the chassis support walking mechanism, a positioning and retrieval mechanism connected to the top of the drill pipe storage mechanism, and a transfer docking mechanism connected to one side of the drill pipe storage mechanism. The drill pipe storage mechanism is used to store drill pipes arranged horizontally along the length direction of the drill pipe storage mechanism; the positioning and retrieval mechanism includes at least two drill pipe grippers, each drill pipe gripper being configured to move synchronously along the width direction of the drill pipe storage mechanism and to rise and fall synchronously to grip and release drill pipes arranged horizontally along the length direction of the drill pipe storage mechanism; the transfer docking mechanism is used to receive and center the drill pipes moved by each drill pipe gripper. The tracked integrated drill pipe discharge and transfer device and method for automated drilling provided in this application stores drill pipes arranged horizontally along the length of the drill pipe storage mechanism. The drill pipe gripper of the positioning and retrieval mechanism moves and lifts along the width of the drill pipe storage mechanism to grab the drill pipes and move them to the transfer docking mechanism for reception and alignment for use by the drilling rig. It has the advantage that no manual intervention is required in the entire process of drill pipe handling, which significantly improves the automation level and work efficiency of drill pipe discharge and transfer operations. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 2 A schematic diagram of the chassis support and walking mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 3 A schematic diagram of the tracked walking mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 4 A schematic diagram of the chassis in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 5 A schematic diagram of the hydraulic outriggers, outrigger connecting seats, and outrigger cylinders in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application. Figure 6A schematic diagram of the drill pipe storage mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 7 A schematic diagram of the positioning and retrieval mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 8 A schematic diagram of the translation mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 9 A schematic diagram of the translation drive mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 10 A partial structural schematic diagram from a first-view perspective of the translation drive mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 11 A partial structural schematic diagram from a second perspective of the translation drive mechanism in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 12 A schematic diagram of the transverse plate in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 13 A partial structural schematic diagram from a first perspective of the rack and pinion connection between the translation drive mechanism and the translation structure in the tracked integrated drill pipe discharge and transfer device for automated drilling provided in the embodiments of this application; Figure 14 A partial structural schematic diagram from a second perspective of the rack and pinion connection between the translation drive mechanism and the translation structure in the tracked integrated drill pipe discharge and transfer device for automated drilling provided in the embodiments of this application; Figure 15 A schematic diagram of the scissor lift mechanism and drill pipe gripper in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 16 A schematic diagram of the connection between the storage frame and the drill pipe centering and positioning device in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application; Figure 17 A partial structural diagram showing the connection between the side pillars and the triangular support mechanism of the storage frame in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application. Figure 18 A schematic diagram of the first usage state of the triangular support mechanism in the tracked integrated drill pipe discharge and transfer device for automated drilling provided in the embodiments of this application; Figure 19A schematic diagram of the second usage state of the triangular support mechanism in the tracked integrated drill pipe discharge and transfer device for automated drilling provided in the embodiments of this application; Figure 20 This is a schematic diagram of the drill pipe centering and positioning device in a tracked integrated drill pipe discharge and transfer device for automated drilling provided in an embodiment of this application.

[0021] In the diagram: 100, chassis supporting traveling mechanism; 110, track traveling mechanism; 111, track device; 112, traveling bracket; 113, drive motor; 120, chassis; 121, power station bracket; 122, upper support frame; 123, lower support frame; 130, hydraulic outriggers; 131, outrigger connecting seat; 132, outrigger cylinder; 200, drill pipe storage mechanism; 210, storage frame; 211, upper crossbeam; 212, lower crossbeam; 213. Column; 214. Upper longitudinal beam; 215. Bottom crossbeam; 216. Side support column; 217. Bottom longitudinal beam; 218. Side plate; 220. Positioning plate; 230. Positioning slot; 300. Positioning and retrieval mechanism; 310. Translation mechanism; 311. Rack; 312. Stop; 313. Guide rail crossbeam; 320. Translation drive mechanism; 321. Servo drive mechanism; 3211. Motor; 3212. Encoder; 3213. Drive mounting base; 3214. 3215. Hook plate; 3216. Mounting base wear-resistant plate; 3217. Roller; 3218. Drive gear; 3219. Encoder gear; 322. Horizontal moving plate; 330. Scissor lifting mechanism; 331. Hinge; 332. Upper crossbeam; 333. Scissor arm; 334. Lower crossbeam; 335. Scissor cylinder; 340. Drill rod gripper; 400. Transfer docking mechanism; 410. Drill rod centering and positioning device; 411. Centering and positioning base; 412. Centering cylinder; 4 13. Centering positioner; 414. Positioning plate holder; 415. Positioning groove; 416. Centering wear-resistant plate; 417. Grease nipple; 420. Triangular support mechanism; 421. Lower hinge lug of triangular support; 422. Support cylinder; 423. Hinge lug of triangular support cylinder; 424. Variable tilt beam; 4241. Positioning hole; 4242. Positioning stop; 4243. Positioning bolt; 425. Upper hinge lug of triangular support; 500. Integrated hydraulic and power system. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The features and performance of the tracked integrated drill pipe discharge and transfer device and method for automated drilling of this application are further described in detail below with reference to embodiments.

[0030] like Figures 1 to 20 As shown, this application embodiment provides a tracked integrated drill pipe discharge and transfer device for automated drilling, including a chassis support walking mechanism 100 for walking along the ground, a drill pipe storage mechanism 200 connected to the top of the chassis support walking mechanism 100, a positioning and retrieval mechanism 300 connected to the top of the drill pipe storage mechanism 200, a transfer docking mechanism 400 connected to one side of the drill pipe storage mechanism 200, an integrated hydraulic and power system 500, and a distributed intelligent control system. The drill pipe storage mechanism 200 is used to store drill pipes arranged horizontally along the length direction of the drill pipe storage mechanism 200. The positioning and retrieval mechanism 300 is used to move and lift along the width direction of the drill pipe storage mechanism 200 to grab the drill pipes arranged horizontally along the length direction of the drill pipe storage mechanism 200 and then release them. The transfer docking mechanism 400 is used to receive the drill pipes moved by the positioning and retrieval mechanism 300 and then center them. Among them, such as Figure 2 , Figure 3 and Figure 4 As shown, the chassis-supported traveling mechanism 100 includes a chassis 120 and a tracked traveling mechanism 110 connected to the chassis 120. The chassis 120 includes a power station bracket 121, a lower support frame 123 connected to the power station bracket 121, and an upper support frame 122 connected to the top of the lower support frame 123. The chassis-supported traveling mechanism 100 is connected to the top of the upper support frame 122. The tracked traveling mechanism 110 includes a traveling bracket 112, two track devices 111 respectively connected to both sides of the traveling bracket 112, and two drive motors 113. The two drive motors 113 are used to drive the two track devices 111 to operate. The traveling bracket 112 is connected to the lower support frame 123. The tracked traveling mechanism 110 has good off-road and climbing capabilities and can adapt to the exploration operation requirements of complex terrain.

[0031] like Figure 5As shown, the drill pipe storage mechanism 200 is connected to an automatic leveling mechanism. The automatic leveling mechanism includes four outrigger connecting seats 131 connected to the four corners of the lower support frame 123, four hydraulic outriggers 130, and four outrigger cylinders 132. The top of each hydraulic outrigger 130 is hinged to a corresponding outrigger connecting seat 131, and the two ends of each outrigger cylinder 132 are respectively hinged to an outrigger connecting seat 131 and a corresponding hydraulic outrigger 130. When the outrigger cylinder 132 extends or retracts, it drives the corresponding hydraulic outrigger 130 to rotate to support the ground or retract. Thus, one-button automatic leveling and false leg detection are achieved through the extension and retraction of the outrigger cylinder 132, ensuring the stability and levelness of the equipment when operating in complex terrain.

[0032] like Figure 6 As shown, the drill pipe storage mechanism 200 includes a storage frame 210 and fourteen pairs of positioning plates 220 spaced apart along the width of the storage frame 210. The storage frame 210 is composed of two upper crossbeams 211, two lower crossbeams 212, four columns 213, two upper longitudinal beams 214, four bottom crossbeams 215, four side columns 216, four bottom longitudinal beams 217, and two side plates 218. The bottoms of the four columns 213 are respectively connected to the two ends of the two lower crossbeams 212, and the tops are respectively connected to the two ends of the two upper longitudinal beams 214. The two ends of the two upper crossbeams 211 are respectively connected to the tops of the four columns 213, and the four side columns 216 are respectively connected to the tops of the four columns 217. The two ends of the support column 216 are connected to two upper crossbeams 211 and two lower crossbeams 212, respectively. The two ends of the four bottom longitudinal beams 217 are connected to two lower crossbeams 212, and the two ends of the four bottom crossbeams 215 are connected to two bottom longitudinal beams 217, respectively. Each side plate 218 is connected to two columns 213, an upper longitudinal beam 214, and a bottom longitudinal beam 217 at one end of the storage frame 210. Each pair of positioning plates 220 is connected to the side plates 218 at both ends of the storage frame 210. Two adjacent positioning plates 220 form a positioning slot 230, which is used to accommodate and support the two ends of the drill rod. The storage frame 210 is constructed from high-strength steel columns welded together to form a multi-layer structure, enabling dense and orderly storage of drill rods. The positioning slots 230 match the specifications of the drill rods, effectively preventing drill rod movement.

[0033] like Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 and Figure 14As shown, the positioning and retrieval mechanism 300 includes a translation mechanism 310, a translation drive mechanism 320, a scissor lift mechanism 330, and two drill rod grippers 340. The translation mechanism 310 includes two racks 311, a guide beam 313 connected to one end of each rack 311, and two pairs of stops 312. Each pair of stops 312 is connected to both ends of one rack 311, and the two racks 311 are respectively connected to the top of two upper longitudinal beams 214. The translation drive mechanism 320 includes a transverse translation mechanism. The plate 322 and two servo drive mechanisms 321 respectively connected to both ends of the transverse plate 322. Each servo drive mechanism 321 includes a drive mounting base 3213, a motor 3211 connected to the drive mounting base 3213, a drive gear 3217 connected to the output shaft of the motor 3211, an encoder 3212 connected to the drive mounting base 3213, and an encoder gear 3218 connected to the encoder 3212. The drive gear 3217 and encoder of the two servo drive mechanisms 321 are also connected to the transverse plate 322. Gear 3218 meshes with two racks 311 respectively; the motor 3211 drives the drive gear 3217 to rotate, and the drive gear 3217 meshes with the racks 311, thereby driving the entire positioning and storage mechanism 300 to move along the rack 311 direction. The movement position is controlled by the encoder 3212 driven by the encoder gear 3218 through closed-loop feedback control to ensure horizontal positioning accuracy; the bottom ends of the servo drive mounting base 3213 are respectively connected by a hook plate 3214 to a mounting base wear plate 3215 that slides against the bottom surface of the corresponding rack 311. The bottom of the servo drive mounting base 3213 is provided with a groove, and two rollers 3216 that roll against the top of the corresponding rack 311 are connected in the groove. When the positioning and storage mechanism 300 moves along the rack 311 direction, it drives the rollers 3216 to roll against the top of the rack 311, and drives the mounting base wear plate 3215 mounted on the hook plate 3214 to slide under the rack 311, ensuring the smoothness of movement and guiding accuracy.

[0034] like Figure 15 As shown, the scissor lift mechanism 330 includes an upper crossbeam 332, two scissor arms 333 hinged in the middle, a lower crossbeam 334, and a scissor cylinder 335. The top two ends of the upper crossbeam 332 are hinged to the transverse sliding plate 322 via hinge lugs 331. The top and bottom of the two scissor arms 333 are hinged to the two ends of the upper crossbeam 332 and the two ends of the lower crossbeam 334, respectively. One end of the scissor cylinder 335 is hinged to either the upper crossbeam 332 or the lower crossbeam 334, and the other end is hinged to one of the scissor arms 333. Two drill rod grippers 340 are connected to the bottom of the lower crossbeam 334. Driven by the scissor cylinder 335, the two scissor arms 333 rotate relative to each other, extending and retracting to achieve a large stroke and high rigidity vertical lifting. When retracted, the structure is compact; when extended, it provides a large vertical working range. In this embodiment, the drill pipe gripper 340 is an electromagnetic chuck. In other optional embodiments, the drill pipe gripper 340 can also be a hydraulic chuck.

[0035] like Figure 16 , Figure 17 , Figure 18 and Figure 19 As shown, the transfer docking mechanism 400 includes two triangular support mechanisms 420 arranged at intervals along the length of the drill pipe storage mechanism 200 and a pair of drill pipe centering and positioning devices 410 arranged opposite to each other. The triangular support mechanism 420 includes a lower triangular support hinge seat 421 and an upper triangular support hinge seat 425 connected to the side support column 216, a support cylinder 422, a variable tilt beam 424, a triangular support cylinder hinge seat 423 connected to the bottom of the variable tilt beam 424, and a positioning bracket 4242 slidably sleeved on the variable tilt beam 424. The two ends of the support cylinder 422 are respectively hinged to the lower triangular support hinge seat 421 and the triangular support cylinder hinge seat 423. One end of the variable tilt beam 424 is hinged to the upper triangular support hinge seat 425. The variable tilt beam 424 has four positioning holes 4241 arranged at intervals along its length. The positioning bracket 4242 is connected to a positioning bolt 4243 that can move axially to insert into or dislodge from a positioning hole 4241. The variable tilt beam 424, driven by the support cylinder 422, rotates along the vertical plane to tilt upwards and downwards, switching between upward tilt for receiving drill rods, downward tilt for delivering drill rods, and transport mode. When tilted downwards, the drill rod slowly rolls along the slope towards the grabbing area on the drilling rig's main body under gravity. When tilted upwards, it receives and supports drill rods returning from the drilling rig. When the support cylinder 422 is fully extended, the variable tilt beam 424 retracts, reducing the floor space required for transport.

[0036] like Figure 20As shown, each drill pipe centering and positioning device 410 includes a centering and positioning base 411 connected to a column 213 at one end of the drill pipe storage mechanism 200, a centering cylinder 412 with one end hinged to the centering and positioning base 411, an L-shaped centering positioner 413, and two positioning plate holders 414 connected to the centering and positioning base 411. The cylinder rod of the centering cylinder 412 is hinged to one end of the centering positioner 413. The two positioning plate holders 414 form positioning grooves 415 arranged vertically and horizontally with the centering and positioning base 411, respectively, for centering. The other end of the locator 413 slides through two positioning grooves 415 on its upper and lower sides respectively. The positioning plate holder 414 is provided with a grease nipple 417 communicating with the positioning groove 415. A centering wear-resistant plate 416 is provided between the centering positioning base 411 and the positioning plate holder 414. When the centering cylinder 412 of the two drill rod centering positioning devices 410 extends or retracts, it drives the two centering locators 413 to move towards or away from each other, so that the drill rods supported by the variable tilt beams 424 in each triangular support mechanism 420 move axially to the centering position. The positioning plate holder 414 restricts the movement of the centering locator 413 to linear motion and reduces the sliding resistance of linear motion by injecting lubricating oil through the centering wear-resistant plate 416 and the grease nipple 417. The drill rod centering positioning devices 410, which are symmetrically distributed at both ends of the drill rod storage mechanism 200, can ensure that the drill rods that roll onto the triangular support frame can stop at a precise axial position, which is convenient for the positioning and retrieval mechanism 300 to grab the retrieved drill rods.

[0037] The integrated hydraulic and power system 500 is fixedly connected to the power station bracket 121, and includes a prime mover, a hydraulic power output assembly, a servo drive power module, and auxiliary cooling and filtration components. The prime mover is a diesel engine or a high-power electric motor, and its power output end is connected to the hydraulic power output assembly and the generator respectively through a transfer case.

[0038] The hydraulic power output assembly includes a variable displacement hydraulic pump unit, a multi-way proportional control valve block, an oil tank, and a return oil filter. The inlet of the variable displacement hydraulic pump unit is connected to the oil tank, and its pressure oil outlet is connected to the inlet lines of each hydraulic actuator via the multi-way proportional control valve block. Each hydraulic actuator includes: a drive motor 113, a leg cylinder 132, a scissor lift cylinder 335, a triangular support cylinder 422, and a centering cylinder 412.

[0039] The multi-way proportional control valve block is a load-sensitive proportional multi-way valve or an electro-hydraulic proportional directional valve assembly. It works in conjunction with the variable hydraulic pump assembly to form a load-sensitive hydraulic circuit. The load-sensitive hydraulic circuit collects the load pressure signal of each actuator through the load sensing oil circuit and feeds it back to the flow control mechanism of the variable hydraulic pump assembly, so that the output flow and pressure of the variable hydraulic pump assembly are adaptively adjusted according to the load change. Each proportional electromagnet in the multi-way proportional control valve block is electrically connected to the distributed intelligent control system to control the movement direction and speed of each actuator.

[0040] The servo drive power module includes an isolated transformer rectifier unit, a DC bus capacitor bank, and a servo driver. The input terminal of the isolated transformer rectifier unit is electrically connected to a generator or an external industrial power supply, and its output terminal, after being filtered by the DC bus capacitor bank, outputs the DC bus voltage to the power input terminal of the servo driver. The control terminal of the servo driver is connected to the distributed intelligent control system via bus communication, and its power output terminal is electrically connected to the power input terminal of the motor 3211 in the positioning and access mechanism 300.

[0041] The auxiliary cooling and filtration components include a hydraulic oil cooler and a return oil filter, with the hydraulic oil cooler located on the return oil line of the oil tank.

[0042] The distributed intelligent control system uses a programmable logic controller to build a distributed network architecture based on CAN bus or industrial Ethernet, including a main controller, sensor network, touch display screen and wireless communication module.

[0043] The main controller is an industrial programmable logic controller (PLC), which communicates with the sensor network, touch screen, wireless communication module, and servo drives and proportional electromagnets of the multi-channel proportional control valve block in the integrated hydraulic and power system 500 via CAN bus or industrial Ethernet. The main controller also interacts with the drilling rig's main control system via the wireless communication module, receiving drill rod replenishment commands from the drilling rig and feeding back equipment status information to achieve coordinated operation between drill rod replenishment and drilling operations. In this embodiment, the touch screen is used to implement the touch display.

[0044] The sensor network includes: a tilt sensor mounted on the chassis 120 for detecting the chassis tilt angle; a first displacement sensor and a pressure sensor respectively mounted in the outrigger cylinders 132 for detecting the rotational displacement and support pressure of each hydraulic outrigger 130; a first laser rangefinder mounted on the positioning and retrieval mechanism 300 for emitting laser light and receiving reflected signals to detect the number of drill rods stored and the distribution of empty spaces in the positioning slots 230; and a second displacement sensor mounted in the scissor lift cylinder 335 for detecting the lifting height of the scissor lift mechanism 330; A first proximity switch installed at the bottom of the lower crossbeam 334 is used to detect whether the drill rod is gripped by the drill rod gripper 340; a second laser rangefinder sensor installed at the bottom of the scissor lift mechanism 330 is used to detect the relative distance between the scissor lift mechanism 330 and the gripped drill rod; two second proximity switches respectively installed on the centering positioner 413 are used to detect whether the drill rod supported by the variable tilt beam 424 is on the centering positioner; and third displacement sensors respectively installed in the support cylinder 422 are used to detect the rotation angle of each variable tilt beam 424. In this embodiment, the displacement sensors are magnetostrictive displacement sensors.

[0045] This application also provides a crawler-integrated drill pipe discharge and transfer method for automated drilling, which is carried out using the above-mentioned crawler-integrated drill pipe discharge and transfer device for automated drilling, and includes the following steps: Step S1: Equipment Positioning and System Startup; The chassis support and walking mechanism 100 is controlled to drive the tracked integrated drill rod discharge and transfer device for automated drilling to a preset position. The four outrigger cylinders 132 are extended, causing the corresponding hydraulic outriggers 130 to rotate and support the ground. An inclination sensor mounted on the chassis 120 is used to detect the chassis 120's inclination angle in real time. First displacement sensors and pressure sensors installed in the outrigger cylinders 132 are used to detect the rotational displacement and support pressure of each hydraulic outrigger 130. The main controller performs closed-loop control based on the feedback signals from each sensor to ensure the stability and levelness of the equipment during operation in complex terrain. After the equipment is positioned, the distributed intelligent control system enters standby mode and establishes a communication link with the drilling rig's main control system via a wireless communication module, ready to receive work commands.

[0046] Step S2: Automatic drill pipe replenishment; S21. Receiving Instructions and Checking Inventory: When replenishing drill pipes, if drill pipes on the drill spindle need to be connected, a "Drill Pipe Required" instruction and the required drill pipe specifications are sent to the main controller via a wireless communication link. The main controller reads the current inventory database of the drill pipe storage mechanism 200 and queries the specific location information of the drill pipe matching the required specifications, including the number of the positioning slot 230 where the target drill pipe is located. If no matching drill pipe is found in the inventory data, the main controller sends an alarm message "No Matching Drill Pipe" via the wireless communication module and terminates the replenishment operation.

[0047] S22. Path planning and storage unit operation: If a drill rod with matching specifications exists in the inventory data, the main controller plans the optimal retrieval path for the target drill rod, prioritizes selecting the target drill rod closest to the current standby position of the positioning and storage mechanism 300, and controls each drill rod gripper 340 of the positioning and storage mechanism 300 to move synchronously a preset distance along the width direction of the drill rod storage mechanism 200 and then descend, so as to use each drill rod gripper 340 to grip the drill rod stored in the drill rod storage mechanism 200. Then, it controls each drill rod gripper 340 of the positioning and storage mechanism 300 to rise and then move synchronously a preset distance along the width direction of the drill rod storage mechanism 200 to release and lower the drill rod. Specifically, the following steps are included: 1. Horizontal translation to the target column: The motor 3211 of the translation drive mechanism 320 starts operating after receiving the drive signal from the servo driver. The output shaft of the motor 3211 drives the drive gear 3217 to rotate. The drive gear 3217 meshes with the rack 311 on the translation mechanism 310, thereby driving the entire positioning and storage mechanism 300 to move horizontally along the rack 311 to the position directly above the column where the target drill rod is located. During the movement, the encoder 3212 of the translation drive mechanism 320 detects the rotation angle and number of revolutions of the motor 3211 in real time through the encoder gear 3218, and feeds back the detection signal to the main controller and servo driver through the bus. The main controller compares the position information fed back by the encoder with the target position command in real time. When the actual position reaches the target position, the main controller sends a stop command to the servo driver. The servo driver controls the motor 3211 to decelerate and stop, forming a closed-loop position control to ensure horizontal positioning accuracy.

[0048] 2. Vertical Descending to the Grabbing Position: The scissor cylinder 335 of the scissor lift mechanism 330 receives proportional control hydraulic oil output from the multi-channel proportional control valve block of the integrated hydraulic and power system 500 and begins to extend, driving the two scissor arms 333 to gradually unfold, causing the drill rod grabbing component 340 mounted on the lower crossbeam 334 to move vertically downwards. During the descent, the second laser rangefinder sensor mounted below the scissor lift mechanism 330 emits a laser beam in real time and receives the reflected signal, continuously collecting the current distance value between the lower crossbeam 334 and the top of the target drill rod below, and uploading the current distance value to the main controller in real time via the bus. The main controller compares the current distance value with the preset target grabbing height threshold, and dynamically adjusts the duty cycle of the pulse width modulation control signal sent to the proportional electromagnet of the scissor cylinder 335 according to the real-time distance change rate to achieve deceleration and buffering. When the distance reaches the preset threshold, the main controller sends a stop signal to the multi-channel proportional control valve block, cutting off the oil inlet passage of the scissor cylinder 335, so that the drill rod gripper 340 stops precisely at the gripping position of the target drill rod.

[0049] 3. Adsorption of drill rod: The main controller outputs an energizing control signal to the electromagnetic chuck of the drill rod gripper 340. The electromagnetic chuck is energized and generates an electromagnetic adsorption force to adsorb the target drill rod.

[0050] 4. Adsorption Status Detection: The first proximity switches installed on both sides of the lower crossbeam 334 detect whether both sides of the drill rod have been successfully adsorbed and output a positioning signal respectively. At the same time, the pressure sensor built into the electromagnetic chuck of the drill rod gripper 340 detects the adsorption force value of the electromagnetic chuck and uploads it to the main controller. When both first proximity switches on both sides output an energized signal and the adsorption force value reaches the preset threshold, the main controller determines that the adsorption is successful and proceeds to the next step; if either of the two proximity switches is not energized or the adsorption force does not reach the preset threshold, the adsorption is determined to have failed. The main controller issues an alarm signal and displays the fault information "Adsorption Failure" on the status monitoring interface of the touch screen. At the same time, it maintains the current state and suspends subsequent actions, waiting for manual intervention or a new gripping command.

[0051] 5. Lifting the drill rod to a safe height: After successful adsorption, the main controller sends a control signal to the multi-channel proportional control valve block, driving the scissor cylinder 335 to retract, and the scissor arm 333 to gradually close, causing the drill rod gripper 340 to lift the drill rod to the preset safe transport height. During the lifting process, the second laser ranging sensor continuously monitors the relative distance between the lower crossbeam 334 and the top of the adsorbed drill rod. When the relative distance suddenly increases and exceeds the preset safe range threshold, the main controller determines that there is a risk of the drill rod falling off, immediately stops the lifting action, and issues a "drill rod falling off risk" alarm signal.

[0052] 6. Move to above the transfer docking unit: The translation drive mechanism 320 starts again, driving the positioning and storage mechanism 300 to move horizontally along the rack 311 to directly above the triangular support mechanism 420 of the transfer docking mechanism 400. During the movement, the encoder 3212 provides real-time position signal feedback to ensure the positioning accuracy of the final position. After moving into position, the main controller controls the motor 3211 to stop and lock.

[0053] 7. Lowering and Placing the Drill Rod: The scissor cylinder 335 of the scissor lifting mechanism 330 extends again, vertically lowering the adsorbed drill rod until it contacts the upper surface of the variable tilt beam 424 of the triangular support mechanism 420. During the descent, the second laser rangefinder continuously detects the relative distance between the lower beam 334 and the drill rod. When the detected distance reaches the preset placement height threshold, the main controller controls the scissor cylinder 335 to stop extending, at which point the drill rod rests stably on the variable tilt beam 424.

[0054] 8. Release and reset the drill rod: The main controller outputs a power-off and demagnetization control signal to the electromagnetic chuck, and the electromagnetic chuck releases the drill rod. After a predetermined delay (e.g., 0.5 seconds), the main controller sends a control signal to the multi-channel proportional control valve block, driving the scissor cylinder 335 to retract, thereby resetting the drill rod gripper 340 to the standby height.

[0055] S23. Drill Rod Delivery and Centering: The main controller sends a control signal to the multi-channel proportional control valve block, and the support cylinder 422 of the triangular support mechanism 420 operates according to a preset program: When it is detected that the drill rod gripper 340 has been reset to the standby height, the support cylinder 422 retracts at a predetermined speed, driving the variable tilt beam 424 to slowly tilt downwards around its hinge point to a preset angle (e.g., 8°) with the horizontal plane. Under its own gravity, the drill rod rolls smoothly along the inclined surface of the variable tilt beam 424 towards the preset gripping area on the drilling rig main body side. The third displacement sensor built into the support cylinder 422 detects the stroke of the support cylinder 422 in real time and uploads it to the main controller. When the stroke reaches the preset target stroke value, the main controller controls the support cylinder 422 to stop moving, so that the variable tilt beam 424 is maintained at the preset tilt angle.

[0056] Step S3, Drill Rig Retrieval and Inventory Update: The automated pipe-moving robot on the drilling rig side moves to the drill rod retrieval area of ​​the transfer docking mechanism 400, retrievals the drill rod, and transfers it to the drilling rig spindle. Subsequently, the first laser ranging sensor installed on the positioning and storage mechanism 300 automatically triggers a full-range scan measurement, scanning the entire storage frame area point by point along the rack 311 direction, and uploading the scan data to the main controller. The main controller compares the current scanning ranging data with the previous scan data point by point, calculates the occupancy status changes of each positioning slot 230, updates the inventory database of the drill rod storage mechanism 200, and performs a consistency check. Finally, the main controller sends the updated inventory data to the drilling rig main control system via the wireless communication module, enabling the drilling rig main control system to monitor the drill rod inventory status of the device in real time.

[0057] Step S4, Automatic Drill Pipe Retrieval Process When retrieving dismantled drill pipes from the drilling rig, the system executes the following automatic retrieval process: S41. Receiving Instructions and Preparation: The drilling rig's main control system issues a "Recycle Drill Rod" instruction along with the specifications of the drill rod to be recycled. The wireless communication module receives the instruction and transmits it to the main controller. The main controller first confirms that the triangular support mechanism 420 of the transfer docking mechanism 400 is in a horizontal receiving state. If the variable tilt beam 424 is currently tilted, the main controller controls the support cylinder 422 to extend, driving the variable tilt beam 424 back to a horizontal state. Simultaneously, the main controller calls the automatic recycling operation subroutine, reads the current inventory database of the drill rod storage mechanism 200, and identifies the location information of all currently empty slots. If there are no empty slots available in the current storage frame, an alarm message "Storage frame full" is issued, and the recycling operation is terminated. If there are available empty slots, the main controller plans the storage path of the target empty slot according to the preset storage strategy (preferably the nearest storage strategy).

[0058] S42. Receiving the drill rod returned by the drilling rig: The automated pipe-moving robot on the drilling rig side moves the unloaded drill rod onto the variable tilt beam 424, which has been restored to a horizontal state. After placement, the drilling rig's main control system sends a "drill rod placed" confirmation signal to this device. Upon receiving the confirmation signal, the main controller proceeds to the next step.

[0059] S43. Centering and Positioning: The second proximity switch installed on the drill pipe centering and positioning device 410 detects that the drill pipe has been placed on the variable tilt beam 424 and outputs a positioning signal to the main controller. The main controller sends a control signal to the multi-channel proportional control valve block, driving the centering cylinder 412 to extend and push the centering positioner 413 to move along the linear direction defined by the positioning plate retainer 414, performing axial centering and positioning of the drill pipe placed on the variable tilt beam 424. When the drill pipe reaches the preset precise axial position, the pressure value detected by the pressure sensor reaches the preset threshold, the main controller determines that the centering and positioning is complete, controls the centering cylinder 412 to stop extending and maintain the pressure lock state.

[0060] S44. The storage and retrieval unit grabs and retrieves the drill rod: The main controller sends position and speed commands to the servo driver of the integrated hydraulic and power system 500 via the bus, driving the positioning and retrieval mechanism 300 to execute the following sequence of actions: ① The motor 3211 of the translation drive mechanism 320 receives the drive signal and starts to run, driving the entire positioning and storage mechanism 300 to move horizontally along the rack 311 to directly above the triangular support mechanism 420. The encoder 3212 provides real-time feedback of the position signal for closed-loop position control.

[0061] ② The scissor cylinder 335 of the scissor lifting mechanism 330 receives a control signal and begins to extend, driving the scissor arm 333 to gradually unfold, causing the drill rod gripper 340 to move vertically downwards to the gripping height of the drill rod to be retrieved. During the descent, the second laser rangefinder sensor collects distance values ​​in real time and uploads them to the main controller. When the distance value reaches a preset threshold, the main controller sends a stop signal to the multi-channel proportional control valve block, causing the drill rod gripper 340 to stop precisely at the gripping position.

[0062] ③ The main controller outputs a power control signal to the electromagnetic chuck of the drill rod gripper 340, which adsorbs the end or body of the drill rod to be recovered.

[0063] ④ The first proximity switch and pressure sensor detect the adsorption status. The judgment logic is consistent with the replenishment process. If adsorption fails, an alarm signal is issued and the operation is paused, waiting for manual intervention.

[0064] ⑤ After successful adsorption, the main controller drives the scissor cylinder 335 to retract, causing the drill rod gripper 340 to lift the drill rod to the preset safe transport height. During the lifting process, the second laser rangefinder continuously detects the risk of detachment.

[0065] S45. Translation to target empty space: The translation drive mechanism 320 drives the positioning and retrieval mechanism 300 to move horizontally along the rack 311 direction to directly above the column where the target empty space is located, according to the empty space storage path planned by the main controller. The encoder 3212 provides real-time feedback of position signals for closed-loop position control.

[0066] S46. Lowering and storing the drill rod: The scissor cylinder 335 of the scissor lifting mechanism 330 extends again, vertically lowering the drill rod to the insertion height of the corresponding positioning slot 230 in the drill rod storage mechanism 200. During the descent, the second laser rangefinder installed below the scissor lifting mechanism 330 detects the current distance between the lower crossbeam 334 and the bottom of the target positioning slot 230 or the top of the stored drill rod in real time. The main controller precisely controls the final position of the drill rod's descent based on the current distance and the preset depth parameters of the positioning slot 230. When the lower end of the drill rod enters the guide range of the positioning slot 230, the main controller outputs a power-off and demagnetization control signal to the electromagnetic chuck, releasing the drill rod, which falls into the positioning slot 230 under its own gravity. After a predetermined delay, the main controller drives the scissor cylinder 335 to retract, causing the drill rod gripper 340 to reset to the standby height.

[0067] S47. Reset of storage unit: After the scissor cylinder 335 retracts and drives the drill rod gripper 340 to reset to the standby height, the translation drive mechanism 320 drives the positioning storage mechanism 300 to move horizontally along the rack 311 direction and reset to the standby position.

[0068] S48. Inventory Update: After the positioning and storage mechanism 300 resets to the standby position, the first laser ranging sensor installed on the positioning and storage mechanism 300 automatically triggers a full-range scan measurement to update the inventory database of the drill pipe storage mechanism 200 and perform a consistency check. Finally, the main controller sends the updated inventory data to the drilling rig main control system via the wireless communication module.

[0069] When the first laser ranging sensor installed on the positioning and storage mechanism 300 detects that the number of drill rods stored in the current storage frame 210 has reached the full load preset threshold, the main controller sends an alarm message "storage frame full" to the drilling rig main control system and suspends the retrieval operation; when the number of drill rods stored in the storage frame 210 is lower than the full load preset threshold but the available empty spaces are insufficient to accommodate all the drill rods to be retrieved this time, the main controller sends a warning message "insufficient storage space" to the drilling rig main control system and indicates the specific number of currently available empty spaces.

[0070] S4: Cyclic Operations and Exception Handling The automatic drill pipe replenishment and automatic drill pipe retrieval processes can be executed alternately according to the continuous operation requirements of the drilling rig's main control system, forming a continuous drill pipe replenishment and retrieval cycle. After each replenishment or retrieval operation, the main controller automatically enters standby mode, waiting for the drilling rig's main control system to issue the next operation command, thereby realizing fully automatic collaborative operation between this equipment and the drilling rig.

[0071] In each of the above processes, the main controller monitors the operating status of each mechanism and the detection signals of each sensor in real time. When any detection signal exceeds the preset safety threshold or the mechanism fails to reach the target position within the predetermined time, the main controller immediately stops the current action and issues an alarm signal. At the same time, the fault information (including the time of the fault, the fault type, the mechanism number where the fault occurred, and the suggested handling measures) is displayed on the status monitoring interface of the touch screen. Operators can confirm the fault through the touch screen and choose to continue the operation, retry the current action, or terminate the operation. In addition, the manual operation interface of the touch screen allows operators to execute the above action sequences one step at a time to achieve semi-automatic or manual operation in debugging, maintenance, and emergency situations.

[0072] Therefore, this application achieves automatic replenishment of drill rods from the drill rod storage mechanism 200 to the drilling rig host and automatic recovery from the drilling rig host to the drill rod storage mechanism 200 through the coordinated scheduling of the positioning and storage mechanism 300, the transfer and docking mechanism 400 and the integrated hydraulic and power system 500 by the distributed intelligent control system. The entire process does not require direct manual intervention in drill rod handling, which significantly improves the automation level and work efficiency of drill rod discharge and transfer operations.

[0073] The embodiments described above are some, but not all, of the embodiments of this application. The detailed description of the embodiments of this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

Claims

1. A tracked integrated drill pipe discharge and transfer device for automated drilling, characterized in that, include: The chassis supports the walking mechanism for traveling along the ground. A drill rod storage mechanism is connected to the top of the chassis support and travel mechanism and is used to store drill rods that are arranged horizontally along the length of the drill rod storage mechanism. A positioning and retrieval mechanism is connected to the top of the drill rod storage mechanism and includes at least two drill rod grippers. Each of the drill rod grippers is configured to move synchronously along the width direction of the drill rod storage mechanism and to rise and fall synchronously to grip and release drill rods that are horizontally arranged along the length direction of the drill rod storage mechanism. The transfer and docking mechanism is connected to one side of the drill rod storage mechanism and is used to receive and center the drill rods after they have moved from the drill rod gripping parts.

2. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 1, characterized in that, The chassis support and travel mechanism includes a chassis and a tracked travel mechanism connected to the chassis; the chassis includes a power station bracket, a lower support frame connected to the power station bracket, and an upper support frame connected to the top of the lower support frame, and the chassis support and travel mechanism is connected to the top of the upper support frame; the tracked travel mechanism includes a travel bracket, two track devices respectively connected to both sides of the travel bracket, and two drive motors, the two drive motors being used to drive the two track devices to operate.

3. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 2, characterized in that, The drill pipe storage mechanism is connected to an automatic leveling mechanism. The automatic leveling mechanism includes multiple support leg connecting seats, multiple hydraulic support legs, and multiple support leg cylinders connected to the bottom of the drill pipe storage mechanism. The top of each hydraulic support leg is hinged to a corresponding support leg connecting seat. The two ends of each support leg cylinder are respectively hinged to the support leg connecting seat and the corresponding hydraulic support leg. When the support leg cylinder extends or retracts, it drives the corresponding hydraulic support leg to rotate to support the ground or retract.

4. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 3, characterized in that, The drill pipe storage mechanism includes a storage frame and multiple pairs of positioning plates. Each pair of positioning plates is connected to both ends of the storage frame. A positioning slot is formed between two adjacent positioning plates. The two positioning slots located at both ends are used to accommodate and support both ends of the drill pipe.

5. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 4, characterized in that, The positioning and retrieval mechanism includes a translation mechanism, a translation drive mechanism, a scissor lift mechanism, and at least two drill rod grippers; the translation mechanism includes two racks, a guide rail beam with both ends connected to one end of each rack, and two pairs of stops, each pair of stops being connected to both ends of one rack. The translation drive mechanism includes a transverse plate and two servo drive mechanisms respectively connected to both ends of the transverse plate. Each servo drive mechanism includes a drive mounting base, a motor connected to the drive mounting base, a drive gear connected to the output shaft of the motor, an encoder connected to the drive mounting base, and an encoder gear connected to the encoder. The drive gear and the encoder gear of the two servo drive mechanisms respectively mesh with the two racks. The scissor lift mechanism includes an upper crossbeam connected to the transverse plate, two scissor arms hinged in the middle, a lower crossbeam, and a scissor cylinder. The top and bottom of the two scissor arms are respectively hinged to both ends of the upper crossbeam and the lower crossbeam. One end of the scissor cylinder is hinged to the upper crossbeam or the lower crossbeam, and the other end is hinged to one of the scissor arms. The drill rod gripper is connected to the bottom of the lower crossbeam.

6. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 5, characterized in that, The servo drive mounting base is also connected to a wear-resistant plate that slides against the bottom surface of the rack via at least one hook plate.

7. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 5, characterized in that, The transfer docking mechanism includes at least two triangular support mechanisms spaced apart along the length of the drill pipe storage mechanism; each triangular support mechanism includes a variable tilt beam with one end rotatably hinged to one side of the drill pipe storage mechanism along a vertical plane, a support cylinder with both ends respectively hinged to one side of the drill pipe storage mechanism and the variable tilt beam, and a positioning bracket slidably sleeved on the variable tilt beam. The variable tilt beam has a plurality of positioning holes spaced apart along its length, and the positioning bracket is connected to a positioning bolt that can move axially to insert into or disengage from one of the positioning holes.

8. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 7, characterized in that, The transfer and docking mechanism includes a pair of drill pipe centering and positioning devices arranged opposite to each other. The transfer and docking mechanism includes a centering and positioning base connected to one end of the drill pipe storage mechanism, a centering cylinder with one end hinged to the centering and positioning base, an L-shaped centering locator, and two positioning plate holders connected to the centering and positioning base. The cylinder rod of the centering cylinder is hinged to one end of the centering locator. The two positioning plate holders are respectively arranged with the centering and positioning base to form positioning grooves that are spaced apart vertically. The other end of the centering locator slides through the two positioning grooves on its upper and lower sides respectively. When the cylinder rods of the centering cylinders of the two drill pipe centering and positioning devices extend and retract, they drive the two centering locators to move towards each other or away from each other, so that the drill pipes supported by the variable tilt beams in each of the triangular support mechanisms move axially to the centering position.

9. The tracked integrated drill pipe discharge and transfer device for automated drilling according to claim 8, characterized in that, Also includes: At least one tilt sensor mounted on the chassis is used to detect the chassis tilt angle; Multiple first displacement sensors and pressure sensors, respectively installed in the hydraulic cylinders of the outriggers, are used to detect the rotational displacement and supporting pressure of each hydraulic outrigger. At least one first laser ranging sensor mounted on the positioning and storage mechanism is used to emit laser and receive reflected signals to detect the number of drill rods stored and the distribution of empty spaces in the drill rod storage mechanism; The second displacement sensor installed inside the scissor lift cylinder is used to detect the lifting height of the scissor lift mechanism; At least one first proximity switch installed at the bottom of the lower crossbeam is used to detect whether the drill rod is gripped by the drill rod gripper; At least one second laser rangefinder sensor installed at the bottom of the scissor lift mechanism is used to detect the relative distance between the scissor lift mechanism and the gripping drill rod; Multiple second proximity switches and / or pressure sensors, respectively installed on the centering positioner, are used to detect whether the drill rod supported by the variable tilt beam is on the centering positioner. Multiple third displacement sensors, each installed in the supporting cylinder, are used to detect the rotation angle of each of the variable tilt beams.

10. A tracked integrated drill pipe discharge and transfer method for automated drilling, characterized in that, It is carried out using the tracked integrated drill pipe discharge and transfer device for automated drilling as described in any one of claims 1 to 9, and includes the following steps: The chassis support walking mechanism drives the tracked integrated drill pipe discharge and transfer device used for automated drilling to a preset position; When drill pipe is being replenished, if a drill pipe needs to be reconnected, the drill pipe grippers of the positioning and storage mechanism are controlled to move synchronously along the width direction of the drill pipe storage mechanism and then descend, so as to use each drill pipe gripper to grab the drill pipe stored in the drill pipe storage mechanism. Then, the drill pipe grippers of the positioning and storage mechanism are controlled to rise and move synchronously along the width direction of the drill pipe storage mechanism to release and lower the drill pipe. After receiving the drill rods moved by each drill rod gripper using the transfer docking mechanism, the drill rods are aligned and then waited for the drill rig-side robot arm to grab the drill rods and transfer them to the drill rig spindle. When drilling rods are being retrieved, and a drilling rod is detected to need to be removed, a transfer docking mechanism is used to receive the drill rod from the drilling rig side manipulator and align it. After each of the drill rod gripping components of the control positioning and storage mechanism moves synchronously along the width direction of the drill rod storage mechanism and then descends, they grip the drill rod aligned with the transfer docking mechanism. Subsequently, each of the drill rod gripping components of the control positioning and storage mechanism rises and moves synchronously along the width direction of the drill rod storage mechanism to release and lower the drill rod into the drill rod storage mechanism for storage.

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