Drill rod transportation sensing system

Abstract

The utility model relates to the technical field of drill rod transportation, and discloses a drill rod transportation sensing system which comprises a drill rod box arranged at the upper end of a lifting frame, and further comprises a clamping unit used for putting a drill rod into or taking the drill rod out of the drill rod box and a sensing unit used for controlling the clamping unit to transfer. According to the scheme, the drill rod is transferred through the clamping unit capable of moving in the three coordinate axis directions, so that the drill rod can be in butt joint with the rack, the drill rod does not need to be turned over in the process, the drill rod does not need to be transferred again through a transfer groove, the conveying route of the clamping unit is greatly simplified, the conveying efficiency of the clamping unit is improved, and the labor intensity of workers is reduced. The sensing unit monitors the displacement of the clamping unit in the moving process, and the heights of the clamping unit under different working conditions are calculated, monitored and controlled through the sensing unit, so that the system is simple and reliable.

Description

TECHNICAL FIELD

[0001] The utility model relates to a drilling rod transportation technical field, concretely relates to a drilling rod transportation sensing system. BACKGROUND

[0002] The drilling machine is a kind of drilling equipment used when drilling and mining coal mine, natural gas and the like, comprising frame, rack, lifting frame, lifting frame is rotatably installed on the upper end of frame, rack is fixedly installed on the side wall of lifting frame, lifting frame is used to lift and rotate rack, rack is used to install drill bit, and drilling rod needs to be drilled into stratum during work, due to the limitation of transportation equipment, mine size and the like, the size of drilling rod is limited, after a drilling rod enters stratum completely during drilling, a drilling rod needs to be reinstalled, and the drilling rod is connected with the drilling rod entering stratum, and continues to drill into stratum.In this process, the clamping and installation speed of drilling rod is closely related to the drilling speed of drilling machine.

[0003] The prior art coal mine drilling machine and control method (publication number: CN110952972B) adopt the conveying mode of three-stage drilling rod and the arrangement mode of large-capacity drilling rod box on the drilling machine platform, solve the problem of automatic conveying of drilling rod.But, the existing drilling rod transfer mechanism has more actions and complex process, which leads to low drilling rod conveying and overall construction efficiency, and the relative position of main manipulator, rack and transfer device leads to interference between manipulator and tracked vehicle or transfer device when conveying drilling rod under large negative inclination condition, and drilling rod cannot be automatically conveyed, therefore, the present application provides a cartesian coordinate drilling rod conveying manipulator sensor system to solve the above problems. UTILITARIAN CONTENT

[0004] The utility model intends to provide a drilling rod transportation sensing system to solve the problems of more actions, complex process and low conveying efficiency of drilling rod transfer mechanism.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: a drilling rod transportation sensing system, comprising a drilling rod box, the drilling rod box is arranged on the upper end of the lifting frame, further comprising a clamping unit for putting or taking out the drilling rod from the drilling rod box and a sensing unit for controlling the transfer of the clamping unit.

[0006] The drilling rod in the drilling rod box is perpendicular to the drilling direction of the drilling machine.

[0007] The sensing unit comprises an identification sensor, a translation sensor, a column selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor and a height sensor, the identification sensor is used to determine whether the clamping unit clamps a drill pipe, the translation sensor is used to determine the displacement of the clamping unit along the axial direction of the frame, the column selection sensor is used to determine the displacement of the clamping unit along the axial direction of the frame, the telescopic sensor and the lifting sensor are used to determine the displacement of the clamping unit in the vertical direction of the drill pipe box, the proximity sensor is used to determine whether there is a drill pipe below the clamping unit, and the height sensor is used to identify the height of the frame.

[0008] The clamping unit comprises a transverse moving assembly, a lifting assembly, a longitudinal moving assembly and a transfer manipulator, the transverse moving assembly comprises a transverse guide rail, a first sliding block and a transverse driving member, the transverse guide rail is arranged at one end of the drill pipe box close to the frame, the first sliding block is slidingly arranged on the outer wall of the transverse guide rail, and the transverse driving member is arranged on the outer wall of the first sliding block and used to drive the first sliding block to slide, the lifting assembly comprises a lifting member and a lifting cylinder used to drive the lifting member, the lifting member is arranged on the outer wall of the first sliding block, the longitudinal moving assembly comprises a longitudinal guide rail, a second sliding block and a longitudinal driving member, the longitudinal guide rail is arranged at one end of the lifting member away from the frame, the second sliding block is slidingly arranged on the outer wall of the longitudinal guide rail, and the longitudinal driving member is arranged on the outer wall of the second sliding block and used to drive the second sliding block to slide, and the transfer manipulator comprises a telescopic cylinder and a transfer gripper, the telescopic cylinder is arranged on the outer wall of the second sliding block, and the transfer gripper is arranged on the output end of the telescopic cylinder.

[0009] The beneficial effects of the scheme are as follows:

[0010] 1. The drill pipe in the drill pipe box is placed in a manner perpendicular to the frame, and the clamping unit capable of moving along three coordinate axes is used to transfer the drill pipe, so that the drill pipe can be connected with the frame, the drill pipe does not need to be turned over, and the transfer groove does not need to transfer the drill pipe again, the conveying route of the clamping unit is greatly simplified, the conveying efficiency of the clamping unit is improved, the height requirement during drilling operation is reduced, and the frame is suitable for operation in a narrow roadway.

[0011] 2. The lifting of the transfer gripper is driven by the cooperation between the lifting member and the telescopic cylinder, compared with the use of one lifting mechanism, the lifting speed of the transfer gripper is faster, the stroke in the vertical direction is shorter under the same lifting height, the flexibility is higher, the lifting speed is faster, and the conveying efficiency of the clamping unit is improved.

[0012] 3. This solution monitors the displacement of the clamping unit during its movement using a sensing unit, improving the positioning accuracy of the clamping unit during transportation. Extension and lifting sensors calculate, monitor, and control the height of the transfer gripper under different working conditions, making the system simple and reliable. Furthermore, identification sensors detect whether the transfer gripper holds a drill rod, and proximity sensors detect whether there is a drill rod below the transfer gripper, improving the safety and effectiveness of the system operation.

[0013] Preferably, as an improvement, the drill pipe box has an opening in the middle of one end near the clamping unit, allowing the transfer robot to pass through.

[0014] The beneficial effect is that by opening an opening at one end of the drill rod box near the clamping unit, when the transfer robot aligns the drill rod with the frame, part of the drill rod and the transfer robot can be located inside the drill rod box, thereby shortening the distance between the drill rod box and the frame, and thus shortening the overall length of the drilling rig.

[0015] Preferably, as an improvement, the lifting component includes a lifting outer cylinder and a lifting inner cylinder, the lifting inner cylinder is slidably disposed inside the lifting outer cylinder, the lifting cylinder is disposed on the lower inner wall of the lifting outer cylinder, and the output end of the lifting cylinder is connected to the lower outer wall of the lifting inner cylinder.

[0016] The beneficial effects are as follows: When the telescopic component in this solution slides, the lifting outer cylinder can guide the lifting inner cylinder, thereby avoiding significant skewness of the transfer robot and enabling the transfer robot to clamp the drill rod more accurately.

[0017] Preferably, as an improvement, the identification sensor is located on the upper side of the drill pipe box at the end away from the clamping unit, and the identification sensor is directly facing the opening; the translation sensor is located at one end of the longitudinal guide rail, and the translation sensor can identify the position of the second slider on the longitudinal guide rail; the selection sensor is located at one end of the transverse guide rail, and the selection sensor can identify the position of the first slider on the transverse guide rail; the telescopic sensor is located on the outer wall of the telescopic cylinder, and the telescopic sensor can identify the distance the transfer gripper moves; the lifting sensor is located on the outer wall of the lifting inner cylinder, and the lifting sensor can identify the distance the longitudinal guide rail rises or falls; the proximity sensor is located on the outer wall of the transfer gripper, and the proximity sensor can identify whether there is a drill pipe below the transfer gripper; and the height sensor is located on the outer wall of the lifting frame, and the height sensor can measure the height of the frame as the lifting frame rises or falls.

[0018] The beneficial effects are as follows: by monitoring the displacement of the clamping unit during the movement process through the sensing unit, the positioning accuracy of the clamping unit during transportation is improved; by calculating, monitoring and controlling the height of the transfer gripper under different working conditions through the telescopic sensor and the lifting sensor, the system is made simple and reliable; and by using the identification sensor to detect whether the transfer gripper is holding a drill rod and the proximity sensor to detect whether there is a drill rod below the transfer gripper, the safety and effectiveness of the system operation are improved.

[0019] Preferably, as an improvement, the clamping unit is initialized to move, the lifting sensor measures the displacement of the lifting inner cylinder as a, the telescopic sensor measures the displacement of the transfer clamp as b, the height of the drill pipe box is H1, the diameter of the drill pipe is d, the height of the rack is c, the distance between the transfer clamp and the bottom of the drill pipe box is H1, and the transfer clamp does not interfere with the drill pipe box;

[0020] When the transfer clamp moves to above the drill pipe to be grabbed, the transfer clamp moves downward until the proximity sensor detects that there is a drill pipe below, at this time the height of the drill pipe is H2=nd, n is the number of drill pipes, the change in displacement of the lifting inner cylinder is a1, the change in displacement of the transfer clamp is b1, the displacement of the transfer clamp to the drill pipe is Δ1=H1-H2=a1+b1, the lifting sensor measures the displacement of the lifting inner cylinder as a2=(a-a1), and the telescopic sensor measures the displacement of the transfer clamp as b2=(b+b1);

[0021] Subsequently, the transfer clamp holds the drill pipe and moves to above the drill pipe box, and needs to be raised by at least the height of one drill pipe diameter, at this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3=(a+d), the telescopic sensor measures the displacement of the transfer clamp as b3=b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3=a, and the telescopic sensor measures the displacement of the transfer clamp as b3=(b-d);

[0022] Subsequently, the transfer clamp moves to the gap of the drill pipe box, if the height of the transfer clamp is lower than the height of the rack c at this time, the transfer clamp needs to be displaced by Δ2 to align with the rack, it is assumed that the lifting inner cylinder needs to be raised by a4, and the transfer clamp needs to be contracted by b4, Δ2=a4+b4, at this time the lifting sensor measures the displacement as a5=(a3+a4), and the telescopic sensor measures the displacement as b5=(b3-b4), if the height of the transfer clamp is higher than the height of the rack c at this time, the transfer clamp needs to be displaced by Δ3 to align with the rack, it is assumed that the lifting inner cylinder needs to be lowered by a4, and the transfer clamp needs to be extended by b4, Δ2=a4+b4, at this time the lifting sensor measures the displacement as a5=(a3-a4), and the telescopic sensor measures the displacement as b5=(b3+b4).

[0023] Beneficial effects are:

[0024] 1. The height of the transfer clamp under different working conditions is calculated, monitored and controlled by the telescopic sensor and the lifting sensor, so that the system is simple and reliable;

[0025] 2. The safety and effectiveness of system operation are improved by detecting whether the transfer clamp holds a drill pipe by the identification sensor and whether there is a drill pipe below the transfer clamp by the proximity sensor.

[0026] Preferably, as an improvement, the transverse driving member and the longitudinal driving member are both motors, and the transverse driving member and the longitudinal driving member are arranged on the outer wall of the first sliding block and the second sliding block respectively, and the output shafts of the transverse driving member and the longitudinal driving member are both provided with gears at one end penetrating the first sliding block and the second sliding block, and the longitudinal guide rail and the transverse guide rail are provided with racks meshing with the gears at one end close to the motors.

[0027] The beneficial effect is that the two motors can drive the first sliding block and the second sliding block to slide on the outer wall of the transverse guide rail and the longitudinal guide rail respectively through the cooperation of the gears and the racks, and the cooperation between the gears and the racks has the characteristics of accurate transmission, strong load capacity and stable operation.

[0028] Preferably, as an improvement, the drilling rod box is not provided with an opening in the middle of one end close to the clamping unit, and the identification sensor is arranged on the upper side of one end of the drilling rod box close to the clamping unit.

[0029] The beneficial effect is that the middle of the drilling rod box can also store drilling rods by not opening an opening in the side wall of the drilling rod box, thereby increasing the number of drilling rods stored in the drilling rod box. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a three-dimensional view of the drilling machine of the embodiment of the present application;

[0031] Figure 2 It is a three-dimensional view of the drilling rod box and the clamping unit of the embodiment of the present application;

[0032] Figure 3 It is a structure schematic view of the sensing unit of the embodiment of the present application;

[0033] Figure 4 It is a sectional view of the lifting member of the embodiment of the present application;

[0034] Figure 5 It is a height schematic view of the drilling rod box of the embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be further described in detail through specific embodiments:

[0036] The reference signs in the drawings of the specification include: frame 1, rack 2, lifting frame 3, drilling rod box 4, opening 5, transverse guide rail 6, first sliding block 7, transverse driving member 8, lifting outer cylinder 9, lifting inner cylinder 10, mounting seat 11, guide groove 12, guide sliding block 13, longitudinal guide rail 14, second sliding block 15, longitudinal driving member 16, telescopic oil cylinder 17, transfer clamping jaw 18, identification sensor 19, translation sensor 20, column selection sensor 21, telescopic sensor 22, lifting sensor 23, proximity sensor 24.

[0037] EMBODIMENT

[0038] The basic implementation examples are as follows: Figures 1-4 As shown, Figure 1 The drill pipe transport sensing system shown includes a frame 1, a frame 2, a lifting frame 3, and a drill pipe box 4. The drill pipe box 4 is fixedly installed on the upper end of the lifting frame 3. The drill pipe inside the drill pipe box 4 is placed along the axial direction of the frame 1. In this embodiment, an opening 5 is provided in the middle of the right end of the drill pipe box 4. The lifting frame 3 is rotatably installed on the upper right side of the frame 1. The frame 2 is fixedly installed on the right end of the lifting frame 3. The lifting frame 3 is used to lift and rotate the frame 2, and to keep the drill pipe box 4 and the frame 2 rotating synchronously. It also includes a clamping unit for putting or taking out the drill pipe into or out of the drill pipe box 4 and a sensing unit for controlling the transfer of the clamping unit.

[0039] like Figure 2 As shown, the clamping unit includes a lateral movement assembly, a lifting assembly, a longitudinal movement assembly, and a transfer manipulator. The lateral movement assembly includes a lateral guide rail 6, a first slider 7, and a lateral drive component 8. The lateral guide rail 6 is fixedly installed on the lower right side of the drill pipe box 4, and the opening 5 of the drill pipe box 4 is located above the lateral guide rail 6. The first slider 7 is slidably installed on the outer wall of the right end of the lateral guide rail 6. The lateral drive component 8 is used to drive the first slider 7 to slide. The lifting assembly includes a lifting component and a lifting cylinder for driving the lifting component. The lifting component is located on the right end of the first slider 7 and includes a lifting outer cylinder 9 and a lifting inner cylinder 10. The lifting outer cylinder 9 is fixedly installed on the right end of the first slider 7, and the lifting inner cylinder 10 is slidably installed inside the lifting outer cylinder 9. The lifting cylinder is fixedly installed on the lower inner wall of the lifting outer cylinder 9, and the output end of the lifting cylinder is fixedly connected to the lower outer wall of the lifting inner cylinder 10. Figure 3 The upper end of the lifting inner cylinder 10 shown is fixedly equipped with a mounting base 11. The mounting base 11 is U-shaped, and the unclosed side of the mounting base 11 faces the left end. Figure 4 Guide sliders 13 are symmetrically fixedly installed on the inner wall of the lifting outer cylinder 9 along the axial direction. Guide grooves 12 are symmetrically opened on the outer wall of the lifting inner cylinder 10. The guide sliders 13 can slide on the outer wall of the guide grooves 12. Figure 2 The longitudinal moving assembly shown includes a longitudinal guide rail 14, a second slider 15, and a longitudinal drive component 16. The longitudinal guide rail 14 is fixedly installed in the mounting base 11 at the upper end of the lifting inner cylinder 10 by bolts. The second slider 15 is slidably installed on the outer wall of the front end of the longitudinal guide rail 14. The longitudinal drive component 16 is used to drive the second slider 15 to slide. The transfer manipulator includes a telescopic cylinder 17 and a transfer gripper 18. The telescopic cylinder 17 is fixedly installed at the front end of the second slider 15, and the transfer gripper 18 is fixedly installed at the output end of the telescopic cylinder 17. The transfer manipulator can pass through the opening 5 of the drill pipe box 4.

[0040] Both the transverse drive component 8 and the longitudinal drive component 16 are motors, and the two motors are respectively fixedly installed on the outer walls of the first slider 7 and the second slider 15, as shown below. Figure 2As shown, the transverse driving member 8 is fixedly installed at the right end of the first sliding block 7, the longitudinal driving member 16 is fixedly installed at the front end of the second sliding block 15, and the output shafts of the transverse driving member 8 and the longitudinal driving member 16 are respectively fixedly installed with gears at one end of the first sliding block 7 and the second sliding block 15, and the inner walls of the upper end of the longitudinal guide rail 14 and the upper end of the transverse guide rail 6 are fixedly installed with racks engaged with the gears, and each rack is arranged along the axial direction of the longitudinal guide rail 14 and the transverse guide rail 6.

[0041] As shown in Figure 2 and Figure 3 As shown, the sensing unit includes an identification sensor 19, a translation sensor 20, a column selection sensor 21, an extension sensor 22, a lifting sensor 23, a proximity sensor 24, and a height sensor, the identification sensor 19 is fixedly installed on the left end of the drill pipe box 4, and the identification sensor 19 is flush with the upper end of the opening 5, the translation sensor 20 is fixedly installed on the left end of the longitudinal guide rail 14, the translation sensor 20 can identify the position of the second sliding block 15 on the longitudinal guide rail 14, the column selection sensor 21 is fixedly installed on the lower wall of the front end of the transverse guide rail 6, the column selection sensor 21 can identify the position of the first sliding block 7 on the transverse guide rail 6, the extension sensor 22 is fixedly installed on the right end of the extension cylinder 17, the lifting sensor 23 is fixedly installed on the outer wall of the mounting seat 11, the lifting sensor 23 can identify the distance of the longitudinal guide rail 14 rising or falling, the proximity sensor 24 is fixedly installed on the outer wall of the left end of the transfer clamp 18, the proximity sensor 24 can identify whether there is a drill pipe below the transfer clamp 18, and the height sensor is fixedly installed on the outer wall of the lifting frame 3, the height sensor can measure the height of the rack 2 with the lifting of the lifting frame 3, the translation sensor 20, the column selection sensor 21, the extension sensor 22, the lifting sensor 23, and the height sensor can be selected from a pull wire sensor, a magnetic displacement sensor, etc., and the identification sensor 19 and the proximity sensor 24 can be selected from a proximity switch sensor.

[0042] The use method of the rectangular coordinate drill pipe conveying mechanical hand sensor system is as follows:

[0043] Step 1, initialization: move the drilling machine to the drilling position, determine that all components are in the initialized state, and the height of the lowest position of the transfer clamp 18 is higher than the top of the opening 5 of the drill pipe box 4, that is, the transfer clamp 18 does not interfere with the drill pipe box 4;

[0044] Step 2, column selection: determine the position of the drill pipe to be taken out, move the transfer clamp 18 along the transverse sliding rail to the position aligned with the drill pipe to be taken out, monitor the sliding distance of the first sliding block 7 through the column selection sensor 21 when the first sliding block 7 slides, thereby determining the position of the first sliding block 7, determining the position of the transfer clamp 18 through the position of the first sliding block 7, and stopping moving the transfer clamp 18 after moving upward to above the drill pipe box 4;

[0045] Step 3, translation: the second slider 15 is moved along the longitudinal guide rail 14 by the longitudinal drive 16, and the transfer clamp 18 is moved above the middle part of the drill pipe to be clamped. When the second slider 15 slides, the sliding distance is detected by the translation sensor 20, so as to determine the position of the second slider 15;

[0046] Step 4, grab the drill pipe: the transfer clamp 18 is moved downward by the cooperation of the telescopic oil cylinder 17 and the lifting assembly, until the proximity sensor 24 detects that there is a drill pipe below the transfer clamp 18, then the transfer clamp 18 clamps the drill pipe below, and finally the drill pipe is moved to the upper side of the drill pipe box 4 through the cooperation of the telescopic oil cylinder 17 and the lifting assembly. Specifically, the telescopic oil cylinder 17 drives the transfer clamp 18 to move vertically, and the telescopic sensor 22 detects the vertical movement distance of the transfer clamp 18, while the proximity sensor 24 detects whether there is a drill pipe below the transfer clamp 18. If the telescopic oil cylinder 17 is elongated to the maximum value, and the proximity sensor 24 still does not detect the drill pipe, the lifting assembly drives the longitudinal guide rail 14 to descend, and the transfer clamp 18 continues to move downward until the proximity sensor 24 identifies that there is a drill pipe below.

[0047] Step 5, move out the drill pipe box 4: after the transfer clamp 18 clamps the drill pipe, the transfer clamp 18 is moved upward through the cooperation of the telescopic oil cylinder 17 and the lifting assembly, until the transfer clamp 18 is located above the drill pipe box 4.

[0048] Step 6, move to the opening 5: the first slider 7 moves in the outer wall of the transverse guide rail 6 by the transverse drive 8, and the position of the first slider 7 outside the transverse guide rail 6 is detected by the selection sensor 21 in real time, until the transfer clamp 18 is located above the opening 5 of the drill pipe box 4.

[0049] Step 7, sinking detection: the transfer clamp 18 is lowered by the telescopic oil cylinder 17 or the lifting assembly, so that the recognition sensor 19 detects that the transfer clamp 18 clamps the drill pipe.

[0050] Step 8, align the rack 2: the transfer clamp 18 is raised or lowered by the cooperation of the telescopic oil cylinder 17 and the lifting assembly, until the axis of the drill pipe is aligned with a specific position on the rack 2.

[0051] Step 9, translation transmission: the second slider 15 moves in the outer wall of the longitudinal guide rail 14 by the longitudinal drive 16, and the transfer clamp 18 drives the drill pipe to move to the rack 2.

[0052] The sensor system of the rectangular coordinate drill pipe conveying manipulator includes a control method for vertical displacement of the transfer clamp 18.

[0053] In step 1, the initial values of a and b are determined.

[0054] a: the change displacement of the lifting oil cylinder in step 1;

[0055] b: the change displacement of telescopic cylinder 17 in step 1;

[0056] In step 4, a2 and b2 satisfy:

[0057] Δ1 = H1 - H2 = a1 + b1

[0058] H2 = nd;

[0059] a2 = a - a1;

[0060] b2 = b + b1;

[0061] Δ: the displacement between transfer gripper 18 and drill pipe;

[0062] H1 : the height of opening 5; H1 and H2 positions are shown as Figure 5

[0063] n: the number of remaining drill pipes to be grabbed;

[0064] d: the diameter of drill pipe;

[0065] a1: the change displacement of lifting cylinder in step 4;

[0066] b1: the change displacement of telescopic cylinder 17 in step 4;

[0067] a2: the displacement of lifting inner cylinder 10 measured by lifting sensor 23;

[0068] b2: the displacement of transfer gripper 18 measured by telescopic sensor 22;

[0069] In step 5, a3 and b3 need to satisfy: a3 = (a + d), b3 = b or a3 = a, b3 = (b - d);

[0070] In step 8, when the drill pipe on transfer gripper 18 is below a certain position on rack 2, the transfer gripper 18 needs to rise displacement Δ2, a4 and b4 satisfy:

[0071] Δ2 = a4 + b4;

[0072] a5 = a3 + a4;

[0073] b5 = b3 - b4;

[0074] a4: the change displacement of lifting cylinder in step 8;

[0075] b4: the change displacement of telescopic cylinder 17 in step 8;

[0076] a5: the displacement of lifting inner cylinder 10 measured by lifting sensor 23;

[0077] ​b5: the displacement of the telescopic cylinder 17 measured by the telescopic sensor 22;

[0078] When the drill pipe on the transfer gripper 18 is higher than a certain position on the rack 2, the transfer gripper 18 needs to be lowered by a displacement Δ2, a4 and b4 satisfy:

[0079] Δ2 = a4 + b4;

[0080] a5 = a3 - a4;

[0081] b5 = b3 + b4;

[0082] a4: the change displacement of the lifting cylinder in step 8;

[0083] b4: the change displacement of the telescopic cylinder 17 in step 8;

[0084] a5: the displacement of the lifting inner cylinder 10 measured by the lifting sensor 23;

[0085] b5: the displacement of the telescopic cylinder 17 measured by the telescopic sensor 22;

[0086] Specifically, the clamping unit is initialized to move, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a, the telescopic sensor 22 measures the displacement of the transfer clamp 18 as b, the height of the drill pipe box 4 is H1, the diameter of the drill pipe is d, the height of the rack 2 is c, the distance between the transfer clamp 18 and the inner bottom of the drill pipe box 4 is H1, and the transfer clamp 18 does not interfere with the drill pipe box 4, the transfer clamp 18 moves to the above of the drill pipe to be grabbed through the moving assembly, the telescopic oil cylinder 17 drives the transfer clamp 18 to move vertically, and the telescopic sensor 22 detects the vertical movement distance of the transfer clamp 18, and the proximity sensor 24 detects whether there is a drill pipe below the transfer clamp 18, if the telescopic oil cylinder 17 is elongated to the maximum value, the proximity sensor 24 still does not detect the drill pipe, at this time, the lifting assembly drives the longitudinal guide rail 14 to descend, controls the transfer clamp 18 to continue to move downward, and until the proximity sensor 24 identifies that there is a drill pipe below, at this time, the height of the drill pipe is H2=nd, n is the number of drill pipes, the change of the displacement of the lifting inner cylinder 10 is a1, the change of the displacement of the transfer clamp 18 is b1, the displacement of the transfer clamp 18 to the drill pipe is Δ1=H1-H2=a1+b1, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a2=(a-a1), the telescopic sensor 22 measures the displacement of the transfer clamp 18 as b2=(b+b1), then the transfer clamp 18 clamps the drill pipe to move to the above of the drill pipe box 4, and needs to be raised by at least the height of the diameter of a drill pipe, at this time, the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a3=(a+d), the telescopic sensor 22 measures the displacement of the transfer clamp 18 as b3=b, or the lifting sensor 23 measures the displacement of the lifting inner cylinder 10 as a3=a, the telescopic sensor 22 measures the displacement of the transfer clamp 18 as b3=(b-d), then the transfer clamp 18 moves to the gap of the drill pipe box 4, if the height of the transfer clamp 18 is lower than the height c of the rack 2 at this time, the transfer clamp 18 needs to be displaced by Δ2 to align with the rack 2, it is assumed that the lifting inner cylinder 10 needs to be raised by a4, the transfer clamp 18 needs to be contracted by b4, Δ2=a4+b4, at this time, the lifting sensor 23 measures the displacement as a5=(a3+a4), and the telescopic sensor 22 measures the displacement as b5=(b3-b4), if the height of the transfer clamp 18 is higher than the height c of the rack 2 at this time, the transfer clamp 18 needs to be displaced by Δ3 to align with the rack 2, it is assumed that the lifting inner cylinder 10 needs to be lowered by a4, the transfer clamp 18 needs to be extended by b4, Δ2=a4+b4, at this time, the lifting sensor 23 measures the displacement as a5=(a3-a4), and the telescopic sensor 22 measures the displacement as b5=(b3+b4).

[0087] The above only is the embodiment of the present application, and the well-known specific technical solutions and / or common knowledge in the scheme are not described in detail. It should be pointed out that, for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope claimed in the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A drill pipe transport sensing system, comprising a drill pipe box, the drill pipe box being disposed at the upper end of a lifting frame, characterized in that: It also includes a clamping unit for inserting or removing drill pipes into or out of the drill pipe box and a sensing unit for controlling the movement of the clamping unit.

2. The drill pipe transport sensing system according to claim 1, characterized in that: The drill rod inside the drill rod box is perpendicular to the drilling direction of the drilling rig.

3. The drill pipe transport sensing system according to claim 2, characterized in that: The sensing unit includes an identification sensor, a translation sensor, a selection sensor, a telescopic sensor, a lifting sensor, a proximity sensor, and a height sensor. The identification sensor is used to determine whether the clamping unit is holding a drill rod. The translation sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The selection sensor is used to determine the displacement of the clamping unit along the axial direction of the frame. The telescopic sensor and the lifting sensor are used to determine the displacement of the clamping unit in the vertical direction of the drill rod box. The proximity sensor is used to determine whether there is a drill rod below the clamping unit. The height sensor is used to identify the height of the frame.

4. The drill pipe transport sensing system according to claim 3, characterized in that: The clamping unit includes a lateral movement assembly, a lifting assembly, a longitudinal movement assembly, and a transfer manipulator. The lateral movement assembly includes a lateral guide rail, a first slider, and a lateral drive component. The lateral guide rail is located at one end of the drill pipe box near the frame. The first slider is slidably mounted on the outer wall of the lateral guide rail. The lateral drive component is located on the outer wall of the first slider and is used to drive the first slider to slide. The lifting assembly includes a lifting component and a lifting cylinder for driving the lifting component. The lifting component is located on the outer wall of the first slider. The longitudinal movement assembly includes a longitudinal guide rail, a second slider, and a longitudinal drive component. The longitudinal guide rail is located at one end of the lifting component away from the frame. The second slider is slidably mounted on the outer wall of the longitudinal guide rail. The longitudinal drive component is located on the outer wall of the second slider and is used to drive the second slider to slide. The transfer manipulator includes a telescopic cylinder and a transfer gripper. The telescopic cylinder is located on the outer wall of the second slider, and the transfer gripper is located at the output end of the telescopic cylinder.

5. The drill pipe transport sensing system according to claim 4, characterized in that: An opening is provided in the middle of one end of the drill rod box near the clamping unit, allowing the transfer robot arm to pass through.

6. The drill pipe transport sensing system according to claim 5, characterized in that: The lifting component includes an outer lifting cylinder and an inner lifting cylinder. The inner lifting cylinder is slidably disposed inside the outer lifting cylinder. The lifting cylinder is disposed on the inner wall of the lower end of the outer lifting cylinder, and the output end of the lifting cylinder is connected to the outer wall of the lower end of the inner lifting cylinder.

7. The drill pipe transport sensing system according to claim 6, characterized in that: The identification sensor is located on the upper side of the drill pipe box at the end away from the clamping unit, and the identification sensor is directly facing the opening. The translation sensor is located at one end of the longitudinal guide rail, and the translation sensor can identify the position of the second slider on the longitudinal guide rail. The selection sensor is located at one end of the transverse guide rail, and the selection sensor can identify the position of the first slider on the transverse guide rail. The telescopic sensor is located on the outer wall of the telescopic cylinder, and the telescopic sensor can identify the distance the transfer jaw moves. The lifting sensor is located on the outer wall of the lifting inner cylinder, and the lifting sensor can identify the distance the longitudinal guide rail rises or falls. The proximity sensor is located on the outer wall of the transfer jaw, and the proximity sensor can identify whether there is a drill pipe below the transfer jaw. The height sensor is located on the outer wall of the lifting frame, and the height sensor can measure the height of the frame as the lifting frame rises or falls.

8. A drill pipe transport sensing system according to claim 7, characterized in that: The clamping unit performs initial position movement. The lifting sensor measures the displacement of the inner cylinder as a, the telescopic sensor measures the displacement of the transfer gripper as b, the height of the drill pipe box is H1, the diameter of the drill pipe is d, the height of the frame is c, the distance between the transfer gripper and the inner bottom of the drill pipe box is H1, and the transfer gripper does not interfere with the drill pipe box. When the transfer gripper moves above the drill rod to be gripped, it moves down until the proximity sensor detects that there is a drill rod below. At this time, the height of the drill rod is H2 = nd, where n is the number of drill rods. The displacement of the lifting inner cylinder is a1, the displacement of the transfer gripper is b1, and the displacement of the transfer gripper to the drill rod is Δ1 = H1 - H2 = a1 + b1. The displacement of the lifting inner cylinder measured by the lifting sensor is a2 = (a - a1), and the displacement of the transfer gripper measured by the telescopic sensor is b2 = (b + b1). Then the transfer gripper moves the drill pipe to the top of the drill pipe box and needs to be raised at least one drill pipe diameter higher. At this time, the lifting sensor measures the displacement of the lifting inner cylinder as a3 = (a + d) and the telescopic sensor measures the displacement of the transfer gripper as b3 = b, or the lifting sensor measures the displacement of the lifting inner cylinder as a3 = a and the telescopic sensor measures the displacement of the transfer gripper as b3 = (bd). The transfer gripper then moves to the notch in the drill pipe box. If the height of the transfer gripper is lower than the frame height c at this time, the transfer gripper needs to be displaced Δ2 to align with the frame. Assuming the inner cylinder needs to rise a4, the transfer gripper needs to retract b4, Δ2 = a4 + b4. At this time, the displacement measured by the lifting sensor is a5 = (a3 + a4), and the displacement measured by the extension sensor is b5 = (b3 - b4). If the height of the transfer gripper is higher than the frame height c at this time, the transfer gripper needs to be displaced Δ3 to align with the frame. Assuming the inner cylinder needs to fall a4, the transfer gripper needs to extend b4, Δ2 = a4 + b4. At this time, the displacement measured by the lifting sensor is a5 = (a3 - a4), and the displacement measured by the extension sensor is b5 = (b3 + b4).

9. A drill pipe transport sensing system according to claim 8, characterized in that: Both the lateral drive and the longitudinal drive are motors, and the lateral drive and the longitudinal drive are respectively located on the outer walls of the first slider and the second slider. The output shafts of the lateral drive and the longitudinal drive are respectively provided with gears at one end of the first slider and the second slider. The longitudinal guide rail and the lateral guide rail are provided with racks that mesh with the gears at the end near the motor.

10. A drill pipe transport sensing system according to claim 7, characterized in that: There is no opening in the middle of the end of the drill pipe box near the clamping unit, and the identification sensor is located on the upper side of the end of the drill pipe box near the clamping unit.

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